+ python -m lidar_slam --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters Centerline goodness : 0.182169 Centerline is valid? [0, False] SLAMing on 0.051193817 meters Centerline goodness : 0.186021 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99991818 -0.01210551 -0.00413465 0.012498 ] [ 0.0120983 0.99992525 -0.00176521 -0.01003882] [ 0.00415571 0.00171505 0.99998989 -0.00113353] [ 0. 0. 0. 1. ]] SLAMing on 0.081193817 meters Centerline goodness : 0.193686 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99986752 -0.01571998 -0.00422234 0.01490676] [ 0.01570384 0.99986935 -0.00383016 -0.0146279 ] [ 0.004282 0.00376335 0.99998375 -0.00286 ] [ 0. 0. 0. 1. ]] SLAMing on 0.11119381700000001 meters Centerline goodness : 0.174063 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.9998087 -0.01902553 -0.00453742 0.01840242] [ 0.01899986 0.9998036 -0.00563628 -0.01823881] [ 0.00464376 0.00554899 0.99997382 -0.00524418] [ 0. 0. 0. 1. ]] SLAMing on 0.141193817 meters Centerline goodness : 0.194386 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99977696 -0.02042088 -0.00538713 0.02407339] [ 0.02039241 0.99977806 -0.00528908 -0.02203791] [ 0.00549394 0.00517805 0.9999715 -0.00896614] [ 0. 0. 0. 1. ]] SLAMing on 0.17119381700000003 meters Centerline goodness : 0.759318 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.01 [[ 0.99970729 -0.02301183 -0.00746926 0.05183526] [ 0.02298226 0.99972779 -0.0040207 -0.02789808] [ 0.00755975 0.00384786 0.99996402 -0.01415927] [ 0. 0. 0. 1. ]] SLAMing on 0.20119381700000002 meters Centerline goodness : 0.167838 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.02 [[ 0.99967358 -0.02426095 -0.00800897 0.0571243 ] [ 0.02422887 0.99969812 -0.00407814 -0.03069995] [ 0.00810549 0.00388276 0.99995961 -0.01777242] [ 0. 0. 0. 1. ]] SLAMing on 0.23119381700000002 meters Centerline goodness : 0.168531 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.02 [[ 0.99962407 -0.02606622 -0.00850154 0.06184408] [ 0.02602855 0.99965102 -0.00451207 -0.03349948] [ 0.00861618 0.00428909 0.99995368 -0.02070249] [ 0. 0. 0. 1. ]] SLAMing on 0.261193817 meters Centerline goodness : 0.182020 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.02 [[ 0.99958081 -0.02746217 -0.00916713 0.06671416] [ 0.02742542 0.9996154 -0.00411104 -0.03689289] [ 0.00927651 0.0038579 0.99994953 -0.02341186] [ 0. 0. 0. 1. ]] SLAMing on 0.291193817 meters Centerline goodness : 0.168862 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:-0.03 [[ 0.99943817 -0.03222447 -0.00921517 0.09346073] [ 0.03221097 0.9994798 -0.00161015 -0.04375283] [ 0.00926226 0.00131242 0.99995624 -0.02564619] [ 0. 0. 0. 1. ]] SLAMing on 0.32119381700000005 meters Centerline goodness : 0.169005 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 0.9993221 -0.03541557 -0.01005362 0.09901542] [ 0.03538476 0.99936856 -0.0032262 -0.04638003] [ 0.01016153 0.00286827 0.99994426 -0.02862458] [ 0. 0. 0. 1. ]] SLAMing on 0.351193817 meters Centerline goodness : 0.169752 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.03 [[ 0.99918428 -0.03893752 -0.01070682 0.10465427] [ 0.03887997 0.99922858 -0.00553128 -0.04934386] [ 0.01091394 0.00511049 0.99992738 -0.03220587] [ 0. 0. 0. 1. ]] SLAMing on 0.38119381700000005 meters Centerline goodness : 0.169426 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.04 [[ 0.99905248 -0.04206598 -0.01116242 0.10982774] [ 0.04198268 0.99908947 -0.00759473 -0.05301081] [ 0.01147174 0.0071189 0.99990886 -0.03567573] [ 0. 0. 0. 1. ]] SLAMing on 0.411193817 meters Centerline goodness : 0.169586 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.04 [[ 0.99893725 -0.04514608 -0.00928401 0.13685239] [ 0.04507978 0.99895722 -0.0072306 -0.06220299] [ 0.00960076 0.00680439 0.99993076 -0.04113296] [ 0. 0. 0. 1. ]] SLAMing on 0.44119381700000004 meters Centerline goodness : 0.171261 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.04 [[ 0.99885637 -0.04676436 -0.00995218 0.14244558] [ 0.04669171 0.99888185 -0.00741206 -0.06559061] [ 0.01028767 0.0069389 0.999923 -0.0444967 ] [ 0. 0. 0. 1. ]] SLAMing on 0.471193817 meters Centerline goodness : 0.170232 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:-0.05 [[ 0.99902 -0.04355821 -0.00785639 0.17887223] [ 0.0435145 0.99903681 -0.00565106 -0.076394 ] [ 0.00809498 0.00530366 0.99995317 -0.04599833] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters Centerline goodness : 0.173908 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.08, Z:-0.04 [[ 0.99900068 -0.04334523 -0.01090089 0.19941879] [ 0.04327482 0.99904131 -0.0066148 -0.08129245] [ 0.01117716 0.00613645 0.9999187 -0.04438521] [ 0. 0. 0. 1. ]] SLAMing on 0.531193817 meters Centerline goodness : 0.171149 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.05 [[ 0.99887052 -0.04610259 -0.01149913 0.20477729] [ 0.04601352 0.99890963 -0.00789385 -0.08503698] [ 0.01185052 0.00735582 0.99990272 -0.04698615] [ 0. 0. 0. 1. ]] SLAMing on 0.561193817 meters Centerline goodness : 0.177775 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:-0.05 [[ 0.99889318 -0.04602834 -0.00968585 0.22521173] [ 0.0459878 0.99893245 -0.00436749 -0.09258597] [ 0.00987653 0.00391722 0.99994355 -0.04832939] [ 0. 0. 0. 1. ]] SLAMing on 0.5911938170000001 meters Centerline goodness : 0.172204 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:-0.05 [[ 0.99873239 -0.0492549 -0.01037198 0.23119541] [ 0.04919191 0.99876983 -0.00624304 -0.09770938] [ 0.01066673 0.00572491 0.99992672 -0.05192295] [ 0. 0. 0. 1. ]] SLAMing on 0.6211938170000001 meters Centerline goodness : 0.201054 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:-0.06 [[ 0.99854021 -0.05293545 -0.01073701 0.26036659] [ 0.05288538 0.99858859 -0.00489452 -0.11134653] [ 0.01098095 0.00431954 0.99993038 -0.05773612] [ 0. 0. 0. 1. ]] SLAMing on 0.651193817 meters Centerline goodness : 0.481518 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.12, Z:-0.06 [[ 0.99848235 -0.05275857 -0.01579678 0.27543928] [ 0.05268111 0.99859743 -0.00528009 -0.11918628] [ 0.01605319 0.00443989 0.99986128 -0.05795544] [ 0. 0. 0. 1. ]] SLAMing on 0.681193817 meters Centerline goodness : 0.488453 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.13, Z:-0.06 [[ 0.99840495 -0.05231693 -0.02122488 0.29382583] [ 0.05220216 0.99861895 -0.00592622 -0.12738427] [ 0.02150561 0.00480878 0.99975716 -0.05770998] [ 0. 0. 0. 1. ]] SLAMing on 0.7111938170000001 meters Centerline goodness : 0.481309 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:-0.06 [[ 9.98429766e-01 -5.29676855e-02 -1.82325717e-02 3.13483349e-01] [ 5.29728319e-02 9.98595934e-01 -2.00914787e-04 -1.37315759e-01] [ 1.82176139e-02 -7.65231652e-04 9.99833753e-01 -6.03678997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7411938170000001 meters Centerline goodness : 0.508158 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.15, Z:-0.06 [[ 0.99821872 -0.05609346 -0.02032027 0.35959297] [ 0.056188 0.99841174 0.00411146 -0.15372564] [ 0.02005737 -0.00524589 0.99978507 -0.05979157] [ 0. 0. 0. 1. ]] SLAMing on 0.7711938170000001 meters Centerline goodness : 0.209393 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.16, Z:-0.06 [[ 0.99821057 -0.05716067 -0.01755877 0.37981534] [ 0.05730576 0.99832563 0.0078737 -0.16327947] [ 0.01707931 -0.00886583 0.99981483 -0.06105928] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters Centerline goodness : 0.734537 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.06 [[ 0.99806305 -0.05796016 -0.02260029 0.39886889] [ 0.05809732 0.99829599 0.00545981 -0.17181253] [ 0.02224533 -0.00676225 0.99972967 -0.05927628] [ 0. 0. 0. 1. ]] SLAMing on 0.8311938170000001 meters Centerline goodness : 0.625631 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.06 [[ 0.99799087 -0.05999294 -0.0203735 0.41935865] [ 0.0601265 0.99817269 0.00600704 -0.18054917] [ 0.01997589 -0.00721996 0.99977439 -0.06009831] [ 0. 0. 0. 1. ]] SLAMing on 0.8611938170000001 meters Centerline goodness : 0.665322 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.06 [[ 0.99786652 -0.06127718 -0.02252821 0.44105395] [ 0.06140457 0.9981004 0.00500682 -0.1888928 ] [ 0.02217861 -0.00637947 0.99973367 -0.0598507 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8911938170000001 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.921193817 meters Centerline goodness : 0.454868 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.06 [[ 0.99706852 -0.07421936 -0.01859705 0.4966515 ] [ 0.07440786 0.99718113 0.00965692 -0.20621107] [ 0.01782789 -0.01101237 0.99978042 -0.06471703] [ 0. 0. 0. 1. ]] SLAMing on 0.951193817 meters Centerline goodness : 0.178973 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.07 [[ 0.99694524 -0.07661303 -0.01518633 0.51692266] [ 0.07676308 0.99700357 0.00955611 -0.21105656] [ 0.01440871 -0.01069267 0.99983902 -0.06586977] [ 0. 0. 0. 1. ]] SLAMing on 0.9811938170000001 meters Centerline goodness : 0.182101 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.07 [[ 0.99599832 -0.08806085 -0.01525202 0.55411965] [ 0.08825292 0.99602075 0.01241304 -0.21894711] [ 0.01409823 -0.01370941 0.99980663 -0.06576256] [ 0. 0. 0. 1. ]] SLAMing on 1.011193817 meters Centerline goodness : 0.740651 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.22, Z:-0.07 [[ 0.9957147 -0.09031563 -0.01988256 0.57602953] [ 0.09048633 0.9958667 0.00785793 -0.22301954] [ 0.01909069 -0.00962336 0.99977144 -0.06566089] [ 0. 0. 0. 1. ]] SLAMing on 1.041193817 meters Centerline goodness : 0.740651 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.22, Z:-0.07 [[ 0.9957147 -0.09031563 -0.01988256 0.57602953] [ 0.09048633 0.9958667 0.00785793 -0.22301954] [ 0.01909069 -0.00962336 0.99977144 -0.06566089] [ 0. 0. 0. 1. ]] SLAMing on 1.071193817 meters Centerline goodness : 0.653760 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.23, Z:-0.07 [[ 0.99548603 -0.09164124 -0.02468716 0.59859389] [ 0.09175742 0.99577484 0.00361261 -0.22651788] [ 0.02425179 -0.00586154 0.9996887 -0.06616594] [ 0. 0. 0. 1. ]] SLAMing on 1.101193817 meters Centerline goodness : 0.226525 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.23, Z:-0.07 [[ 9.95347659e-01 -9.17971589e-02 -2.92629200e-02 6.21092680e-01] [ 9.18371006e-02 9.95774044e-01 2.10167203e-05 -2.28526628e-01] [ 2.91373269e-02 -2.70834067e-03 9.99571749e-01 -6.65144516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.131193817 meters Centerline goodness : 0.216142 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99510654 -0.09460973 -0.02849527 0.65301319] [ 0.09468997 0.99550572 0.00147685 -0.22844722] [ 0.02822748 -0.00416784 0.99959284 -0.06920599] [ 0. 0. 0. 1. ]] SLAMing on 1.161193817 meters Centerline goodness : 0.738186 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.07 [[ 9.95309426e-01 -9.23818946e-02 -2.87181658e-02 6.73198751e-01] [ 9.24208035e-02 9.95720038e-01 2.76201086e-05 -2.28341289e-01] [ 2.85927015e-02 -2.68164651e-03 9.99587548e-01 -6.95265849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.191193817 meters Centerline goodness : 0.208901 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99577885 -0.08824389 -0.02524868 0.68735484] [ 0.08814805 0.9960954 -0.0048863 -0.22747132] [ 0.02558128 0.00264006 0.99966926 -0.07312022] [ 0. 0. 0. 1. ]] SLAMing on 1.221193817 meters Centerline goodness : 0.680342 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.07 [[ 0.99604491 -0.08405366 -0.0288014 0.70790252] [ 0.08390472 0.99645359 -0.00634355 -0.22652021] [ 0.02923245 0.00390189 0.99956502 -0.07318212] [ 0. 0. 0. 1. ]] SLAMing on 1.251193817 meters Centerline goodness : 0.632025 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.07 [[ 0.99659189 -0.07743104 -0.02844345 0.74627695] [ 0.07728566 0.99698985 -0.00617732 -0.22422261] [ 0.02883614 0.00395799 0.99957632 -0.07415412] [ 0. 0. 0. 1. ]] SLAMing on 1.281193817 meters Centerline goodness : 0.624670 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.22, Z:-0.07 [[ 0.99680828 -0.07529278 -0.02653788 0.7653938 ] [ 0.07512717 0.99714808 -0.00718457 -0.22410462] [ 0.02700315 0.00516793 0.99962199 -0.07494533] [ 0. 0. 0. 1. ]] SLAMing on 1.311193817 meters Centerline goodness : 0.625591 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.08 [[ 0.99697252 -0.07450637 -0.0222395 0.78376898] [ 0.07432658 0.99719508 -0.00880557 -0.22429399] [ 0.02283319 0.00712593 0.99971389 -0.07592877] [ 0. 0. 0. 1. ]] SLAMing on 1.341193817 meters Centerline goodness : 0.621813 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.22, Z:-0.08 [[ 0.99707226 -0.07445671 -0.01741013 0.8026054 ] [ 0.0742805 0.99718149 -0.01055842 -0.22413855] [ 0.01814721 0.00923427 0.99979268 -0.07731737] [ 0. 0. 0. 1. ]] SLAMing on 1.371193817 meters Centerline goodness : 0.608372 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.08 [[ 0.99694004 -0.07682429 -0.01444225 0.82671878] [ 0.07667954 0.99700234 -0.0103234 -0.22252755] [ 0.01519205 0.00918439 0.99984241 -0.07636836] [ 0. 0. 0. 1. ]] SLAMing on 1.401193817 meters Centerline goodness : 0.675433 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.22, Z:-0.08 [[ 0.99621865 -0.08651111 -0.00801416 0.87241904] [ 0.08646433 0.99623682 -0.00601059 -0.21649753] [ 0.00850398 0.00529492 0.99994982 -0.07736583] [ 0. 0. 0. 1. ]] SLAMing on 1.431193817 meters Centerline goodness : 0.672088 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.21, Z:-0.08 [[ 0.99603188 -0.08874542 -0.00668959 0.89979009] [ 0.08872527 0.99605083 -0.0032512 -0.2133702 ] [ 0.0069517 0.00264476 0.99997234 -0.07692796] [ 0. 0. 0. 1. ]] SLAMing on 1.461193817 meters Centerline goodness : 0.222802 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.21, Z:-0.08 [[ 0.99571442 -0.09239425 -0.00401304 0.92526442] [ 0.09238259 0.99571906 -0.00300026 -0.20893387] [ 0.00427307 0.00261667 0.99998745 -0.07608707] [ 0. 0. 0. 1. ]] SLAMing on 1.491193817 meters Centerline goodness : 0.375961 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.08 [[ 0.99458426 -0.10387506 0.00348043 0.96717929] [ 0.10387994 0.99458906 -0.00125022 -0.19800956] [-0.00333174 0.00160499 0.99999316 -0.07651173] [ 0. 0. 0. 1. ]] SLAMing on 1.5211938170000001 meters Centerline goodness : 0.770057 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.08 [[ 0.99431794 -0.10603685 0.00938201 0.98397681] [ 0.10610257 0.99433189 -0.006807 -0.19186253] [-0.00860704 0.00776378 0.99993282 -0.07818847] [ 0. 0. 0. 1. ]] SLAMing on 1.551193817 meters Centerline goodness : 0.244071 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.19, Z:-0.08 [[ 0.99457305 -0.10383412 0.0065518 1.00688565] [ 0.10389274 0.99454456 -0.00934933 -0.185653 ] [-0.00554528 0.00997928 0.99993483 -0.08003479] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters Centerline goodness : 0.641490 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.18, Z:-0.08 [[ 0.99490225 -0.10078872 0.00333895 1.02985908] [ 0.10082055 0.99483956 -0.01137812 -0.17832683] [-0.00217493 0.01165675 0.99992969 -0.08224132] [ 0. 0. 0. 1. ]] SLAMing on 1.611193817 meters Centerline goodness : 0.430556 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.16, Z:-0.09 [[ 0.99503686 -0.09947776 -0.00241439 1.0619718 ] [ 0.0994425 0.99497242 -0.01187709 -0.1606002 ] [ 0.00358376 0.01157805 0.99992655 -0.08552203] [ 0. 0. 0. 1. ]] SLAMing on 1.641193817 meters Centerline goodness : 0.141209 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.15, Z:-0.09 [[ 0.99546293 -0.09495346 -0.00611447 1.084183 ] [ 0.09487154 0.99541072 -0.01252514 -0.15310824] [ 0.00727572 0.01188822 0.99990286 -0.08677756] [ 0. 0. 0. 1. ]] SLAMing on 1.671193817 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.701193817 meters Centerline goodness : 0.797492 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.09 [[ 0.9957414 -0.09158709 -0.01052909 1.11415004] [ 0.09146048 0.99573717 -0.01193609 -0.13348602] [ 0.01157739 0.01092226 0.99987333 -0.08962935] [ 0. 0. 0. 1. ]] SLAMing on 1.731193817 meters Centerline goodness : 0.738912 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:-0.09 [[ 0.99627601 -0.08506423 -0.01407806 1.1414412 ] [ 0.0849083 0.99632439 -0.0113267 -0.11414804] [ 0.01498981 0.01008917 0.99983674 -0.09372167] [ 0. 0. 0. 1. ]] SLAMing on 1.761193817 meters Centerline goodness : 0.615415 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.11, Z:-0.10 [[ 0.99672448 -0.07895622 -0.01749958 1.16438534] [ 0.07878823 0.9968403 -0.0100908 -0.10682084] [ 0.01824102 0.00867899 0.99979595 -0.09514567] [ 0. 0. 0. 1. ]] SLAMing on 1.7911938170000001 meters Centerline goodness : 0.798034 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.10 [[ 0.99705384 -0.0742923 -0.01908646 1.16881448] [ 0.07418127 0.99722384 -0.00646221 -0.10064597] [ 0.01951356 0.00502732 0.99979695 -0.09776839] [ 0. 0. 0. 1. ]] SLAMing on 1.821193817 meters Centerline goodness : 0.837771 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.10 [[ 0.99752434 -0.06860047 -0.01546488 1.18406756] [ 0.06846549 0.99761202 -0.00909601 -0.09269365] [ 0.01605194 0.00801468 0.99983904 -0.10055036] [ 0. 0. 0. 1. ]] SLAMing on 1.851193817 meters Centerline goodness : 0.199098 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.08, Z:-0.10 [[ 0.99819134 -0.05824325 -0.01489209 1.211229 ] [ 0.058012 0.99819531 -0.01551574 -0.07757503] [ 0.01576891 0.01462375 0.99976872 -0.10080784] [ 0. 0. 0. 1. ]] SLAMing on 1.881193817 meters Centerline goodness : 0.828212 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:-0.10 [[ 0.99852696 -0.05178426 -0.01619564 1.2320687 ] [ 0.05154744 0.99856215 -0.0147135 -0.07093465] [ 0.01693428 0.01385698 0.99976058 -0.10215644] [ 0. 0. 0. 1. ]] SLAMing on 1.911193817 meters Centerline goodness : 0.815565 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:-0.10 [[ 0.99891184 -0.04271901 -0.01871439 1.25940775] [ 0.04236654 0.99892444 -0.01884267 -0.06469328] [ 0.0194992 0.0180293 0.9996473 -0.10104588] [ 0. 0. 0. 1. ]] SLAMing on 1.941193817 meters Centerline goodness : 0.826600 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.05, Z:-0.10 [[ 0.99931985 -0.03456179 -0.01285736 1.29041825] [ 0.03426084 0.99914975 -0.0229339 -0.05154479] [ 0.01363907 0.0224778 0.9996543 -0.10335128] [ 0. 0. 0. 1. ]] SLAMing on 1.971193817 meters Centerline goodness : 0.826252 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.05, Z:-0.10 [[ 0.99954287 -0.02778367 -0.01192132 1.30819319] [ 0.02737599 0.99907717 -0.03309617 -0.04695585] [ 0.01282985 0.03275469 0.99938107 -0.10301042] [ 0. 0. 0. 1. ]] SLAMing on 2.0011938170000003 meters Centerline goodness : 0.830760 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.11 [[ 0.99966972 -0.0253967 -0.0039329 1.31917712] [ 0.02523713 0.99901991 -0.0363635 -0.04395362] [ 0.00485255 0.03625224 0.99933089 -0.10518289] [ 0. 0. 0. 1. ]] SLAMing on 2.031193817 meters Centerline goodness : 0.817897 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.10 [[ 0.99965331 -0.0260149 -0.0040611 1.32021275] [ 0.02584106 0.99893611 -0.03819536 -0.04060749] [ 0.00505043 0.03807717 0.99926204 -0.10454928] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters Centerline goodness : 0.862855 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.04, Z:-0.10 [[ 0.99971869 -0.02331926 -0.00433128 1.32192906] [ 0.02315402 0.99912169 -0.0349248 -0.03841646] [ 0.00514189 0.03481469 0.99938056 -0.10420818] [ 0. 0. 0. 1. ]] SLAMing on 2.091193817 meters Centerline goodness : 0.821870 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.99973521 -0.02230999 -0.00563609 1.32605718] [ 0.02210689 0.99918278 -0.03383858 -0.03787071] [ 0.00638642 0.03370502 0.99941142 -0.1060022 ] [ 0. 0. 0. 1. ]] SLAMing on 2.121193817 meters Centerline goodness : 0.866073 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.99974469 -0.02157011 -0.00672935 1.3300297 ] [ 0.021337 0.99922833 -0.03297692 -0.03839622] [ 0.00743548 0.03282491 0.99943346 -0.10825953] [ 0. 0. 0. 1. ]] SLAMing on 2.1511938170000002 meters Centerline goodness : 0.865443 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.04, Z:-0.11 [[ 0.9997351 -0.02166945 -0.00775715 1.33463185] [ 0.0214017 0.99922359 -0.03307857 -0.03847836] [ 0.00846792 0.03290379 0.99942265 -0.1113183 ] [ 0. 0. 0. 1. ]] SLAMing on 2.181193817 meters Centerline goodness : 0.851518 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.11 [[ 0.99976047 -0.02004456 -0.00878719 1.3388166 ] [ 0.01976 0.99931295 -0.03135555 -0.0388651 ] [ 0.00940966 0.0311744 0.99946967 -0.11408378] [ 0. 0. 0. 1. ]] SLAMing on 2.2111938170000003 meters Centerline goodness : 0.854991 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.12 [[ 0.99979399 -0.0178381 -0.00968407 1.34345415] [ 0.01755371 0.99943398 -0.02869823 -0.03959395] [ 0.01019051 0.02852233 0.99954121 -0.1169055 ] [ 0. 0. 0. 1. ]] SLAMing on 2.241193817 meters Centerline goodness : 0.858420 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.12 [[ 0.99984523 -0.01409126 -0.01053314 1.34518816] [ 0.01383372 0.99961295 -0.02413662 -0.0425404 ] [ 0.01086918 0.02398717 0.99965318 -0.11692907] [ 0. 0. 0. 1. ]] SLAMing on 2.271193817 meters Centerline goodness : 0.862590 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.12 [[ 0.99984192 -0.01385102 -0.01114788 1.34613046] [ 0.01358398 0.9996272 -0.0236839 -0.04393331] [ 0.01147177 0.02352873 0.99965734 -0.11659028] [ 0. 0. 0. 1. ]] SLAMing on 2.301193817 meters Centerline goodness : 0.861220 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.12 [[ 0.99983816 -0.01355889 -0.01182378 1.34726192] [ 0.01328344 0.99964558 -0.02307106 -0.04585118] [ 0.0121324 0.02291027 0.99966391 -0.11633739] [ 0. 0. 0. 1. ]] SLAMing on 2.331193817 meters Centerline goodness : 0.862380 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.05, Z:-0.12 [[ 0.9998372 -0.013062 -0.01244809 1.34832561] [ 0.0127841 0.99967295 -0.02214866 -0.04859256] [ 0.01273332 0.02198591 0.99967719 -0.11614651] [ 0. 0. 0. 1. ]] SLAMing on 2.361193817 meters Centerline goodness : 0.868324 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.12 [[ 0.99985805 -0.01111794 -0.01266014 1.34858014] [ 0.01087347 0.99975618 -0.01921827 -0.05502393] [ 0.01287072 0.01907788 0.99973515 -0.11509464] [ 0. 0. 0. 1. ]] SLAMing on 2.391193817 meters Centerline goodness : 0.869907 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:-0.11 [[ 0.99988843 -0.00675444 -0.0133233 1.34982821] [ 0.0065712 0.99988388 -0.0137497 -0.05992753] [ 0.01341463 0.01366062 0.9998167 -0.11492641] [ 0. 0. 0. 1. ]] SLAMing on 2.4211938170000002 meters Centerline goodness : 0.873409 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.12 [[ 0.99989461 -0.00385511 -0.01399665 1.35253471] [ 0.00372428 0.99994925 -0.00936069 -0.06874905] [ 0.01403202 0.00930758 0.99985823 -0.11598435] [ 0. 0. 0. 1. ]] SLAMing on 2.451193817 meters Centerline goodness : 0.874641 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.07, Z:-0.12 [[ 0.9998892 -0.0030518 -0.01456972 1.35362784] [ 0.00294272 0.99996752 -0.00750272 -0.07392863] [ 0.01459214 0.00745902 0.99986571 -0.1158281 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4811938170000003 meters Centerline goodness : 0.877096 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:-0.12 [[ 0.99988266 -0.00250825 -0.01511188 1.35479443] [ 0.00242361 0.99998129 -0.0056161 -0.07982325] [ 0.01512568 0.00557882 0.99987004 -0.11560864] [ 0. 0. 0. 1. ]] SLAMing on 2.511193817 meters Centerline goodness : 0.877194 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:-0.12 [[ 0.99986591 -0.00540735 -0.01545737 1.35535007] [ 0.00529212 0.99995797 -0.00748614 -0.08537196] [ 0.0154972 0.00740333 0.9998525 -0.11518294] [ 0. 0. 0. 1. ]] SLAMing on 2.541193817 meters Centerline goodness : 0.882769 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.10, Z:-0.11 [[ 0.99980125 -0.0128861 -0.01521225 1.35672995] [ 0.01278902 0.99989734 -0.00646192 -0.10176497] [ 0.01529396 0.00626609 0.99986341 -0.10990943] [ 0. 0. 0. 1. ]] SLAMing on 2.571193817 meters Centerline goodness : 0.885167 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:-0.11 [[ 0.99974084 -0.01667997 -0.01549273 1.35753511] [ 0.01654891 0.99982651 -0.00854892 -0.10851386] [ 0.01563264 0.00829032 0.99984343 -0.10962344] [ 0. 0. 0. 1. ]] SLAMing on 2.601193817 meters Centerline goodness : 0.884628 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.11, Z:-0.11 [[ 0.99966254 -0.02060862 -0.01581396 1.35869907] [ 0.02043688 0.99973123 -0.01094547 -0.11400367] [ 0.01603528 0.01061859 0.99981504 -0.10986723] [ 0. 0. 0. 1. ]] SLAMing on 2.631193817 meters Centerline goodness : 0.884523 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.12, Z:-0.11 [[ 0.99956573 -0.0245858 -0.01624489 1.36036528] [ 0.02436645 0.99961106 -0.01356519 -0.11873146] [ 0.01657208 0.01316347 0.99977602 -0.11059657] [ 0. 0. 0. 1. ]] SLAMing on 2.661193817 meters Centerline goodness : 0.880436 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.13, Z:-0.11 [[ 0.99940356 -0.03230362 -0.01220659 1.37268384] [ 0.03217392 0.99942526 -0.0106764 -0.12948454] [ 0.01254446 0.0102773 0.9998685 -0.11398787] [ 0. 0. 0. 1. ]] SLAMing on 2.6911938170000003 meters Centerline goodness : 0.881756 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.13, Z:-0.11 [[ 0.99927242 -0.03605106 -0.01244779 1.37391406] [ 0.03587878 0.99926092 -0.01379617 -0.13255601] [ 0.01293595 0.01333952 0.99982734 -0.11457904] [ 0. 0. 0. 1. ]] SLAMing on 2.721193817 meters Centerline goodness : 0.881897 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.14, Z:-0.12 [[ 0.99923383 -0.03690296 -0.01303547 1.37634901] [ 0.03672289 0.99923029 -0.01379371 -0.13601326] [ 0.01353447 0.01330444 0.99981989 -0.11583597] [ 0. 0. 0. 1. ]] SLAMing on 2.7511938170000003 meters Centerline goodness : 0.878496 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.12 [[ 0.99924947 -0.03567258 -0.01509875 1.39739038] [ 0.03546211 0.99927317 -0.01398459 -0.13949291] [ 0.01558664 0.01343866 0.99978821 -0.11556655] [ 0. 0. 0. 1. ]] SLAMing on 2.781193817 meters Centerline goodness : 0.875513 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.14, Z:-0.12 [[ 0.99911697 -0.0387841 -0.01615753 1.40294731] [ 0.03851835 0.99912255 -0.01644592 -0.142876 ] [ 0.01678119 0.01580903 0.9997342 -0.11922508] [ 0. 0. 0. 1. ]] SLAMing on 2.811193817 meters Centerline goodness : 0.876232 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.14, Z:-0.12 [[ 0.9990903 -0.03924694 -0.01668105 1.40529014] [ 0.03897219 0.99910425 -0.01648847 -0.14443864] [ 0.01731323 0.01582338 0.9997249 -0.12075423] [ 0. 0. 0. 1. ]] SLAMing on 2.841193817 meters Centerline goodness : 0.873525 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.15, Z:-0.12 [[ 0.9991115 -0.03714921 -0.01990357 1.42704763] [ 0.03681661 0.9991804 -0.0168245 -0.14681028] [ 0.02051228 0.01607677 0.99966033 -0.12245299] [ 0. 0. 0. 1. ]] SLAMing on 2.871193817 meters Centerline goodness : 0.874483 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.15, Z:-0.12 [[ 0.99909909 -0.03730077 -0.02023993 1.42845405] [ 0.03696402 0.99917597 -0.01676431 -0.14770826] [ 0.02084857 0.01600106 0.99965459 -0.1233116 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9011938170000002 meters Centerline goodness : 0.876033 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.13 [[ 0.99927175 -0.03461789 -0.01604878 1.43990618] [ 0.03421577 0.99910949 -0.02468815 -0.14760845] [ 0.01688914 0.02412105 0.99956637 -0.12674214] [ 0. 0. 0. 1. ]] SLAMing on 2.931193817 meters Centerline goodness : 0.876033 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.15, Z:-0.13 [[ 0.99927175 -0.03461789 -0.01604878 1.43990618] [ 0.03421577 0.99910949 -0.02468815 -0.14760845] [ 0.01688914 0.02412105 0.99956637 -0.12674214] [ 0. 0. 0. 1. ]] SLAMing on 2.9611938170000003 meters Centerline goodness : 0.873407 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.15, Z:-0.13 [[ 0.99951073 -0.02962757 -0.01002557 1.45068059] [ 0.02932735 0.99915276 -0.02887321 -0.1486459 ] [ 0.01087252 0.02856506 0.9995328 -0.12941543] [ 0. 0. 0. 1. ]] SLAMing on 2.991193817 meters Centerline goodness : 0.874211 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.15, Z:-0.13 [[ 0.99965193 -0.02506811 -0.00822296 1.46875507] [ 0.02482625 0.99929106 -0.02830252 -0.14939482] [ 0.00892662 0.02808852 0.99956558 -0.12938682] [ 0. 0. 0. 1. ]] SLAMing on 3.0211938170000003 meters Centerline goodness : 0.870157 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.15, Z:-0.13 [[ 0.99977737 -0.02084428 -0.00327587 1.48140237] [ 0.02072336 0.99922712 -0.0334022 -0.14850109] [ 0.00396959 0.03332687 0.99943662 -0.13290897] [ 0. 0. 0. 1. ]] SLAMing on 3.051193817 meters Centerline goodness : 0.868391 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.15, Z:-0.13 [[ 9.99841082e-01 -1.77987924e-02 -1.00636696e-03 1.49924078e+00] [ 1.77517881e-02 9.99210398e-01 -3.55451026e-02 -1.48585601e-01] [ 1.63823223e-03 3.55215891e-02 9.99367566e-01 -1.33960000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081193817 meters Centerline goodness : 0.869743 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.15, Z:-0.13 [[ 0.99994605 -0.01019256 -0.00199987 1.52570113] [ 0.0101004 0.99908031 -0.04167143 -0.15171776] [ 0.00242277 0.04164898 0.99912937 -0.13255398] [ 0. 0. 0. 1. ]] SLAMing on 3.111193817 meters Centerline goodness : 0.870021 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.15, Z:-0.13 [[ 0.99996819 -0.00756844 -0.00251628 1.5277607 ] [ 0.00746682 0.99924212 -0.03820247 -0.15406136] [ 0.00280351 0.03818246 0.99926685 -0.13366282] [ 0. 0. 0. 1. ]] SLAMing on 3.141193817 meters Centerline goodness : 0.870539 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99997986 -0.00551296 -0.00314477 1.53037479] [ 0.00539871 0.99936394 -0.03525017 -0.15595545] [ 0.0033371 0.03523248 0.99937357 -0.13513921] [ 0. 0. 0. 1. ]] SLAMing on 3.1711938170000002 meters Centerline goodness : 0.866402 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99997942 -0.00542027 -0.00343093 1.53114704] [ 0.00529793 0.99938312 -0.03471771 -0.15742369] [ 0.00361699 0.03469881 0.99939127 -0.13545391] [ 0. 0. 0. 1. ]] SLAMing on 3.201193817 meters Centerline goodness : 0.866820 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.16, Z:-0.14 [[ 0.99996278 -0.00777576 -0.00373935 1.53310127] [ 0.00763541 0.9993159 -0.03618598 -0.16240594] [ 0.00401816 0.03615608 0.99933808 -0.13699242] [ 0. 0. 0. 1. ]] SLAMing on 3.2311938170000003 meters Centerline goodness : 0.868205 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99995034 -0.00890166 -0.00448069 1.53569303] [ 0.00873209 0.99929405 -0.03653971 -0.16512418] [ 0.00480279 0.03649877 0.99932216 -0.13836734] [ 0. 0. 0. 1. ]] SLAMing on 3.261193817 meters Centerline goodness : 0.868104 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99994067 -0.00960006 -0.00514782 1.53760757] [ 0.00940641 0.99929273 -0.03640836 -0.16780397] [ 0.0054937 0.03635778 0.99932374 -0.13910154] [ 0. 0. 0. 1. ]] SLAMing on 3.2911938170000004 meters Centerline goodness : 0.867890 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99991491 -0.0118361 -0.00548376 1.54001699] [ 0.01162051 0.99921754 -0.0378057 -0.17122234] [ 0.00592695 0.03773876 0.99927006 -0.14101537] [ 0. 0. 0. 1. ]] SLAMing on 3.321193817 meters Centerline goodness : 0.870009 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99991359 -0.01181465 -0.00576406 1.54087694] [ 0.01158956 0.99922437 -0.03763422 -0.17187629] [ 0.00620423 0.03756417 0.99927496 -0.14143557] [ 0. 0. 0. 1. ]] SLAMing on 3.351193817 meters Centerline goodness : 0.868886 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.14 [[ 0.99993694 -0.00922644 -0.00640263 1.54337227] [ 0.00900064 0.99936615 -0.0344425 -0.17315928] [ 0.00671635 0.0343827 0.99938617 -0.14285988] [ 0. 0. 0. 1. ]] SLAMing on 3.381193817 meters Centerline goodness : 0.859595 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.17, Z:-0.14 [[ 0.99995372 -0.00651932 -0.00707542 1.54549363] [ 0.00629594 0.99949497 -0.03114747 -0.17455567] [ 0.0072749 0.03110148 0.99948976 -0.14374075] [ 0. 0. 0. 1. ]] SLAMing on 3.411193817 meters Centerline goodness : 0.867319 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 0.99996363 -0.0036709 -0.00769763 1.54719266] [ 0.00345614 0.99960951 -0.02772871 -0.17610311] [ 0.00779641 0.0277011 0.99958585 -0.14413722] [ 0. 0. 0. 1. ]] SLAMing on 3.4411938170000003 meters Centerline goodness : 0.866567 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99966705e-01 -7.71117622e-04 -8.12372983e-03 1.54830823e+00] [ 5.73454907e-04 9.99704406e-01 -2.43058146e-02 -1.78099304e-01] [ 8.14007114e-03 2.43003467e-02 9.99671562e-01 -1.44064780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.471193817 meters Centerline goodness : 0.861077 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99965015e-01 -8.52852261e-04 -8.32119427e-03 1.54887993e+00] [ 6.49141435e-04 9.99700769e-01 -2.44530208e-02 -1.78109231e-01] [ 8.33955912e-03 2.44467637e-02 9.99666348e-01 -1.44280475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5011938170000003 meters Centerline goodness : 0.862447 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 9.99963256e-01 -9.21369035e-04 -8.52277867e-03 1.54934184e+00] [ 7.11429538e-04 9.99697046e-01 -2.46030682e-02 -1.77706581e-01] [ 8.54286517e-03 2.45961008e-02 9.99660968e-01 -1.44369605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.531193817 meters Centerline goodness : 0.862713 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.14 [[ 0.99995821 0.00195639 -0.0089298 1.55060747] [-0.00214315 0.99977818 -0.02095214 -0.17919642] [ 0.00888683 0.0209704 0.9997406 -0.14467133] [ 0. 0. 0. 1. ]] SLAMing on 3.5611938170000004 meters Centerline goodness : 0.861170 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.9999453 0.00476539 -0.00931035 1.55216403] [-0.0049256 0.99983888 -0.01726122 -0.18162555] [ 0.00922659 0.01730614 0.99980767 -0.14526488] [ 0. 0. 0. 1. ]] SLAMing on 3.591193817 meters Centerline goodness : 0.861173 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.99994315 0.00492783 -0.0094559 1.55261864] [-0.00508707 0.99984439 -0.01689138 -0.18289371] [ 0.00937119 0.01693853 0.99981262 -0.14546889] [ 0. 0. 0. 1. ]] SLAMing on 3.621193817 meters Centerline goodness : 0.859267 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.15 [[ 0.99994141 0.00499506 -0.00960343 1.55323043] [-0.00515318 0.99985041 -0.01651089 -0.18438595] [ 0.00951952 0.01655941 0.99981757 -0.14586136] [ 0. 0. 0. 1. ]] SLAMing on 3.6511938170000002 meters Centerline goodness : 0.859817 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.19, Z:-0.15 [[ 0.99994081 0.00498722 -0.0096696 1.55347969] [-0.00514203 0.99985794 -0.0160519 -0.18586337] [ 0.00958817 0.01610067 0.9998244 -0.14596641] [ 0. 0. 0. 1. ]] SLAMing on 3.681193817 meters Centerline goodness : 0.858456 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.19, Z:-0.15 [[ 0.99994487 0.00369152 -0.00982969 1.55498546] [-0.00384984 0.99986239 -0.01613627 -0.18879753] [ 0.00976877 0.01617323 0.99982148 -0.14706351] [ 0. 0. 0. 1. ]] SLAMing on 3.7111938170000003 meters Centerline goodness : 0.857680 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99994281 0.00251968 -0.01039377 1.55714405] [-0.00269298 0.99985704 -0.01669297 -0.19003003] [ 0.01035022 0.01672001 0.99980664 -0.14831709] [ 0. 0. 0. 1. ]] SLAMing on 3.741193817 meters Centerline goodness : 0.855200 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 9.99940082e-01 1.34312738e-03 -1.08640819e-02 1.55921998e+00] [-1.53120464e-03 9.99848789e-01 -1.73220908e-02 -1.90970488e-01] [ 1.08391733e-02 1.73376880e-02 9.99790937e-01 -1.49677012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7711938170000003 meters Centerline goodness : 0.858358 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 9.99935758e-01 6.13113213e-04 -1.13183178e-02 1.56052521e+00] [-8.11367638e-04 9.99846184e-01 -1.75199717e-02 -1.91957760e-01] [ 1.13058351e-02 1.75280295e-02 9.99782449e-01 -1.50212756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.801193817 meters Centerline goodness : 0.854768 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99992514 -0.00403872 -0.01154972 1.56183826] [ 0.00378454 0.99975202 -0.02194491 -0.19233392] [ 0.01163548 0.02189956 0.99969247 -0.15129084] [ 0. 0. 0. 1. ]] SLAMing on 3.8311938170000004 meters Centerline goodness : 0.854148 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99991452 -0.00504333 -0.01206282 1.56397175] [ 0.00476881 0.99973141 -0.02267944 -0.19266097] [ 0.01217396 0.02261998 0.99967001 -0.15270732] [ 0. 0. 0. 1. ]] SLAMing on 3.861193817 meters Centerline goodness : 0.853220 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.19, Z:-0.15 [[ 0.99991019 -0.00554493 -0.0122011 1.56489661] [ 0.00526236 0.99971998 -0.02307108 -0.19232402] [ 0.01232562 0.0230048 0.99965937 -0.15353584] [ 0. 0. 0. 1. ]] SLAMing on 3.891193817 meters Centerline goodness : 0.848470 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 0.99991246 -0.00401299 -0.01260811 1.56772845] [ 0.00374553 0.99976897 -0.02116566 -0.18970671] [ 0.01269013 0.02111659 0.99969648 -0.15571513] [ 0. 0. 0. 1. ]] SLAMing on 3.9211938170000002 meters Centerline goodness : 0.845989 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99911023e-01 -1.72255810e-03 -1.32279438e-02 1.57020975e+00] [ 1.47664157e-03 9.99826324e-01 -1.85780012e-02 -1.88849570e-01] [ 1.32576481e-02 1.85568153e-02 9.99739906e-01 -1.57146260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.951193817 meters Centerline goodness : 0.845775 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99904409e-01 8.24658296e-04 -1.38019256e-02 1.57211356e+00] [-1.04225876e-03 9.99875163e-01 -1.57661900e-02 -1.88435306e-01] [ 1.37872009e-02 1.57790681e-02 9.99780443e-01 -1.57941902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9811938170000003 meters Centerline goodness : 0.834619 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.19, Z:-0.16 [[ 9.99988426e-01 1.45339279e-03 -4.58644289e-03 1.57374625e+00] [-1.51080850e-03 9.99920229e-01 -1.25400364e-02 -1.85801325e-01] [ 4.56785143e-03 1.25468205e-02 9.99910852e-01 -1.62268646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0111938170000005 meters Centerline goodness : 0.842485 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.19, Z:-0.16 [[ 0.99997939 0.00388174 -0.00511332 1.57575769] [-0.00393357 0.99994059 -0.01016607 -0.18512897] [ 0.00507355 0.01018598 0.99993525 -0.16334937] [ 0. 0. 0. 1. ]] SLAMing on 4.041193817000001 meters Centerline goodness : 0.841203 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.16 [[ 0.99996221 0.00669295 -0.00554849 1.57774616] [-0.00673466 0.99994894 -0.00753378 -0.18356062] [ 0.00549778 0.00757086 0.99995623 -0.16466708] [ 0. 0. 0. 1. ]] SLAMing on 4.071193817000001 meters Centerline goodness : 0.841029 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.17 [[ 0.99993048 0.01035215 -0.00564577 1.57846199] [-0.01037551 0.99993767 -0.00412267 -0.18209215] [ 0.00560274 0.00418096 0.99997556 -0.16519756] [ 0. 0. 0. 1. ]] SLAMing on 4.101193817 meters Centerline goodness : 0.828403 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.18, Z:-0.17 [[ 0.99992861 0.01054793 -0.00561449 1.57880147] [-0.01057658 0.99993107 -0.00509875 -0.17842158] [ 0.00556032 0.00515777 0.99997124 -0.16588007] [ 0. 0. 0. 1. ]] SLAMing on 4.131193817000001 meters Centerline goodness : 0.826352 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99855714e-01 1.69809419e-02 -4.46008707e-04 1.59023829e+00] [-1.69846238e-02 9.99803157e-01 -1.02552168e-02 -1.73474394e-01] [ 2.71777674e-04 1.02613124e-02 9.99947314e-01 -1.69986462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161193817000001 meters Centerline goodness : 0.824834 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99784716e-01 2.07403194e-02 -6.01403405e-04 1.59075443e+00] [-2.07438495e-02 9.99762900e-01 -6.62092565e-03 -1.72652937e-01] [ 4.63940700e-04 6.63197569e-03 9.99977901e-01 -1.70017564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.191193817 meters Centerline goodness : 0.821375 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99762497e-01 2.17771587e-02 -8.39683326e-04 1.59138925e+00] [-2.17824249e-02 9.99739079e-01 -6.87750377e-03 -1.68592350e-01] [ 6.89691744e-04 6.89416068e-03 9.99975997e-01 -1.70455907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2211938170000005 meters Centerline goodness : 0.819877 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99767536e-01 2.15406816e-02 -9.34700032e-04 1.59209292e+00] [-2.15471542e-02 9.99739111e-01 -7.57820991e-03 -1.66939039e-01] [ 7.71216372e-04 7.59658837e-03 9.99970848e-01 -1.71199365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251193817000001 meters Centerline goodness : 0.831858 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.17 [[ 9.99726929e-01 2.33226745e-02 -1.45613526e-03 1.59496784e+00] [-2.33306892e-02 9.99711245e-01 -5.75376148e-03 -1.66627456e-01] [ 1.32152169e-03 5.78616293e-03 9.99982387e-01 -1.73342397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281193817000001 meters Centerline goodness : 0.817786 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.17 [[ 9.99731590e-01 2.31165923e-02 -1.53954832e-03 1.59561138e+00] [-2.31258733e-02 9.99712639e-01 -6.31138085e-03 -1.64894323e-01] [ 1.39320829e-03 6.34529022e-03 9.99978898e-01 -1.73980824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.311193817 meters Centerline goodness : 0.818074 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.17 [[ 9.99735292e-01 2.29433804e-02 -1.71681519e-03 1.59630333e+00] [-2.29544454e-02 9.99713861e-01 -6.72980125e-03 -1.63763910e-01] [ 1.56191955e-03 6.76742835e-03 9.99975881e-01 -1.74493557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341193817000001 meters Centerline goodness : 0.816445 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99975591 0.02197588 -0.00227412 1.59902339] [-0.02199301 0.99972768 -0.00780232 -0.16319031] [ 0.00210204 0.00785043 0.99996698 -0.176718 ] [ 0. 0. 0. 1. ]] SLAMing on 4.371193817000001 meters Centerline goodness : 0.816061 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99977153 0.02121459 -0.00261464 1.60076452] [-0.02123613 0.99973829 -0.00850725 -0.16316729] [ 0.00243347 0.00856083 0.99996039 -0.17813589] [ 0. 0. 0. 1. ]] SLAMing on 4.401193817000001 meters Centerline goodness : 0.816094 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99979223 0.02015257 -0.0030616 1.60267264] [-0.02018037 0.99975276 -0.00933649 -0.16360823] [ 0.00287269 0.00939634 0.99995173 -0.17950074] [ 0. 0. 0. 1. ]] SLAMing on 4.4311938170000005 meters Centerline goodness : 0.816276 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99980273 0.01959734 -0.00323253 1.60293731] [-0.01962679 0.9997637 -0.00934564 -0.16479915] [ 0.00304862 0.00940724 0.9999511 -0.17931606] [ 0. 0. 0. 1. ]] SLAMing on 4.461193817000001 meters Centerline goodness : 0.816151 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99981171 0.01909731 -0.00344041 1.60299437] [-0.01912817 0.99977497 -0.00917192 -0.16657834] [ 0.00326448 0.009236 0.99995202 -0.1786902 ] [ 0. 0. 0. 1. ]] SLAMing on 4.491193817000001 meters Centerline goodness : 0.813873 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99988345 0.01487718 -0.00342924 1.60221993] [-0.01492119 0.99980172 -0.01318648 -0.16648241] [ 0.00323238 0.01323611 0.99990717 -0.17766522] [ 0. 0. 0. 1. ]] SLAMing on 4.521193817 meters Centerline goodness : 0.813503 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99989197 0.01423962 -0.00364407 1.60301936] [-0.01428833 0.99980394 -0.01370881 -0.16595496] [ 0.00344814 0.0137594 0.99989939 -0.17810066] [ 0. 0. 0. 1. ]] SLAMing on 4.551193817000001 meters Centerline goodness : 0.811707 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.18 [[ 0.99989932 0.01364694 -0.00388763 1.60396578] [-0.01370157 0.99980255 -0.0143916 -0.16505171] [ 0.00369046 0.01444342 0.99988888 -0.17870326] [ 0. 0. 0. 1. ]] SLAMing on 4.581193817000001 meters Centerline goodness : 0.809955 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.18 [[ 0.99990513 0.01312716 -0.00417342 1.60489572] [-0.01318887 0.9997987 -0.01512017 -0.16391463] [ 0.00397409 0.01517378 0.99987697 -0.17920324] [ 0. 0. 0. 1. ]] SLAMing on 4.611193817000001 meters Centerline goodness : 0.809835 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99991492 0.0122175 -0.00457109 1.60652145] [-0.01229174 0.99978694 -0.01658251 -0.16123428] [ 0.00436751 0.01663729 0.99985205 -0.18021642] [ 0. 0. 0. 1. ]] SLAMing on 4.641193817 meters Centerline goodness : 0.806435 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99991944 0.01175099 -0.00479949 1.60729978] [-0.01183241 0.99978029 -0.01730208 -0.15977857] [ 0.00459511 0.01735747 0.99983879 -0.18062341] [ 0. 0. 0. 1. ]] SLAMing on 4.671193817000001 meters Centerline goodness : 0.808571 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99992585 0.01108997 -0.00503001 1.60832302] [-0.01117921 0.99977413 -0.01807506 -0.15848214] [ 0.00482842 0.01812995 0.99982398 -0.1813159 ] [ 0. 0. 0. 1. ]] SLAMing on 4.701193817000001 meters Centerline goodness : 0.804657 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.9999395 0.00945927 -0.00561453 1.61030686] [-0.00956669 0.99976555 -0.01942483 -0.15713194] [ 0.00542947 0.01947737 0.99979556 -0.18221408] [ 0. 0. 0. 1. ]] SLAMing on 4.731193817 meters Centerline goodness : 0.805246 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99994246 0.00893288 -0.00593992 1.61119256] [-0.00904872 0.9997636 -0.01977017 -0.15688507] [ 0.00576191 0.01982278 0.99978691 -0.18248297] [ 0. 0. 0. 1. ]] SLAMing on 4.7611938170000005 meters Centerline goodness : 0.804562 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.18 [[ 0.99994843 0.00800396 -0.0062512 1.61281041] [-0.00813122 0.99975463 -0.02060501 -0.15615064] [ 0.00608475 0.02065478 0.99976815 -0.1836867 ] [ 0. 0. 0. 1. ]] SLAMing on 4.791193817000001 meters Centerline goodness : 0.805058 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.19 [[ 0.99995343 0.00696946 -0.00667493 1.61481651] [-0.00711148 0.99974368 -0.02149425 -0.15541889] [ 0.00652341 0.02154072 0.99974669 -0.18512153] [ 0. 0. 0. 1. ]] SLAMing on 4.821193817000001 meters Centerline goodness : 0.805501 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99996017 0.00545349 -0.00706575 1.61750552] [-0.00561424 0.99972124 -0.02293315 -0.15318111] [ 0.00693871 0.0229719 0.99971203 -0.18739482] [ 0. 0. 0. 1. ]] SLAMing on 4.851193817 meters Centerline goodness : 0.805501 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99996017 0.00545349 -0.00706575 1.61750552] [-0.00561424 0.99972124 -0.02293315 -0.15318111] [ 0.00693871 0.0229719 0.99971203 -0.18739482] [ 0. 0. 0. 1. ]] SLAMing on 4.881193817000001 meters Centerline goodness : 0.804425 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99994457 0.00729561 -0.00759151 1.62032994] [-0.00745057 0.99976027 -0.02058884 -0.15304061] [ 0.00743949 0.02064426 0.99975921 -0.18939879] [ 0. 0. 0. 1. ]] SLAMing on 4.911193817000001 meters Centerline goodness : 0.803683 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:-0.19 [[ 0.99993 0.00867133 -0.00804978 1.62307231] [-0.00882232 0.99978215 -0.01891609 -0.15282435] [ 0.007884 0.01898578 0.99978867 -0.19136254] [ 0. 0. 0. 1. ]] SLAMing on 4.941193817000001 meters Centerline goodness : 0.804027 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99989933 0.01126311 -0.00862979 1.62550077] [-0.01140436 0.99979887 -0.01649713 -0.15143936] [ 0.00844225 0.01659388 0.99982667 -0.19259751] [ 0. 0. 0. 1. ]] SLAMing on 4.9711938170000005 meters Centerline goodness : 0.803433 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99986131 0.01398585 -0.00904237 1.627399 ] [-0.01411031 0.99980453 -0.01384943 -0.15028474] [ 0.0088469 0.0139751 0.99986321 -0.19365397] [ 0. 0. 0. 1. ]] SLAMing on 5.001193817000001 meters Centerline goodness : 0.802917 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99980738 0.01736159 -0.0091531 1.62790823] [-0.01745848 0.99979125 -0.01061399 -0.14877535] [ 0.00896691 0.01077174 0.99990178 -0.19370045] [ 0. 0. 0. 1. ]] SLAMing on 5.031193817000001 meters Centerline goodness : 0.805198 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.19 [[ 0.99974057 0.02083181 -0.00920997 1.62807105] [-0.0208989 0.99975531 -0.00724992 -0.14707109] [ 0.00905669 0.00744051 0.99993131 -0.19330282] [ 0. 0. 0. 1. ]] SLAMing on 5.061193817 meters Centerline goodness : 0.805772 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.20 [[ 0.99967794 0.02520003 -0.00299535 1.6376314 ] [-0.02523836 0.99958985 -0.01353338 -0.14038007] [ 0.00265307 0.01360462 0.99990393 -0.19522986] [ 0. 0. 0. 1. ]] SLAMing on 5.091193817000001 meters Centerline goodness : 0.806478 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.19 [[ 0.99958334 0.0287143 -0.00293936 1.63759189] [-0.02874313 0.99953389 -0.01028715 -0.13867575] [ 0.0026426 0.01036735 0.99994277 -0.19477379] [ 0. 0. 0. 1. ]] SLAMing on 5.121193817000001 meters Centerline goodness : 0.809467 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.14, Z:-0.19 [[ 0.99957703 0.02894262 -0.00284453 1.63721057] [-0.0289726 0.99951819 -0.01113442 -0.13517784] [ 0.0025209 0.01121213 0.99993396 -0.19425535] [ 0. 0. 0. 1. ]] SLAMing on 5.151193817000001 meters Centerline goodness : 0.812378 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.13, Z:-0.19 [[ 0.99946722 0.03252439 -0.00272752 1.63722206] [-0.03254439 0.99944109 -0.00763968 -0.13416534] [ 0.00247752 0.00772438 0.9999671 -0.19400965] [ 0. 0. 0. 1. ]] SLAMing on 5.1811938170000005 meters Centerline goodness : 0.817939 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.99934401 0.03609117 0.00299502 1.64763799] [-0.03604127 0.99923297 -0.01531326 -0.12930862] [-0.00354539 0.01519527 0.99987826 -0.19736323] [ 0. 0. 0. 1. ]] SLAMing on 5.211193817000001 meters Centerline goodness : 0.820096 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.99923922 0.03890315 0.00274368 1.64987728] [-0.03886532 0.99916367 -0.01270594 -0.12832728] [-0.00323569 0.01258964 0.99991551 -0.19914112] [ 0. 0. 0. 1. ]] SLAMing on 5.241193817000001 meters Centerline goodness : 0.820154 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.9991214 0.04183325 0.00253174 1.65238024] [-0.04180598 0.99907566 -0.0100047 -0.12743042] [-0.00294793 0.00989007 0.99994675 -0.20134692] [ 0. 0. 0. 1. ]] SLAMing on 5.271193817 meters Centerline goodness : 0.821959 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.13, Z:-0.20 [[ 0.999102 0.04230371 0.00236348 1.65352612] [-0.04227692 0.99905159 -0.01042011 -0.12536437] [-0.00280204 0.01031083 0.99994292 -0.20248068] [ 0. 0. 0. 1. ]] SLAMing on 5.301193817000001 meters Centerline goodness : 0.824086 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.20 [[ 0.99894306 0.0459208 0.0020112 1.65628424] [-0.04590584 0.99892162 -0.00694564 -0.12629254] [-0.00232798 0.00684597 0.99997386 -0.20467719] [ 0. 0. 0. 1. ]] SLAMing on 5.331193817000001 meters Centerline goodness : 0.825056 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 0.99892892 0.04623619 0.00179708 1.65707854] [-0.04622367 0.99891014 -0.00647411 -0.12793452] [-0.00209446 0.0063841 0.99997743 -0.2051883 ] [ 0. 0. 0. 1. ]] SLAMing on 5.361193817000001 meters Centerline goodness : 0.825597 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 0.99891065 0.04663433 0.00166104 1.6577342 ] [-0.04662402 0.99889577 -0.00578207 -0.13015548] [-0.00192885 0.00569833 0.9999819 -0.20571592] [ 0. 0. 0. 1. ]] SLAMing on 5.391193817 meters Centerline goodness : 0.827862 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.21 [[ 9.98889368e-01 4.70912267e-02 1.56450476e-03 1.65839975e+00] [-4.70827974e-02 9.98878240e-01 -5.04688583e-03 -1.32009738e-01] [-1.80041380e-03 4.96761933e-03 9.99986041e-01 -2.06352248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421193817000001 meters Centerline goodness : 0.829894 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98799359e-01 4.89642180e-02 1.53140927e-03 1.65909862e+00] [-4.89599025e-02 9.98796990e-01 -2.73883199e-03 -1.36064759e-01] [-1.66367174e-03 2.66056599e-03 9.99995077e-01 -2.07172709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451193817000001 meters Centerline goodness : 0.831127 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98757466e-01 4.98102604e-02 1.56891949e-03 1.65915092e+00] [-4.98079684e-02 9.98757735e-01 -1.46760108e-03 -1.39497586e-01] [-1.64007207e-03 1.38763284e-03 9.99997692e-01 -2.07289281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481193817000001 meters Centerline goodness : 0.834220 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.14, Z:-0.21 [[ 9.98869681e-01 4.75074340e-02 1.55032639e-03 1.65854526e+00] [-4.75013082e-02 9.98864046e-01 -3.77414187e-03 -1.43108920e-01] [-1.72786508e-03 3.69623335e-03 9.99991676e-01 -2.06971049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5111938170000005 meters Centerline goodness : 0.836710 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:-0.21 [[ 9.98924003e-01 4.63662607e-02 1.00284438e-03 1.65932108e+00] [-4.63613224e-02 9.98914659e-01 -4.48691945e-03 -1.49282186e-01] [-1.20979762e-03 4.43559835e-03 9.99989431e-01 -2.07152373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541193817000001 meters Centerline goodness : 0.839428 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:-0.21 [[ 9.99048649e-01 4.35973693e-02 1.03246416e-03 1.65871571e+00] [-4.35897524e-02 9.99028298e-01 -6.51102908e-03 -1.54482799e-01] [-1.31532466e-03 6.45982995e-03 9.99978270e-01 -2.06912036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571193817000001 meters Centerline goodness : 0.842127 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.21 [[ 9.99199161e-01 4.00040797e-02 8.42883983e-04 1.65992496e+00] [-3.99972493e-02 9.99175463e-01 -6.97243224e-03 -1.66861398e-01] [-1.12111473e-03 6.93313540e-03 9.99975337e-01 -2.07950951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601193817 meters Centerline goodness : 0.845151 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:-0.21 [[ 9.99333195e-01 3.65106554e-02 3.70246483e-04 1.66186088e+00] [-3.65057373e-02 9.99291467e-01 -9.15946257e-03 -1.72910008e-01] [-7.04402132e-04 9.13983888e-03 9.99957983e-01 -2.09569389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631193817000001 meters Centerline goodness : 0.847904 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:-0.21 [[ 9.99573526e-01 2.92016548e-02 -1.73513628e-04 1.66374458e+00] [-2.92013582e-02 9.99483768e-01 -1.33969189e-02 -1.85395113e-01] [-2.17788147e-04 1.33962723e-02 9.99910242e-01 -2.10912698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661193817000001 meters Centerline goodness : 0.849293 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:-0.21 [[ 9.99667079e-01 2.57994644e-02 -3.44115741e-04 1.66346955e+00] [-2.58017033e-02 9.99548241e-01 -1.54138223e-02 -1.91788194e-01] [-5.37080767e-05 1.54175695e-02 9.99881141e-01 -2.10301766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691193817000001 meters Centerline goodness : 0.852561 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99751784e-01 2.22706127e-02 -6.24823193e-04 1.66339730e+00] [-2.22781933e-02 9.99594459e-01 -1.77369305e-02 -1.97444400e-01] [ 2.29557492e-04 1.77464479e-02 9.99842493e-01 -2.09653484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7211938170000005 meters Centerline goodness : 0.856372 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99821211e-01 1.88988043e-02 -6.17018572e-04 1.66271247e+00] [-1.89074075e-02 9.99617658e-01 -2.01754457e-02 -2.01881837e-01] [ 2.35490859e-04 2.01835048e-02 9.99796265e-01 -2.08940607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751193817000001 meters Centerline goodness : 0.856259 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.20, Z:-0.21 [[ 9.99884791e-01 1.51639669e-02 -6.77002741e-04 1.66283456e+00] [-1.51756463e-02 9.99611858e-01 -2.33630800e-02 -2.04581102e-01] [ 3.22462997e-04 2.33706623e-02 9.99726817e-01 -2.09130369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781193817000001 meters Centerline goodness : 0.858306 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.21, Z:-0.21 [[ 9.99967433e-01 7.93427078e-03 -1.47686888e-03 1.65812213e+00] [-7.95775168e-03 9.99829922e-01 -1.66373513e-02 -2.10542375e-01] [ 1.34461244e-03 1.66485620e-02 9.99860499e-01 -2.11766725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811193817 meters Centerline goodness : 0.861951 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.21, Z:-0.21 [[ 9.99970245e-01 7.54018841e-03 -1.62911448e-03 1.65901987e+00] [-7.56550164e-03 9.99841203e-01 -1.61348270e-02 -2.13702888e-01] [ 1.50719614e-03 1.61466720e-02 9.99868498e-01 -2.12351352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841193817000001 meters Centerline goodness : 0.864454 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997663 0.00647946 -0.00217964 1.6615736 ] [-0.00651491 0.9998398 -0.01667133 -0.21550285] [ 0.00207127 0.01668514 0.99985865 -0.21414504] [ 0. 0. 0. 1. ]] SLAMing on 5.871193817000001 meters Centerline goodness : 0.864433 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997773 0.0062737 -0.00227753 1.66196023] [-0.00631003 0.9998471 -0.0163085 -0.2169709 ] [ 0.00217487 0.01632251 0.99986441 -0.21429562] [ 0. 0. 0. 1. ]] SLAMing on 5.901193817000001 meters Centerline goodness : 0.866207 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99997995 0.00577456 -0.00259931 1.66297823] [-0.00581603 0.99985124 -0.01623782 -0.21845331] [ 0.00250515 0.01625261 0.99986478 -0.21464051] [ 0. 0. 0. 1. ]] SLAMing on 5.9311938170000005 meters Centerline goodness : 0.868387 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99998143 0.0055162 -0.00259061 1.66225618] [-0.00555498 0.9998689 -0.01520962 -0.2232799 ] [ 0.00250637 0.01522373 0.99988097 -0.21304953] [ 0. 0. 0. 1. ]] SLAMing on 5.961193817000001 meters Centerline goodness : 0.878564 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.22, Z:-0.21 [[ 0.99998197 0.00528646 -0.00284687 1.66288323] [-0.00532871 0.99987268 -0.01504086 -0.2248521 ] [ 0.002767 0.01505576 0.99988283 -0.21305933] [ 0. 0. 0. 1. ]] SLAMing on 5.991193817000001 meters Centerline goodness : 0.880310 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.23, Z:-0.21 [[ 0.99998244 0.00513365 -0.00295962 1.66331351] [-0.00517704 0.99987641 -0.01484472 -0.22547167] [ 0.00288305 0.01485978 0.99988543 -0.21315533] [ 0. 0. 0. 1. ]] SLAMing on 6.021193817000001 meters Centerline goodness : 0.882104 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.23, Z:-0.21 [[ 0.99998349 0.00483242 -0.00311049 1.66411841] [-0.00487778 0.99987937 -0.01474628 -0.22591043] [ 0.00303886 0.0147612 0.99988643 -0.21363611] [ 0. 0. 0. 1. ]] SLAMing on 6.051193817000001 meters Centerline goodness : 0.885465 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 0.99999131 0.0025065 -0.00333134 1.66680678] [-0.00255901 0.99987105 -0.01585327 -0.22635724] [ 0.00329118 0.01586165 0.99986878 -0.2156778 ] [ 0. 0. 0. 1. ]] SLAMing on 6.081193817000001 meters Centerline goodness : 0.887325 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 0.99999249 0.00179357 -0.00343695 1.66747684] [-0.00184824 0.99987076 -0.01597048 -0.22672102] [ 0.00340786 0.01597671 0.99986656 -0.21597209] [ 0. 0. 0. 1. ]] SLAMing on 6.111193817000001 meters Centerline goodness : 0.889078 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.23, Z:-0.22 [[ 9.99992903e-01 9.92775272e-04 -3.63439219e-03 1.66828351e+00] [-1.05218505e-03 9.99865264e-01 -1.63813010e-02 -2.26286819e-01] [ 3.61763956e-03 1.63850088e-02 9.99859212e-01 -2.16251978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141193817 meters Centerline goodness : 0.890188 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 9.99990364e-01 -1.13155191e-03 -4.24158759e-03 1.67066211e+00] [ 1.05267287e-03 9.99827326e-01 -1.85529101e-02 -2.22570968e-01] [ 4.26184876e-03 1.85482663e-02 9.99818883e-01 -2.17138642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171193817000001 meters Centerline goodness : 0.891541 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 9.99989139e-01 1.53187811e-03 -4.40179609e-03 1.67119851e+00] [-1.60007887e-03 9.99878086e-01 -1.55323276e-02 -2.21497898e-01] [ 4.37746581e-03 1.55392021e-02 9.99869677e-01 -2.16889194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201193817000001 meters Centerline goodness : 0.892033 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.22, Z:-0.22 [[ 0.99998208 0.00322538 -0.00504337 1.67390471] [-0.00329411 0.99990101 -0.01367882 -0.21895998] [ 0.00499875 0.01369519 0.99989372 -0.21828527] [ 0. 0. 0. 1. ]] SLAMing on 6.231193817000001 meters Centerline goodness : 0.892578 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.21, Z:-0.22 [[ 0.99997611 0.00391872 -0.00569409 1.6772786 ] [-0.00399216 0.99990825 -0.01294399 -0.21475357] [ 0.00564284 0.01296642 0.99990001 -0.22030418] [ 0. 0. 0. 1. ]] SLAMing on 6.2611938170000005 meters Centerline goodness : 0.891452 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.20, Z:-0.22 [[ 0.99997024 0.00309845 -0.00706557 1.68300348] [-0.0031971 0.99989699 -0.01399274 -0.20302159] [ 0.00702149 0.01401491 0.99987713 -0.22279751] [ 0. 0. 0. 1. ]] SLAMing on 6.291193817000001 meters Centerline goodness : 0.889628 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.20, Z:-0.22 [[ 0.99995903 0.00474098 -0.0077113 1.68623946] [-0.00484164 0.99990263 -0.01308806 -0.1968367 ] [ 0.0076485 0.01312486 0.99988461 -0.22496856] [ 0. 0. 0. 1. ]] SLAMing on 6.321193817000001 meters Centerline goodness : 0.887404 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.19, Z:-0.23 [[ 0.99994494 0.00635866 -0.0083483 1.68954575] [-0.0064613 0.99990317 -0.01232517 -0.1901976 ] [ 0.00826912 0.01237843 0.99988919 -0.2272654 ] [ 0. 0. 0. 1. ]] SLAMing on 6.351193817 meters Centerline goodness : 0.885015 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.18, Z:-0.23 [[ 0.99993247 0.0051129 -0.01043661 1.69715688] [-0.00524615 0.99990457 -0.01278005 -0.17559322] [ 0.01037027 0.01283394 0.99986386 -0.22889072] [ 0. 0. 0. 1. ]] SLAMing on 6.381193817000001 meters Centerline goodness : 0.885135 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.17, Z:-0.23 [[ 0.99992252 0.00577573 -0.01102659 1.70001722] [-0.00591103 0.99990716 -0.01227759 -0.16990589] [ 0.01095466 0.01234182 0.99986383 -0.23048365] [ 0. 0. 0. 1. ]] SLAMing on 6.411193817000001 meters Centerline goodness : 0.887084 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.16, Z:-0.23 [[ 0.99992791 0.00427637 -0.01121958 1.70081569] [-0.00444001 0.99988354 -0.01460112 -0.16308965] [ 0.01115583 0.01464989 0.99983045 -0.23076386] [ 0. 0. 0. 1. ]] SLAMing on 6.441193817000001 meters Centerline goodness : 0.882499 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.16, Z:-0.23 [[ 0.99992203 0.00437838 -0.01169499 1.70356515] [-0.00454775 0.99988459 -0.01449538 -0.15757212] [ 0.01163017 0.01454743 0.99982654 -0.23239885] [ 0. 0. 0. 1. ]] SLAMing on 6.4711938170000005 meters Centerline goodness : 0.884037 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.14, Z:-0.23 [[ 9.99884362e-01 7.19526164e-04 -1.51903163e-02 1.71425055e+00] [-9.55539213e-04 9.99878860e-01 -1.55355367e-02 -1.43753957e-01] [ 1.51772979e-02 1.55482551e-02 9.99763923e-01 -2.33127257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501193817000001 meters Centerline goodness : 0.880243 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.14, Z:-0.23 [[ 0.99987526 0.00267166 -0.01556668 1.71638922] [-0.00289184 0.99989586 -0.0141391 -0.13867735] [ 0.01552728 0.01418235 0.99977886 -0.23454598] [ 0. 0. 0. 1. ]] SLAMing on 6.531193817000001 meters Centerline goodness : 0.882199 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.24 [[ 0.99985978 0.00455029 -0.01611598 1.71873748] [-0.00476059 0.99990371 -0.01303508 -0.13292092] [ 0.01605512 0.01310997 0.99978516 -0.23578927] [ 0. 0. 0. 1. ]] SLAMing on 6.561193817000001 meters Centerline goodness : 0.883342 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.13, Z:-0.24 [[ 0.99984087 0.00681015 -0.01648825 1.720563 ] [-0.00700396 0.99990673 -0.01172529 -0.12681668] [ 0.01640686 0.01183891 0.99979531 -0.2368123 ] [ 0. 0. 0. 1. ]] SLAMing on 6.591193817000001 meters Centerline goodness : 0.884325 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:-0.24 [[ 0.99981568 0.00929668 -0.01679788 1.72179081] [-0.00947401 0.99989991 -0.01050803 -0.11957363] [ 0.01669851 0.01066524 0.99980369 -0.23725742] [ 0. 0. 0. 1. ]] SLAMing on 6.621193817000001 meters Centerline goodness : 0.833693 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.10, Z:-0.24 [[ 0.99983158 0.01435707 -0.01143222 1.73585804] [-0.01450161 0.99981468 -0.01266172 -0.09991429] [ 0.01124831 0.01282537 0.99985448 -0.23987498] [ 0. 0. 0. 1. ]] SLAMing on 6.651193817000001 meters Centerline goodness : 0.840164 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.09, Z:-0.24 [[ 0.99978917 0.01689782 -0.01166571 1.73702014] [-0.01703432 0.99978643 -0.01170188 -0.09141543] [ 0.01146549 0.01189813 0.99986348 -0.24027929] [ 0. 0. 0. 1. ]] SLAMing on 6.6811938170000005 meters Centerline goodness : 0.845043 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.08, Z:-0.24 [[ 0.99974125 0.01938434 -0.01190263 1.73801637] [-0.0195118 0.9997525 -0.01068763 -0.08396812] [ 0.01169251 0.01091711 0.99987204 -0.24051046] [ 0. 0. 0. 1. ]] SLAMing on 6.711193817000001 meters Centerline goodness : 0.837450 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.08, Z:-0.24 [[ 0.99969067 0.02173618 -0.01208755 1.73896358] [-0.02185405 0.99971405 -0.00970663 -0.07690393] [ 0.01187311 0.00996779 0.99987983 -0.24073202] [ 0. 0. 0. 1. ]] SLAMing on 6.741193817000001 meters Centerline goodness : 0.839742 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.06, Z:-0.24 [[ 0.99971318 0.02314152 -0.00616616 1.75238617] [-0.02324203 0.99958937 -0.01676023 -0.05915912] [ 0.00577577 0.01689873 0.99984052 -0.24425979] [ 0. 0. 0. 1. ]] SLAMing on 6.771193817000001 meters Centerline goodness : 0.839742 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.06, Z:-0.24 [[ 0.99971318 0.02314152 -0.00616616 1.75238617] [-0.02324203 0.99958937 -0.01676023 -0.05915912] [ 0.00577577 0.01689873 0.99984052 -0.24425979] [ 0. 0. 0. 1. ]] SLAMing on 6.801193817000001 meters Centerline goodness : 0.843122 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:-0.24 [[ 0.99966729 0.02500688 -0.00632259 1.75352595] [-0.02510542 0.99955647 -0.01601819 -0.05160091] [ 0.00591922 0.01617159 0.99985171 -0.24468293] [ 0. 0. 0. 1. ]] SLAMing on 6.831193817000001 meters Centerline goodness : 0.841526 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:-0.25 [[ 0.99961853 0.0268382 -0.00652016 1.75465663] [-0.02693488 0.99952128 -0.01522234 -0.04410218] [ 0.0061085 0.01539216 0.99986287 -0.24501148] [ 0. 0. 0. 1. ]] SLAMing on 6.861193817000001 meters Centerline goodness : 0.843403 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.24 [[ 0.99956368 0.02813433 -0.00899483 1.76058333] [-0.02824943 0.9995172 -0.01293619 -0.02822249] [ 0.00862654 0.01318464 0.99987587 -0.24373416] [ 0. 0. 0. 1. ]] SLAMing on 6.891193817 meters Centerline goodness : 0.845828 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:-0.24 [[ 0.99951751 0.02960315 -0.00940168 1.76269743] [-0.02971963 0.9994801 -0.01250085 -0.02047787] [ 0.00902673 0.01277424 0.99987766 -0.24477246] [ 0. 0. 0. 1. ]] SLAMing on 6.921193817000001 meters Centerline goodness : 0.843962 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.01, Z:-0.25 [[ 0.99945957 0.03139842 -0.00973213 1.76434862] [-0.03151367 0.99943219 -0.0119241 -0.01271529] [ 0.00935221 0.01222435 0.99988154 -0.24542981] [ 0. 0. 0. 1. ]] SLAMing on 6.951193817000001 meters Centerline goodness : 0.862365 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.01, Z:-0.25 [[ 0.99938971 0.03348303 -0.00995479 1.76577108] [-0.03359336 0.9993736 -0.01113097 -0.00555941] [ 0.00957585 0.01145859 0.9998885 -0.24602854] [ 0. 0. 0. 1. ]] SLAMing on 6.981193817000001 meters Centerline goodness : 0.861107 Centerline is valid? [False, False] Translation: X:1.77, Y:0.01, Z:-0.25 [[ 0.99926814 0.03620291 -0.01235076 1.77063675] [-0.03640755 0.99919635 -0.01676722 0.01134396] [ 0.01173381 0.01720461 0.99978314 -0.24748333] [ 0. 0. 0. 1. ]] SLAMing on 7.0111938170000005 meters Centerline goodness : 0.860807 Centerline is valid? [False, False] Translation: X:1.77, Y:0.02, Z:-0.25 [[ 0.9991626 0.03899579 -0.01238674 1.77213377] [-0.03918661 0.99911083 -0.01555525 0.01794332] [ 0.01176914 0.01602762 0.99980228 -0.24837725] [ 0. 0. 0. 1. ]] SLAMing on 7.041193817000001 meters Centerline goodness : 0.859188 Centerline is valid? [False, False] Translation: X:1.77, Y:0.03, Z:-0.25 [[ 0.99907075 0.0412022 -0.0126499 1.77445325] [-0.04138972 0.9990314 -0.01493837 0.02517814] [ 0.01202215 0.01544806 0.99980839 -0.24961531] [ 0. 0. 0. 1. ]] SLAMing on 7.071193817000001 meters Centerline goodness : 0.857910 Centerline is valid? [False, False] Translation: X:1.78, Y:0.03, Z:-0.25 [[ 0.998963 0.04370993 -0.01274208 1.77613515] [-0.04388508 0.99894118 -0.01380629 0.03250079] [ 0.01212512 0.01435117 0.9998235 -0.25061952] [ 0. 0. 0. 1. ]] SLAMing on 7.101193817000001 meters Centerline goodness : 0.859828 Centerline is valid? [False, False] Translation: X:1.78, Y:0.04, Z:-0.25 [[ 0.99866269 0.05009717 -0.01277141 1.77748046] [-0.05022849 0.9986859 -0.01017688 0.04440886] [ 0.01224479 0.01080476 0.99986665 -0.25042269] [ 0. 0. 0. 1. ]] SLAMing on 7.131193817000001 meters Centerline goodness : 0.857785 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99846858 0.05382416 -0.01278494 1.77793781] [-0.05392235 0.99851724 -0.00746353 0.04804029] [ 0.01236427 0.00814149 0.99989041 -0.25028067] [ 0. 0. 0. 1. ]] SLAMing on 7.161193817000001 meters Centerline goodness : 0.857826 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99823997 0.05791898 -0.01274162 1.77816016] [-0.0579792 0.99830806 -0.00440878 0.05185747] [ 0.01246471 0.00513977 0.9999091 -0.24976323] [ 0. 0. 0. 1. ]] SLAMing on 7.191193817000001 meters Centerline goodness : 0.860367 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 9.97873757e-01 6.40491308e-02 -1.20695663e-02 1.77636974e+00] [-6.40410893e-02 9.97946708e-01 1.05197185e-03 5.53365816e-02] [ 1.21121619e-02 -2.76786929e-04 9.99926607e-01 -2.48085952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2211938170000005 meters Centerline goodness : 0.857299 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99729612 0.07258894 -0.0114583 1.7763655 ] [-0.0725004 0.9973366 0.00796202 0.06014362] [ 0.01200573 -0.00710976 0.99990265 -0.24779946] [ 0. 0. 0. 1. ]] SLAMing on 7.251193817000001 meters Centerline goodness : 0.855145 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99703161 0.07613755 -0.01144773 1.77843133] [-0.07601118 0.99704521 0.01109684 0.0608694 ] [ 0.01225879 -0.01019375 0.9998729 -0.24963025] [ 0. 0. 0. 1. ]] SLAMing on 7.281193817000001 meters Centerline goodness : 0.852093 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99694965 0.07718409 -0.01157629 1.77964232] [-0.07705448 0.99696337 0.01125344 0.06205972] [ 0.01240972 -0.01032711 0.99986967 -0.25073019] [ 0. 0. 0. 1. ]] SLAMing on 7.311193817000001 meters Centerline goodness : 0.852004 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99688646 0.07796978 -0.01175166 1.78071962] [-0.07783469 0.99689942 0.01154562 0.06230808] [ 0.01261543 -0.01059498 0.99986429 -0.25160557] [ 0. 0. 0. 1. ]] SLAMing on 7.341193817000001 meters Centerline goodness : 0.849552 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99683209 0.07864384 -0.01187171 1.78164188] [-0.07850075 0.99684094 0.01207336 0.06143769] [ 0.0127837 -0.01110318 0.99985664 -0.25249599] [ 0. 0. 0. 1. ]] SLAMing on 7.371193817000001 meters Centerline goodness : 0.848411 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:-0.25 [[ 0.99665593 0.0808373 -0.01192884 1.78332512] [-0.08065788 0.99663157 0.01482602 0.0555714 ] [ 0.01308715 -0.01381428 0.99981893 -0.25432293] [ 0. 0. 0. 1. ]] SLAMing on 7.401193817000001 meters Centerline goodness : 0.843351 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.25 [[ 0.99687587 0.07801331 -0.0123462 1.78380229] [-0.07786771 0.99689309 0.01186551 0.05352712] [ 0.01323351 -0.01086707 0.99985338 -0.25460995] [ 0. 0. 0. 1. ]] SLAMing on 7.4311938170000005 meters Centerline goodness : 0.844549 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:-0.26 [[ 0.9970943 0.07508998 -0.01282421 1.78454449] [-0.07497636 0.99714358 0.0091227 0.05072041] [ 0.01347261 -0.00813467 0.99987615 -0.25506772] [ 0. 0. 0. 1. ]] SLAMing on 7.461193817000001 meters Centerline goodness : 0.843188 Centerline is valid? [False, False] Translation: X:1.78, Y:0.04, Z:-0.26 [[ 0.99706573 0.0754783 -0.01276512 1.78469852] [-0.07534383 0.99710013 0.01070671 0.04479842] [ 0.01353623 -0.00971352 0.9998612 -0.25543947] [ 0. 0. 0. 1. ]] SLAMing on 7.491193817000001 meters Centerline goodness : 0.843297 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.26 [[ 0.99727298 0.07346459 -0.00703908 1.79663926] [-0.07334368 0.9971764 0.01612245 0.02996712] [ 0.00820363 -0.01556222 0.99984525 -0.25576838] [ 0. 0. 0. 1. ]] SLAMing on 7.521193817000001 meters Centerline goodness : 0.844586 Centerline is valid? [False, False] Translation: X:1.80, Y:0.03, Z:-0.26 [[ 0.99751338 0.07012074 -0.00708129 1.79607097] [-0.07001921 0.99745169 0.01369083 0.02547499] [ 0.00802326 -0.01316096 0.9998812 -0.25554016] [ 0. 0. 0. 1. ]] SLAMing on 7.551193817000001 meters Centerline goodness : 0.846241 Centerline is valid? [False, False] Translation: X:1.80, Y:0.02, Z:-0.26 [[ 0.99774369 0.06675028 -0.0072066 1.79576227] [-0.06666695 0.99771194 0.01124287 0.02097902] [ 0.00794058 -0.01073706 0.99991083 -0.25552903] [ 0. 0. 0. 1. ]] SLAMing on 7.581193817000001 meters Centerline goodness : 0.845835 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:-0.26 [[ 0.99813564 0.0605792 -0.00744375 1.79574256] [-0.06053084 0.99814477 0.00655944 0.01252235] [ 0.00782731 -0.00609663 0.99995078 -0.25602822] [ 0. 0. 0. 1. ]] SLAMing on 7.611193817000001 meters Centerline goodness : 0.844090 Centerline is valid? [False, False] Translation: X:1.80, Y:0.01, Z:-0.26 [[ 0.99831711 0.05747638 -0.00770771 1.79615509] [-0.0574449 0.99833965 0.00424545 0.00778749] [ 0.00793893 -0.00379553 0.99996128 -0.25661208] [ 0. 0. 0. 1. ]] SLAMing on 7.641193817000001 meters Centerline goodness : 0.843857 Centerline is valid? [False, False] Translation: X:1.80, Y:0.00, Z:-0.26 [[ 9.98478611e-01 5.45560985e-02 -8.00601299e-03 1.79645240e+00] [-5.45401516e-02 9.98509161e-01 2.19702101e-03 2.14644983e-03] [ 8.11393821e-03 -1.75702932e-03 9.99965538e-01 -2.56998838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671193817000001 meters Centerline goodness : 0.843378 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.26 [[ 9.98633063e-01 5.16124291e-02 -8.25603866e-03 1.79681225e+00] [-5.16120604e-02 9.98667176e-01 2.57847743e-04 -3.38885901e-03] [ 8.25834296e-03 1.68615884e-04 9.99965885e-01 -2.57557165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701193817000001 meters Centerline goodness : 0.847744 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.01, Z:-0.26 [[ 9.98747640e-01 4.93384050e-02 -8.29895165e-03 1.79682142e+00] [-4.93350891e-02 9.98782100e-01 6.03925005e-04 -1.43889438e-02] [ 8.31864105e-03 -1.93739155e-04 9.99965381e-01 -2.58544960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731193817000001 meters Centerline goodness : 0.847603 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.26 [[ 0.99889434 0.04622844 -0.0085461 1.79709672] [-0.04624574 0.9989284 -0.00183866 -0.01752285] [ 0.00845194 0.00223185 0.99996179 -0.25894524] [ 0. 0. 0. 1. ]] SLAMing on 7.7611938170000005 meters Centerline goodness : 0.846721 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.26 [[ 0.99902065 0.04331052 -0.00905171 1.79787766] [-0.04334662 0.99905275 -0.00383064 -0.02160586] [ 0.00887723 0.00421925 0.9999517 -0.25946422] [ 0. 0. 0. 1. ]] SLAMing on 7.791193817000001 meters Centerline goodness : 0.845749 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.03, Z:-0.26 [[ 0.99923945 0.03785646 -0.00934907 1.79771293] [-0.03791108 0.99926466 -0.00573519 -0.03468576] [ 0.00912508 0.00608526 0.99993985 -0.26026745] [ 0. 0. 0. 1. ]] SLAMing on 7.821193817000001 meters Centerline goodness : 0.846908 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.26 [[ 0.9993635 0.0343373 -0.00967201 1.79812526] [-0.03440292 0.99938557 -0.00670245 -0.04258834] [ 0.00943592 0.00703093 0.99993076 -0.26131477] [ 0. 0. 0. 1. ]] SLAMing on 7.851193817000001 meters Centerline goodness : 0.846494 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.05, Z:-0.26 [[ 0.99948318 0.03069976 -0.00953434 1.79752593] [-0.03077167 0.99949839 -0.00748873 -0.0505294 ] [ 0.00929965 0.00777825 0.9999265 -0.26211906] [ 0. 0. 0. 1. ]] SLAMing on 7.881193817000001 meters Centerline goodness : 0.847314 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.06, Z:-0.26 [[ 0.99959904 0.02667738 -0.00949116 1.79688032] [-0.02676044 0.99960371 -0.00873514 -0.05774025] [ 0.00925437 0.00898563 0.9999168 -0.2625244 ] [ 0. 0. 0. 1. ]] SLAMing on 7.911193817000001 meters Centerline goodness : 0.849494 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.06, Z:-0.26 [[ 0.99968677 0.02319663 -0.00939601 1.79609331] [-0.02329687 0.99967129 -0.01070355 -0.06374697] [ 0.00914463 0.0109191 0.99989857 -0.26199249] [ 0. 0. 0. 1. ]] SLAMing on 7.941193817000001 meters Centerline goodness : 0.851738 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.07, Z:-0.26 [[ 0.99982516 0.01625297 -0.00924662 1.79554612] [-0.01639494 0.99974558 -0.01549149 -0.07162043] [ 0.00899248 0.01564038 0.99983724 -0.26182668] [ 0. 0. 0. 1. ]] SLAMing on 7.971193817000001 meters Centerline goodness : 0.849225 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99983023 0.01569055 -0.00965965 1.79732811] [-0.01583448 0.99976198 -0.0150085 -0.07539827] [ 0.00942186 0.01515891 0.99984071 -0.26308064] [ 0. 0. 0. 1. ]] SLAMing on 8.001193817 meters Centerline goodness : 0.851339 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99982611 0.01579262 -0.00991724 1.79840877] [-0.01593303 0.99977163 -0.01424182 -0.0783498 ] [ 0.00969006 0.01439735 0.9998494 -0.26387573] [ 0. 0. 0. 1. ]] SLAMing on 8.031193817 meters Centerline goodness : 0.849504 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.26 [[ 0.99981973 0.01607858 -0.01009843 1.79925493] [-0.0162152 0.99977608 -0.01359621 -0.08047598] [ 0.00987756 0.01375751 0.99985657 -0.26453093] [ 0. 0. 0. 1. ]] SLAMing on 8.061193817000001 meters Centerline goodness : 0.849887 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99977424 0.01854373 -0.0103729 1.8016039 ] [-0.01865858 0.99976444 -0.01108675 -0.08145299] [ 0.01016486 0.01127779 0.99988474 -0.26654063] [ 0. 0. 0. 1. ]] SLAMing on 8.091193817 meters Centerline goodness : 0.850363 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99972414 0.02087013 -0.01077418 1.80401063] [-0.02096584 0.99974104 -0.00884803 -0.08061181] [ 0.01058673 0.00907148 0.99990281 -0.26828415] [ 0. 0. 0. 1. ]] SLAMing on 8.121193817000002 meters Centerline goodness : 0.849386 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.27 [[ 0.99963862 0.02459176 -0.01085688 1.80467904] [-0.02464972 0.99968243 -0.00523746 -0.08018037] [ 0.01072463 0.00550319 0.99992735 -0.26861936] [ 0. 0. 0. 1. ]] SLAMing on 8.151193817000001 meters Centerline goodness : 0.848977 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:-0.27 [[ 0.99955842 0.02752118 -0.01120487 1.80684367] [-0.02755303 0.9996167 -0.00269779 -0.079058 ] [ 0.01112632 0.00300532 0.99993358 -0.27006813] [ 0. 0. 0. 1. ]] SLAMing on 8.181193817 meters Centerline goodness : 0.846615 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.9994733 0.03153513 -0.00765827 1.82195304] [-0.03161007 0.99945154 -0.00987037 -0.07405424] [ 0.00734281 0.01010725 0.99992196 -0.27576592] [ 0. 0. 0. 1. ]] SLAMing on 8.211193817000002 meters Centerline goodness : 0.846787 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.99947851 0.03130484 -0.00791976 1.82327324] [-0.03138926 0.9994492 -0.01077061 -0.07163879] [ 0.00757823 0.01101359 0.99991063 -0.27679747] [ 0. 0. 0. 1. ]] SLAMing on 8.241193817000001 meters Centerline goodness : 0.847347 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.28 [[ 0.99948672 0.03098063 -0.00815474 1.82454481] [-0.03107344 0.99945081 -0.01151168 -0.06968563] [ 0.00779362 0.01175917 0.99990049 -0.27782011] [ 0. 0. 0. 1. ]] SLAMing on 8.271193817 meters Centerline goodness : 0.846800 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99942129 0.0328729 -0.00874433 1.82814305] [-0.03295667 0.99941053 -0.00961479 -0.06745917] [ 0.00842311 0.00989741 0.99991554 -0.28060198] [ 0. 0. 0. 1. ]] SLAMing on 8.301193817000001 meters Centerline goodness : 0.848008 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.9994192 0.03287778 -0.00896146 1.82895972] [-0.0329651 0.99940869 -0.00977609 -0.06663468] [ 0.00863475 0.01006583 0.99991206 -0.28106021] [ 0. 0. 0. 1. ]] SLAMing on 8.331193817 meters Centerline goodness : 0.847456 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941937 0.03280939 -0.0091901 1.82977059] [-0.03290037 0.9994093 -0.00993014 -0.06646991] [ 0.00885887 0.01022673 0.99990846 -0.28149099] [ 0. 0. 0. 1. ]] SLAMing on 8.361193817 meters Centerline goodness : 0.849033 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941316 0.03290898 -0.00950473 1.83060675] [-0.03300125 0.99940804 -0.00971996 -0.0674491 ] [ 0.00917923 0.01002792 0.99990759 -0.28178953] [ 0. 0. 0. 1. ]] SLAMing on 8.391193817000001 meters Centerline goodness : 0.849045 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.07, Z:-0.28 [[ 0.99941798 0.03254012 -0.01023968 1.8336323 ] [-0.03264348 0.99941609 -0.01009351 -0.06957201] [ 0.00990526 0.01042189 0.99989663 -0.28383173] [ 0. 0. 0. 1. ]] SLAMing on 8.421193817 meters Centerline goodness : 0.850748 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99934073 0.03463755 -0.01087832 1.83642665] [-0.03472441 0.9993657 -0.00790039 -0.07125789] [ 0.01059777 0.00827292 0.99990962 -0.28546942] [ 0. 0. 0. 1. ]] SLAMing on 8.451193817000002 meters Centerline goodness : 0.851595 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99923436 0.03746397 -0.01127624 1.83868574] [-0.03752218 0.99928331 -0.0049955 -0.07223894] [ 0.01108101 0.00541478 0.99992394 -0.28689048] [ 0. 0. 0. 1. ]] SLAMing on 8.481193817000001 meters Centerline goodness : 0.851695 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 0.99919962 0.0383483 -0.01138114 1.83909081] [-0.03840453 0.99925092 -0.0047639 -0.07126397] [ 0.01118993 0.00519717 0.99992388 -0.28705644] [ 0. 0. 0. 1. ]] SLAMing on 8.511193817 meters Centerline goodness : 0.850138 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 9.98976747e-01 4.36478885e-02 -1.18457460e-02 1.84019612e+00] [-4.36541961e-02 9.99046664e-01 -2.74317630e-04 -7.14704045e-02] [ 1.18224797e-02 7.91153455e-04 9.99929799e-01 -2.86564622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541193817000002 meters Centerline goodness : 0.848962 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.29 [[ 9.98936097e-01 4.43827017e-02 -1.25239415e-02 1.84148057e+00] [-4.43842552e-02 9.99014522e-01 1.54010751e-04 -7.26997966e-02] [ 1.25184349e-02 4.02018918e-04 9.99921561e-01 -2.86451833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571193817000001 meters Centerline goodness : 0.850628 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.29 [[ 0.99899182 0.04263012 -0.0140718 1.84370673] [-0.04266467 0.99908711 -0.00216395 -0.07701441] [ 0.01396671 0.00276214 0.99989865 -0.28578026] [ 0. 0. 0. 1. ]] SLAMing on 8.601193817 meters Centerline goodness : 0.853495 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.99907645 0.04057424 -0.01414126 1.84210152] [-0.04064305 0.99916308 -0.00461312 -0.07864421] [ 0.01394225 0.0051836 0.99988937 -0.28372306] [ 0. 0. 0. 1. ]] SLAMing on 8.631193817000002 meters Centerline goodness : 0.850976 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990869 0.0403261 -0.0141131 1.84156017] [-0.04038663 0.999176 -0.00403033 -0.08097163] [ 0.01393894 0.00459663 0.99989228 -0.28324367] [ 0. 0. 0. 1. ]] SLAMing on 8.661193817000001 meters Centerline goodness : 0.850976 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990869 0.0403261 -0.0141131 1.84156017] [-0.04038663 0.999176 -0.00403033 -0.08097163] [ 0.01393894 0.00459663 0.99989228 -0.28324367] [ 0. 0. 0. 1. ]] SLAMing on 8.691193817 meters Centerline goodness : 0.851531 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:-0.28 [[ 0.9990877 0.04031038 -0.01410078 1.84076927] [-0.04036219 0.9991793 -0.0034092 -0.0833032 ] [ 0.01395178 0.00397523 0.99989477 -0.28236721] [ 0. 0. 0. 1. ]] SLAMing on 8.721193817000001 meters Centerline goodness : 0.851619 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.28 [[ 0.99906827 0.04067717 -0.01442102 1.84096582] [-0.04071635 0.99916778 -0.00243347 -0.08630425] [ 0.01431003 0.00301838 0.99989305 -0.28198603] [ 0. 0. 0. 1. ]] SLAMing on 8.751193817 meters Centerline goodness : 0.851734 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.28 [[ 9.98954598e-01 4.28817584e-02 -1.58387412e-02 1.84324460e+00] [-4.28878720e-02 9.99079891e-01 -4.63687067e-05 -9.28525177e-02] [ 1.58221795e-02 7.25610140e-04 9.99874558e-01 -2.81624247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781193817000002 meters Centerline goodness : 0.853554 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 9.98882217e-01 4.42386484e-02 -1.66510778e-02 1.84505564e+00] [-4.42208459e-02 9.99020748e-01 1.43600686e-03 -9.61930185e-02] [ 1.66982992e-02 -6.98076971e-04 9.99860330e-01 -2.82083621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811193817000001 meters Centerline goodness : 0.851547 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 9.98912138e-01 4.29881154e-02 -1.80710457e-02 1.84776452e+00] [-4.30156382e-02 9.99073752e-01 -1.13692187e-03 -9.82368435e-02] [ 1.80054333e-02 1.91302262e-03 9.99836059e-01 -2.82163653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841193817 meters Centerline goodness : 0.851165 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.10, Z:-0.28 [[ 0.99895936 0.04129735 -0.01935788 1.84977211] [-0.04137737 0.99913655 -0.00375162 -0.10100505] [ 0.01918623 0.0045487 0.99980558 -0.28177032] [ 0. 0. 0. 1. ]] SLAMing on 8.871193817000002 meters Centerline goodness : 0.851348 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.28 [[ 0.99900518 0.03948882 -0.02071915 1.85185388] [-0.03962191 0.99919641 -0.00605291 -0.10501876] [ 0.02046348 0.00686782 0.99976701 -0.28141395] [ 0. 0. 0. 1. ]] SLAMing on 8.901193817000001 meters Centerline goodness : 0.853583 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.12, Z:-0.28 [[ 0.9990613 0.03810183 -0.0206101 1.8522531 ] [-0.03823747 0.99924928 -0.00622742 -0.11666588] [ 0.02035735 0.00700966 0.99976819 -0.28269087] [ 0. 0. 0. 1. ]] SLAMing on 8.931193817 meters Centerline goodness : 0.845164 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.12, Z:-0.29 [[ 0.99915553 0.03516646 -0.02124984 1.85577936] [-0.03534647 0.99934184 -0.00815543 -0.12224555] [ 0.02094905 0.00889965 0.99974093 -0.28562423] [ 0. 0. 0. 1. ]] SLAMing on 8.961193817000002 meters Centerline goodness : 0.851459 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.13, Z:-0.29 [[ 0.9992721 0.03118004 -0.02197919 1.85946032] [-0.03142206 0.99944836 -0.01075333 -0.12870024] [ 0.02163178 0.01143613 0.9997006 -0.28863164] [ 0. 0. 0. 1. ]] SLAMing on 8.991193817000001 meters Centerline goodness : 0.844534 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.14, Z:-0.29 [[ 0.99942602 0.02531406 -0.02251304 1.86165055] [-0.02565755 0.99955671 -0.01510184 -0.13629694] [ 0.02212077 0.0156708 0.99963248 -0.2904227 ] [ 0. 0. 0. 1. ]] SLAMing on 9.021193817 meters Centerline goodness : 0.845936 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.16, Z:-0.29 [[ 0.99956948 0.0136718 -0.02596041 1.86748766] [-0.01413246 0.99974444 -0.0176447 -0.15586069] [ 0.02571254 0.01800398 0.99950724 -0.29090434] [ 0. 0. 0. 1. ]] SLAMing on 9.051193817000001 meters Centerline goodness : 0.858575 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.16, Z:-0.29 [[ 0.9996243 0.00759835 -0.02633494 1.86911201] [-0.00818647 0.99971788 -0.0222968 -0.16306569] [ 0.02615809 0.02250401 0.99940448 -0.29210771] [ 0. 0. 0. 1. ]] SLAMing on 9.081193817 meters Centerline goodness : 0.844352 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.17, Z:-0.29 [[ 0.99963616 0.0040477 -0.02666774 1.87032861] [-0.00469501 0.99969477 -0.02425545 -0.16962014] [ 0.02656142 0.02437183 0.99935004 -0.29276596] [ 0. 0. 0. 1. ]] SLAMing on 9.111193817 meters Centerline goodness : 0.860073 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.17, Z:-0.29 [[ 9.99637581e-01 4.52883862e-04 -2.69165842e-02 1.87135650e+00] [-1.16929127e-03 9.99645312e-01 -2.66060606e-02 -1.74618541e-01] [ 2.68949877e-02 2.66278913e-02 9.99283551e-01 -2.93393429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141193817000001 meters Centerline goodness : 0.846217 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.18, Z:-0.29 [[ 0.9996188 -0.00630625 -0.02687916 1.87181393] [ 0.00546718 0.99949895 -0.03117636 -0.18312435] [ 0.0270623 0.03101752 0.99915241 -0.29362857] [ 0. 0. 0. 1. ]] SLAMing on 9.171193817 meters Centerline goodness : 0.849390 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99958579 -0.01009414 -0.0269511 1.87182811] [ 0.00916946 0.99937242 -0.03421532 -0.18603364] [ 0.02727956 0.03395402 0.99905102 -0.29331824] [ 0. 0. 0. 1. ]] SLAMing on 9.201193817000002 meters Centerline goodness : 0.860808 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99957555 -0.01088881 -0.02702141 1.8718867 ] [ 0.00997531 0.99938174 -0.03371383 -0.19028462] [ 0.02737181 0.03342997 0.99906617 -0.29281858] [ 0. 0. 0. 1. ]] SLAMing on 9.231193817000001 meters Centerline goodness : 0.853809 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99952215 -0.01526269 -0.02687978 1.87090485] [ 0.01425933 0.99920863 -0.03713198 -0.19341618] [ 0.02742524 0.03673095 0.99894879 -0.29147899] [ 0. 0. 0. 1. ]] SLAMing on 9.261193817 meters Centerline goodness : 0.848007 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99951044 -0.01565963 -0.0270862 1.87137693] [ 0.01464298 0.99919557 -0.03733359 -0.1934539 ] [ 0.02764904 0.03691869 0.9989357 -0.29142645] [ 0. 0. 0. 1. ]] SLAMing on 9.291193817000002 meters Centerline goodness : 0.850349 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.19, Z:-0.29 [[ 0.99952838 -0.01389945 -0.02738301 1.87353604] [ 0.01293525 0.99930081 -0.03507951 -0.19312292] [ 0.02785145 0.03470875 0.99900931 -0.29295207] [ 0. 0. 0. 1. ]] SLAMing on 9.321193817000001 meters Centerline goodness : 0.851514 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.29 [[ 0.99954116 -0.0115376 -0.02800622 1.87580939] [ 0.01062231 0.9994116 -0.03261305 -0.1912912 ] [ 0.02836602 0.03230059 0.99907559 -0.2940437 ] [ 0. 0. 0. 1. ]] SLAMing on 9.351193817 meters Centerline goodness : 0.847357 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.19, Z:-0.30 [[ 0.9995766 -0.00539838 -0.02859144 1.87828875] [ 0.00461637 0.99961534 -0.02734701 -0.18548332] [ 0.02872808 0.02720344 0.99921703 -0.29526552] [ 0. 0. 0. 1. ]] SLAMing on 9.381193817000002 meters Centerline goodness : 0.844143 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 9.99580467e-01 -1.66161463e-03 -2.89159094e-02 1.87945747e+00] [ 9.58407183e-04 9.99703864e-01 -2.43159382e-02 -1.82772921e-01] [ 2.89477501e-02 2.42780236e-02 9.99286048e-01 -2.95815498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411193817000001 meters Centerline goodness : 0.844495 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 0.99957135 0.00199944 -0.02920819 1.88095312] [-0.00262753 0.9997658 -0.02148135 -0.17979303] [ 0.02915839 0.02154889 0.9993425 -0.29685092] [ 0. 0. 0. 1. ]] SLAMing on 9.441193817 meters Centerline goodness : 0.842029 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.18, Z:-0.30 [[ 0.99953616 0.00719563 -0.0295919 1.88414482] [-0.00769583 0.99982884 -0.01682426 -0.17751557] [ 0.02946578 0.0170442 0.99942046 -0.29936308] [ 0. 0. 0. 1. ]] SLAMing on 9.471193817000001 meters Centerline goodness : 0.841786 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.30 [[ 0.99956481 0.01610636 -0.02471402 1.89736893] [-0.0165741 0.99968514 -0.01883953 -0.17065471] [ 0.02440281 0.01924094 0.99951703 -0.30400123] [ 0. 0. 0. 1. ]] SLAMing on 9.501193817 meters Centerline goodness : 0.838856 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.9995025 0.01916555 -0.02504855 1.89921222] [-0.01957101 0.99967974 -0.01604328 -0.16882299] [ 0.02473305 0.01652552 0.99955749 -0.30514237] [ 0. 0. 0. 1. ]] SLAMing on 9.531193817000002 meters Centerline goodness : 0.839583 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99945435 0.02102469 -0.02547468 1.90205884] [-0.02138697 0.99967278 -0.01403302 -0.16760218] [ 0.0251713 0.01457019 0.99957697 -0.30700502] [ 0. 0. 0. 1. ]] SLAMing on 9.561193817000001 meters Centerline goodness : 0.839874 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946071 0.02061613 -0.02555912 1.9026288 ] [-0.02098741 0.99967683 -0.01434431 -0.16766702] [ 0.02525514 0.014873 0.99957039 -0.307424 ] [ 0. 0. 0. 1. ]] SLAMing on 9.591193817 meters Centerline goodness : 0.839806 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946242 0.02014621 -0.02586486 1.90356347] [-0.02053118 0.99968106 -0.01470562 -0.16773382] [ 0.02556035 0.01522875 0.99955728 -0.30770207] [ 0. 0. 0. 1. ]] SLAMing on 9.621193817000002 meters Centerline goodness : 0.838182 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.17, Z:-0.31 [[ 0.99946556 0.01967916 -0.02610216 1.90445207] [-0.02007875 0.99968382 -0.01513613 -0.16706661] [ 0.02579604 0.01565214 0.99954468 -0.3081166 ] [ 0. 0. 0. 1. ]] SLAMing on 9.651193817000001 meters Centerline goodness : 0.838944 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99947968 0.01873237 -0.02625752 1.9057156 ] [-0.01916393 0.99968378 -0.01628146 -0.16315461] [ 0.02594423 0.01677619 0.99952261 -0.30903026] [ 0. 0. 0. 1. ]] SLAMing on 9.681193817 meters Centerline goodness : 0.840597 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99944775 0.01995448 -0.02657077 1.90833924] [-0.02035135 0.99968407 -0.01475083 -0.16224263] [ 0.02626803 0.01528344 0.9995381 -0.31092205] [ 0. 0. 0. 1. ]] SLAMing on 9.711193817000002 meters Centerline goodness : 0.837005 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99945094 0.01950905 -0.02678073 1.90898928] [-0.01992304 0.99968475 -0.01527952 -0.16102388] [ 0.0264742 0.01580468 0.99952455 -0.31111984] [ 0. 0. 0. 1. ]] SLAMing on 9.741193817000001 meters Centerline goodness : 0.837447 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99945754 0.0188451 -0.02700887 1.9097332 ] [-0.01928049 0.99968686 -0.01595157 -0.16039765] [ 0.0266998 0.01646366 0.99950791 -0.31132294] [ 0. 0. 0. 1. ]] SLAMing on 9.771193817 meters Centerline goodness : 0.841967 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:-0.31 [[ 0.99946024 0.01837308 -0.02723337 1.91013137] [-0.0188256 0.99968738 -0.01645423 -0.16010462] [ 0.02692254 0.01695803 0.99949367 -0.31112309] [ 0. 0. 0. 1. ]] SLAMing on 9.801193817000001 meters Centerline goodness : 0.840940 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99960866 0.0190471 -0.02048743 1.92114071] [-0.01955021 0.99950513 -0.02464322 -0.15463745] [ 0.02000791 0.02503411 0.99948636 -0.31393884] [ 0. 0. 0. 1. ]] SLAMing on 9.831193817 meters Centerline goodness : 0.840813 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99954166 0.02216557 -0.02061948 1.92146697] [-0.02260858 0.99951305 -0.0215061 -0.15259919] [ 0.02013275 0.02196242 0.99955606 -0.31350401] [ 0. 0. 0. 1. ]] SLAMing on 9.861193817000002 meters Centerline goodness : 0.843371 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.99946328 0.02531926 -0.02078682 1.92217294] [-0.02570893 0.99949459 -0.01869785 -0.14970975] [ 0.0203029 0.01922222 0.99960907 -0.31344538] [ 0. 0. 0. 1. ]] SLAMing on 9.891193817000001 meters Centerline goodness : 0.840768 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.15, Z:-0.31 [[ 0.9993723 0.02860503 -0.0208988 1.92319619] [-0.02894032 0.99945434 -0.01592114 -0.14700127] [ 0.02043198 0.01651597 0.99965482 -0.31389908] [ 0. 0. 0. 1. ]] SLAMing on 9.921193817 meters Centerline goodness : 0.842962 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.99921569 0.03357559 -0.02099246 1.92577359] [-0.03383109 0.99935628 -0.01193646 -0.14178859] [ 0.02057817 0.0126373 0.99970838 -0.31577998] [ 0. 0. 0. 1. ]] SLAMing on 9.951193817000002 meters Centerline goodness : 0.842711 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.9991233 0.03595951 -0.02143715 1.92860249] [-0.03617827 0.99929626 -0.00990555 -0.13972751] [ 0.02106586 0.01067242 0.99972113 -0.3177068 ] [ 0. 0. 0. 1. ]] SLAMing on 9.981193817000001 meters Centerline goodness : 0.839508 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.32 [[ 0.99903435 0.03802714 -0.02200711 1.93178318] [-0.0382115 0.99923751 -0.00801805 -0.13825399] [ 0.02168542 0.00885123 0.99972566 -0.31980545] [ 0. 0. 0. 1. ]] SLAMing on 10.011193817 meters Centerline goodness : 0.841874 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.14, Z:-0.32 [[ 0.99899459 0.03867652 -0.02266998 1.93566313] [-0.03885931 0.99921519 -0.00767849 -0.13668991] [ 0.02235521 0.00855171 0.99971352 -0.32258343] [ 0. 0. 0. 1. ]] SLAMing on 10.041193817000002 meters Centerline goodness : 0.842969 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.32 [[ 0.99890927 0.04045223 -0.02332141 1.93930824] [-0.04060288 0.99915721 -0.00602251 -0.13389427] [ 0.02305813 0.00696286 0.99970988 -0.32495735] [ 0. 0. 0. 1. ]] SLAMing on 10.071193817000001 meters Centerline goodness : 0.838158 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.99892499 0.03998397 -0.02345507 1.94016446] [-0.04015335 0.99917042 -0.00679539 -0.13174778] [ 0.0231639 0.00772988 0.9997018 -0.32559601] [ 0. 0. 0. 1. ]] SLAMing on 10.101193817 meters Centerline goodness : 0.839936 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.9989023 0.04042998 -0.02365624 1.94134097] [-0.04058822 0.99915643 -0.0062473 -0.1311025 ] [ 0.02338371 0.00720061 0.99970063 -0.32616869] [ 0. 0. 0. 1. ]] SLAMing on 10.131193817000002 meters Centerline goodness : 0.840200 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.33 [[ 0.99891124 0.04013741 -0.02377639 1.9415759 ] [-0.04030481 0.99916561 -0.00660367 -0.13055695] [ 0.02349149 0.00755478 0.99969549 -0.32602302] [ 0. 0. 0. 1. ]] SLAMing on 10.161193817000001 meters Centerline goodness : 0.839330 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.33 [[ 9.99093255e-01 3.89012470e-02 -1.73020455e-02 1.95122692e+00] [-3.89148460e-02 9.99242429e-01 -4.49864501e-04 -1.31040667e-01] [ 1.72714377e-02 1.12276303e-03 9.99850207e-01 -3.28517345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191193817 meters Centerline goodness : 0.840004 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.13, Z:-0.33 [[ 9.99090611e-01 3.88201434e-02 -1.76337296e-02 1.95229745e+00] [-3.88444541e-02 9.99244730e-01 -1.03810122e-03 -1.29151379e-01] [ 1.75801121e-02 1.72212978e-03 9.99843975e-01 -3.29059364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221193817000001 meters Centerline goodness : 0.837362 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:-0.33 [[ 9.98997540e-01 4.08868700e-02 -1.82258027e-02 1.95568867e+00] [-4.08747021e-02 9.99163739e-01 1.03979245e-03 -1.28089583e-01] [ 1.82530751e-02 -2.93775845e-04 9.99833356e-01 -3.31372879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251193817 meters Centerline goodness : 0.837486 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:-0.33 [[ 9.99011613e-01 4.02996228e-02 -1.87546580e-02 1.95812146e+00] [-4.03100876e-02 9.99187202e-01 -1.80130253e-04 -1.25320989e-01] [ 1.87321551e-02 9.35954122e-04 9.99824100e-01 -3.33094373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281193817000002 meters Centerline goodness : 0.833921 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.12, Z:-0.34 [[ 0.99904404 0.03905122 -0.01964709 1.9624684 ] [-0.03910192 0.9992328 -0.00220287 -0.12167739] [ 0.01954599 0.002969 0.99980455 -0.33649116] [ 0. 0. 0. 1. ]] SLAMing on 10.311193817000001 meters Centerline goodness : 0.833912 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99908879 0.03758366 -0.02022524 1.96516326] [-0.03766571 0.99928358 -0.00369114 -0.12090482] [ 0.02007203 0.00444958 0.99978864 -0.33841784] [ 0. 0. 0. 1. ]] SLAMing on 10.341193817 meters Centerline goodness : 0.834685 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99916999 0.03504784 -0.02076018 1.96787428] [-0.03518118 0.99936238 -0.00609278 -0.11892848] [ 0.02053341 0.0068181 0.99976592 -0.340281 ] [ 0. 0. 0. 1. ]] SLAMing on 10.371193817000002 meters Centerline goodness : 0.835279 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99918767 0.03448846 -0.02084578 1.96825297] [-0.03463697 0.99937679 -0.00680535 -0.11727312] [ 0.02059808 0.00752186 0.99975954 -0.34043156] [ 0. 0. 0. 1. ]] SLAMing on 10.401193817000001 meters Centerline goodness : 0.835191 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.9991994 0.03400502 -0.02107664 1.96847822] [-0.0341686 0.99938832 -0.00744999 -0.11589587] [ 0.02081041 0.00816418 0.99975011 -0.34003334] [ 0. 0. 0. 1. ]] SLAMing on 10.431193817 meters Centerline goodness : 0.835520 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.12, Z:-0.34 [[ 0.99920313 0.03372794 -0.02134309 1.96879995] [-0.03390264 0.9993941 -0.00787699 -0.11513607] [ 0.02106449 0.0085943 0.99974118 -0.3396335 ] [ 0. 0. 0. 1. ]] SLAMing on 10.461193817000002 meters Centerline goodness : 0.834836 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.11, Z:-0.34 [[ 0.99930725 0.0336135 -0.01597365 1.98257572] [-0.03382537 0.9993408 -0.01318386 -0.11249109] [ 0.01551997 0.01371505 0.99978549 -0.33955554] [ 0. 0. 0. 1. ]] SLAMing on 10.491193817000001 meters Centerline goodness : 0.836028 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.11, Z:-0.34 [[ 0.99931823 0.03329846 -0.01594663 1.98258715] [-0.03351744 0.99934468 -0.01366734 -0.11123613] [ 0.01548108 0.01419252 0.99977943 -0.33951211] [ 0. 0. 0. 1. ]] SLAMing on 10.521193817 meters Centerline goodness : 0.837901 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99926589 0.03464608 -0.01635021 1.98524708] [-0.03484787 0.99931788 -0.01222287 -0.11086741] [ 0.01591558 0.01278367 0.99979161 -0.34143714] [ 0. 0. 0. 1. ]] SLAMing on 10.551193817000001 meters Centerline goodness : 0.837663 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99921983 0.03578008 -0.01671862 1.98807272] [-0.03596815 0.99929143 -0.011087 -0.11024532] [ 0.01631008 0.01167969 0.99979876 -0.34364766] [ 0. 0. 0. 1. ]] SLAMing on 10.581193817 meters Centerline goodness : 0.837663 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99921983 0.03578008 -0.01671862 1.98807272] [-0.03596815 0.99929143 -0.011087 -0.11024532] [ 0.01631008 0.01167969 0.99979876 -0.34364766] [ 0. 0. 0. 1. ]] SLAMing on 10.611193817000002 meters Centerline goodness : 0.836750 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99923176 0.03534573 -0.0169284 1.98922294] [-0.03554956 0.99929712 -0.01189506 -0.10854068] [ 0.01649606 0.01248772 0.99978595 -0.34449877] [ 0. 0. 0. 1. ]] SLAMing on 10.641193817000001 meters Centerline goodness : 0.837208 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.34 [[ 0.99922435 0.03540702 -0.01723511 1.99019195] [-0.03561585 0.99929394 -0.01196366 -0.10862535] [ 0.01679934 0.01256823 0.99977989 -0.34498531] [ 0. 0. 0. 1. ]] SLAMing on 10.671193817 meters Centerline goodness : 0.838683 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99921811 0.0354854 -0.01743444 1.99109662] [-0.0356933 0.99929358 -0.01176157 -0.10864084] [ 0.01700476 0.01237466 0.99977883 -0.34572315] [ 0. 0. 0. 1. ]] SLAMing on 10.701193817000002 meters Centerline goodness : 0.836327 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99922979 0.03510461 -0.01753523 1.99180784] [-0.03531621 0.99930526 -0.01190669 -0.1079651 ] [ 0.01710507 0.0125168 0.99977535 -0.34620939] [ 0. 0. 0. 1. ]] SLAMing on 10.731193817000001 meters Centerline goodness : 0.836208 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99924853 0.0345644 -0.01754073 1.99201513] [-0.03477609 0.99932415 -0.01191073 -0.1085104 ] [ 0.01711719 0.01251177 0.9997752 -0.34662566] [ 0. 0. 0. 1. ]] SLAMing on 10.761193817 meters Centerline goodness : 0.836435 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.9992771 0.03388907 -0.01722807 1.99134509] [-0.03409001 0.99935253 -0.01150658 -0.10992422] [ 0.01682697 0.01208557 0.99978537 -0.34686413] [ 0. 0. 0. 1. ]] SLAMing on 10.791193817000002 meters Centerline goodness : 0.837041 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99932511 0.03262846 -0.01687338 1.99070768] [-0.0328251 0.99939482 -0.01151088 -0.11109574] [ 0.01648759 0.01205698 0.99979137 -0.34722988] [ 0. 0. 0. 1. ]] SLAMing on 10.821193817000001 meters Centerline goodness : 0.839489 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.11, Z:-0.35 [[ 0.99937195 0.03087547 -0.01739001 1.99309724] [-0.03110113 0.99943352 -0.01285893 -0.11075653] [ 0.01698314 0.0133917 0.99976609 -0.3489127 ] [ 0. 0. 0. 1. ]] SLAMing on 10.851193817 meters Centerline goodness : 0.834735 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:-0.35 [[ 0.99945201 0.02780156 -0.01796514 1.99634393] [-0.02808213 0.99948453 -0.01555844 -0.10688899] [ 0.01752333 0.01605441 0.99971755 -0.35117734] [ 0. 0. 0. 1. ]] SLAMing on 10.881193817000002 meters Centerline goodness : 0.838672 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:-0.35 [[ 0.99947248 0.02691336 -0.01817805 1.99695306] [-0.02721578 0.99949176 -0.01659914 -0.10502514] [ 0.01772207 0.01708512 0.99969697 -0.35130193] [ 0. 0. 0. 1. ]] SLAMing on 10.911193817000001 meters Centerline goodness : 0.837004 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.10, Z:-0.35 [[ 0.99948812 0.0261831 -0.01838306 1.99709271] [-0.02650504 0.99949561 -0.01749319 -0.10333051] [ 0.01791576 0.01797148 0.99967797 -0.35082876] [ 0. 0. 0. 1. ]] SLAMing on 10.941193817000002 meters Centerline goodness : 0.840288 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.10, Z:-0.35 [[ 0.99953973 0.02412105 -0.01839829 1.99693223] [-0.02449541 0.99949176 -0.02040077 -0.09623553] [ 0.01789685 0.02084206 0.99962258 -0.35008885] [ 0. 0. 0. 1. ]] SLAMing on 10.971193817000001 meters Centerline goodness : 0.845041 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.09, Z:-0.35 [[ 0.99950883 0.02496953 -0.01893709 1.99972844] [-0.0253393 0.99948784 -0.0195443 -0.09195079] [ 0.01843938 0.02001455 0.99962963 -0.35172913] [ 0. 0. 0. 1. ]] SLAMing on 11.001193817 meters Centerline goodness : 0.841954 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.09, Z:-0.35 [[ 0.99946986 0.02595057 -0.0196614 2.0031465 ] [-0.02632043 0.9994769 -0.01879254 -0.08656627] [ 0.01916344 0.01930007 0.99963007 -0.35375467] [ 0. 0. 0. 1. ]] SLAMing on 11.031193817000002 meters Centerline goodness : 0.841339 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.08, Z:-0.36 [[ 0.99943016 0.02695622 -0.02031521 2.00656824] [-0.02732827 0.99945965 -0.01826419 -0.0807295 ] [ 0.0198119 0.01880896 0.99962679 -0.35587466] [ 0. 0. 0. 1. ]] SLAMing on 11.061193817000001 meters Centerline goodness : 0.840832 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.36 [[ 0.99945718 0.02578912 -0.02050042 2.00768285] [-0.02620872 0.99944689 -0.02046989 -0.07387721] [ 0.01996118 0.02099607 0.99958027 -0.35653807] [ 0. 0. 0. 1. ]] SLAMing on 11.091193817 meters Centerline goodness : 0.841337 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.36 [[ 0.99952188 0.02277506 -0.02091197 2.00936263] [-0.02328482 0.99942947 -0.02446529 -0.06047791] [ 0.02034284 0.02494052 0.99948194 -0.35660183] [ 0. 0. 0. 1. ]] SLAMing on 11.121193817000002 meters Centerline goodness : 0.839416 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.05, Z:-0.36 [[ 0.99955372 0.02114742 -0.0210985 2.00997406] [-0.02171504 0.99939827 -0.02704742 -0.05389569] [ 0.02051383 0.0274935 0.99941147 -0.35657478] [ 0. 0. 0. 1. ]] SLAMing on 11.151193817000001 meters Centerline goodness : 0.841405 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.05, Z:-0.36 [[ 0.99954543 0.02106582 -0.02156759 2.0125299 ] [-0.02165499 0.99938837 -0.02745822 -0.04749812] [ 0.02097597 0.02791278 0.99939026 -0.35802399] [ 0. 0. 0. 1. ]] SLAMing on 11.181193817 meters Centerline goodness : 0.839331 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.36 [[ 0.99951784 0.02169053 -0.02221741 2.01554748] [-0.02229417 0.99937885 -0.02729239 -0.04064042] [ 0.02161162 0.02777455 0.99938056 -0.35962673] [ 0. 0. 0. 1. ]] SLAMing on 11.211193817000002 meters Centerline goodness : 0.841251 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.36 [[ 0.99946824 0.01801163 -0.02718138 2.03433808] [-0.01860976 0.99958662 -0.02191515 -0.02308612] [ 0.02677542 0.02240933 0.99939026 -0.35906508] [ 0. 0. 0. 1. ]] SLAMing on 11.241193817000001 meters Centerline goodness : 0.840438 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.01, Z:-0.36 [[ 0.99943276 0.01953867 -0.02742982 2.03630031] [-0.02013262 0.99956511 -0.02154687 -0.01443099] [ 0.0269969 0.02208689 0.99939148 -0.36023182] [ 0. 0. 0. 1. ]] SLAMing on 11.271193817 meters Centerline goodness : 0.841114 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.01, Z:-0.36 [[ 0.99939182 0.02137621 -0.02755095 2.03772814] [-0.02195709 0.99953924 -0.02095682 -0.0061912 ] [ 0.02709028 0.02154901 0.9994007 -0.36106085] [ 0. 0. 0. 1. ]] SLAMing on 11.301193817000001 meters Centerline goodness : 0.840253 Centerline is valid? [False, False] Translation: X:2.04, Y:0.01, Z:-0.36 [[ 0.99929044 0.02538145 -0.02782787 2.04020372] [-0.02595819 0.99945151 -0.02056351 0.01106169] [ 0.02729068 0.02127128 0.9994012 -0.36150203] [ 0. 0. 0. 1. ]] SLAMing on 11.331193817 meters Centerline goodness : 0.840379 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.36 [[ 0.99916234 0.03035861 -0.02744038 2.04069152] [-0.03083544 0.99937778 -0.01712408 0.01981369] [ 0.02690345 0.01795588 0.99947676 -0.36190086] [ 0. 0. 0. 1. ]] SLAMing on 11.361193817000002 meters Centerline goodness : 0.840424 Centerline is valid? [False, False] Translation: X:2.04, Y:0.03, Z:-0.36 [[ 0.99897198 0.03606665 -0.02746251 2.04254742] [-0.03643476 0.99925117 -0.01302372 0.02935779] [ 0.02697222 0.01401092 0.99953799 -0.36287847] [ 0. 0. 0. 1. ]] SLAMing on 11.391193817000001 meters Centerline goodness : 0.842893 Centerline is valid? [False, False] Translation: X:2.04, Y:0.04, Z:-0.36 [[ 0.99874377 0.04202449 -0.02729132 2.0429796 ] [-0.04227845 0.99906715 -0.00879578 0.03930628] [ 0.02689622 0.00993857 0.99958882 -0.36271567] [ 0. 0. 0. 1. ]] SLAMing on 11.421193817 meters Centerline goodness : 0.841638 Centerline is valid? [False, False] Translation: X:2.05, Y:0.06, Z:-0.36 [[ 0.99822523 0.05227987 -0.02851689 2.0464505 ] [-0.05253303 0.99858551 -0.00820135 0.06025834] [ 0.02804779 0.00968487 0.99955967 -0.3625284 ] [ 0. 0. 0. 1. ]] SLAMing on 11.451193817000002 meters Centerline goodness : 0.841425 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:-0.36 [[ 0.99789239 0.05837996 -0.02832931 2.04731642] [-0.05850241 0.99828109 -0.00351208 0.0670706 ] [ 0.02807558 0.00516201 0.99959247 -0.36277276] [ 0. 0. 0. 1. ]] SLAMing on 11.481193817000001 meters Centerline goodness : 0.842660 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:-0.36 [[ 0.9977038 0.06151229 -0.02834368 2.04805972] [-0.0615954 0.99809906 -0.00206775 0.0737693 ] [ 0.02816261 0.00380884 0.9995961 -0.36277138] [ 0. 0. 0. 1. ]] SLAMing on 11.511193817 meters Centerline goodness : 0.843769 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:-0.36 [[ 9.97492580e-01 6.48712842e-02 -2.82890479e-02 2.04855915e+00] [-6.49033311e-02 9.97891533e-01 -2.15133299e-04 7.97507083e-02] [ 2.82154454e-02 2.05064731e-03 9.99599762e-01 -3.62606349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541193817000002 meters Centerline goodness : 0.848040 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:-0.36 [[ 0.99681906 0.0746644 -0.02787452 2.04915127] [-0.07449286 0.99719596 0.00714416 0.09097146] [ 0.02832978 -0.00504498 0.9995859 -0.36185753] [ 0. 0. 0. 1. ]] SLAMing on 11.571193817000001 meters Centerline goodness : 0.847920 Centerline is valid? [False, False] Translation: X:2.05, Y:0.10, Z:-0.36 [[ 0.99654844 0.07823298 -0.02776326 2.04932596] [-0.07800592 0.99691071 0.0091712 0.09751102] [ 0.02839499 -0.00697385 0.99957245 -0.36120475] [ 0. 0. 0. 1. ]] SLAMing on 11.601193817 meters Centerline goodness : 0.848076 Centerline is valid? [False, False] Translation: X:2.05, Y:0.10, Z:-0.36 [[ 0.99626088 0.08183651 -0.02769559 2.04948418] [-0.08154906 0.99660463 0.01135585 0.1030234 ] [ 0.02853088 -0.00905484 0.9995519 -0.36052874] [ 0. 0. 0. 1. ]] SLAMing on 11.631193817000002 meters Centerline goodness : 0.848108 Centerline is valid? [False, False] Translation: X:2.05, Y:0.11, Z:-0.36 [[ 0.99588768 0.08628916 -0.02760257 2.04984275] [-0.08593872 0.99620702 0.01364198 0.10921288] [ 0.02867503 -0.01121375 0.99952588 -0.35973442] [ 0. 0. 0. 1. ]] SLAMing on 11.661193817000001 meters Centerline goodness : 0.849246 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 0.99582726 0.08798944 -0.02420595 2.05836368] [-0.08791267 0.99611925 0.00421972 0.11162505] [ 0.0244833 -0.0020741 0.99969809 -0.3601113 ] [ 0. 0. 0. 1. ]] SLAMing on 11.691193817000002 meters Centerline goodness : 0.849453 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 9.95816567e-01 8.80865441e-02 -2.42924957e-02 2.05862022e+00] [-8.80201680e-02 9.96111481e-01 3.79032533e-03 1.12985182e-01] [ 2.45319106e-02 -1.63623920e-03 9.99697708e-01 -3.60142007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721193817000001 meters Centerline goodness : 0.850695 Centerline is valid? [False, False] Translation: X:2.06, Y:0.11, Z:-0.36 [[ 9.95807430e-01 8.81931419e-02 -2.42802935e-02 2.05881412e+00] [-8.81292454e-02 9.96102209e-01 3.69130930e-03 1.13636405e-01] [ 2.45112022e-02 -1.53602928e-03 9.99698375e-01 -3.60321657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751193817 meters Centerline goodness : 0.853195 Centerline is valid? [False, False] Translation: X:2.07, Y:0.11, Z:-0.36 [[ 0.99625406 0.08389816 -0.02095086 2.07013497] [-0.0837029 0.99644027 0.01003047 0.11188948] [ 0.02171782 -0.00823924 0.99973019 -0.36275404] [ 0. 0. 0. 1. ]] SLAMing on 11.781193817000002 meters Centerline goodness : 0.851186 Centerline is valid? [False, False] Translation: X:2.08, Y:0.11, Z:-0.37 [[ 0.99668537 0.07944959 -0.01749378 2.08208846] [-0.07916971 0.99673032 0.01615006 0.108105 ] [ 0.01871969 -0.01471155 0.99971653 -0.36577729] [ 0. 0. 0. 1. ]] SLAMing on 11.811193817000001 meters Centerline goodness : 0.856040 Centerline is valid? [False, False] Translation: X:2.09, Y:0.10, Z:-0.37 [[ 0.99702868 0.07561696 -0.0146934 2.09143848] [-0.0752311 0.99684651 0.02524512 0.10213596] [ 0.01655603 -0.02406471 0.9995733 -0.36605759] [ 0. 0. 0. 1. ]] SLAMing on 11.841193817 meters Centerline goodness : 0.852329 Centerline is valid? [False, False] Translation: X:2.11, Y:0.09, Z:-0.36 [[ 0.99734716 0.07085385 -0.01668478 2.105863 ] [-0.07012301 0.99669827 0.04093066 0.09414137] [ 0.01952979 -0.03965209 0.99902267 -0.36239522] [ 0. 0. 0. 1. ]] SLAMing on 11.871193817000002 meters Centerline goodness : 0.852311 Centerline is valid? [False, False] Translation: X:2.12, Y:0.09, Z:-0.36 [[ 0.99786369 0.06289299 -0.0176784 2.11644121] [-0.06175515 0.99635447 0.05885636 0.0860129 ] [ 0.02131561 -0.05763889 0.99810992 -0.36051318] [ 0. 0. 0. 1. ]] SLAMing on 11.901193817000001 meters Centerline goodness : 0.854996 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99788318 0.06248387 -0.01802567 2.11708149] [-0.06131332 0.99634534 0.05946972 0.08491566] [ 0.02167569 -0.05823862 0.99806735 -0.36024044] [ 0. 0. 0. 1. ]] SLAMing on 11.931193817 meters Centerline goodness : 0.852357 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99789617 0.06218621 -0.01833346 2.11749133] [-0.06097351 0.99629874 0.06058921 0.08140193] [ 0.02203342 -0.05934388 0.9979944 -0.35990684] [ 0. 0. 0. 1. ]] SLAMing on 11.961193817000002 meters Centerline goodness : 0.852784 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99806874 0.05923743 -0.01870071 2.11769443] [-0.05808378 0.99667432 0.05715393 0.08130807] [ 0.02202417 -0.05595734 0.99819022 -0.3594368 ] [ 0. 0. 0. 1. ]] SLAMing on 11.991193817000001 meters Centerline goodness : 0.856750 Centerline is valid? [False, False] Translation: X:2.12, Y:0.08, Z:-0.36 [[ 0.99804021 0.059553 -0.01921408 2.11860263] [-0.05835735 0.99662563 0.0577216 0.08000088] [ 0.02258674 -0.0564872 0.9981478 -0.35904666] [ 0. 0. 0. 1. ]] SLAMing on 12.021193817000002 meters Centerline goodness : 0.857400 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99792536 0.05999405 -0.02336007 2.10208572] [-0.05867149 0.9968324 0.05369185 0.08238612] [ 0.02650727 -0.05220989 0.99828427 -0.35714529] [ 0. 0. 0. 1. ]] SLAMing on 12.051193817000001 meters Centerline goodness : 0.857746 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99784617 0.06111177 -0.02384074 2.10348432] [-0.05974436 0.99673163 0.05437531 0.08233113] [ 0.02708579 -0.05283385 0.99823592 -0.35746885] [ 0. 0. 0. 1. ]] SLAMing on 12.081193817 meters Centerline goodness : 0.860946 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99717096 0.07099681 -0.02468873 2.09909021] [-0.06961422 0.9961674 0.0529564 0.08203105] [ 0.02835385 -0.0510879 0.99829158 -0.36228055] [ 0. 0. 0. 1. ]] SLAMing on 12.111193817000002 meters Centerline goodness : 0.858987 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99703034 0.0727871 -0.02515043 2.10107281] [-0.07133388 0.99596156 0.05451643 0.08096061] [ 0.02901695 -0.05256045 0.99819608 -0.36330536] [ 0. 0. 0. 1. ]] SLAMing on 12.141193817000001 meters Centerline goodness : 0.860223 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99698119 0.07343189 -0.02522412 2.1013969 ] [-0.07194861 0.99586918 0.05538935 0.07906488] [ 0.02918727 -0.0534073 0.99814616 -0.3631515 ] [ 0. 0. 0. 1. ]] SLAMing on 12.171193817 meters Centerline goodness : 0.861905 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:-0.36 [[ 0.99706735 0.07202981 -0.02585372 2.10346729] [-0.07055716 0.99604759 0.05395267 0.07669159] [ 0.02963774 -0.05197028 0.99820874 -0.3640435 ] [ 0. 0. 0. 1. ]] SLAMing on 12.201193817000002 meters Centerline goodness : 0.863753 Centerline is valid? [False, False] Translation: X:2.12, Y:0.07, Z:-0.36 [[ 0.99727743 0.06906064 -0.02585245 2.1239664 ] [-0.06759488 0.99625992 0.05382467 0.06683685] [ 0.02947292 -0.05193064 0.99821569 -0.36471718] [ 0. 0. 0. 1. ]] SLAMing on 12.231193817000001 meters Centerline goodness : 0.864615 Centerline is valid? [False, False] Translation: X:2.14, Y:0.06, Z:-0.37 [[ 0.99742565 0.06650304 -0.02682212 2.14488842] [-0.06501263 0.99647274 0.05306066 0.06198298] [ 0.03025621 -0.05118029 0.99823101 -0.36517557] [ 0. 0. 0. 1. ]] SLAMing on 12.261193817 meters Centerline goodness : 0.861035 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.99759392 0.0661339 -0.0208011 2.15787036] [-0.06473774 0.99598432 0.06184067 0.05169886] [ 0.02480733 -0.06034526 0.99786925 -0.36872179] [ 0. 0. 0. 1. ]] SLAMing on 12.291193817000002 meters Centerline goodness : 0.862961 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.99756404 0.06656506 -0.0208587 2.15792055] [-0.06514449 0.99590716 0.06265082 0.04937948] [ 0.02494369 -0.06113938 0.99781751 -0.36843664] [ 0. 0. 0. 1. ]] SLAMing on 12.321193817000001 meters Centerline goodness : 0.858655 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:-0.37 [[ 0.9975939 0.06595668 -0.02135709 2.15884724] [-0.06452528 0.99599329 0.06191814 0.04741173] [ 0.02535544 -0.06039109 0.9978527 -0.36827114] [ 0. 0. 0. 1. ]] SLAMing on 12.351193817000002 meters Centerline goodness : 0.859452 Centerline is valid? [False, False] Translation: X:2.17, Y:0.04, Z:-0.37 [[ 0.99759879 0.06680529 -0.01826746 2.16695817] [-0.0657723 0.99646491 0.05226549 0.04468586] [ 0.02169449 -0.0509385 0.99846613 -0.36798777] [ 0. 0. 0. 1. ]] SLAMing on 12.381193817000002 meters Centerline goodness : 0.858281 Centerline is valid? [False, False] Translation: X:2.18, Y:0.03, Z:-0.37 [[ 0.99772036 0.06598131 -0.01416177 2.18217066] [-0.06509836 0.99632331 0.05569612 0.03206547] [ 0.01778461 -0.05464725 0.99834733 -0.3664462 ] [ 0. 0. 0. 1. ]] SLAMing on 12.411193817000001 meters Centerline goodness : 0.857957 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99793373 0.06375632 -0.00796225 2.1920381 ] [-0.06312581 0.99598729 0.06343851 0.02430154] [ 0.01197491 -0.0628048 0.99795399 -0.36893039] [ 0. 0. 0. 1. ]] SLAMing on 12.441193817000002 meters Centerline goodness : 0.857087 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99788599 0.06453687 -0.00765166 2.19213641] [-0.06388408 0.99571672 0.06683594 0.01743767] [ 0.01193227 -0.06620583 0.99773464 -0.36797098] [ 0. 0. 0. 1. ]] SLAMing on 12.471193817000001 meters Centerline goodness : 0.857087 Centerline is valid? [False, False] Translation: X:2.19, Y:0.02, Z:-0.37 [[ 0.99788623 0.06454127 -0.00758221 2.19209067] [-0.06389159 0.9957079 0.06696007 0.01752132] [ 0.01187135 -0.06633409 0.99772685 -0.36778361] [ 0. 0. 0. 1. ]] SLAMing on 12.501193817 meters Centerline goodness : 0.857706 Centerline is valid? [False, False] Translation: X:2.20, Y:0.01, Z:-0.36 [[ 0.9979413 0.06328512 -0.01039973 2.19696135] [-0.06235397 0.99534168 0.07353178 0.01058797] [ 0.01500475 -0.07273193 0.99723865 -0.3622536 ] [ 0. 0. 0. 1. ]] SLAMing on 12.531193817000002 meters Centerline goodness : 0.857919 Centerline is valid? [False, False] Translation: X:2.19, Y:0.01, Z:-0.37 [[ 0.99791548 0.06335551 -0.0122792 2.19329091] [-0.0624598 0.99604734 0.06315439 0.00762884] [ 0.01623184 -0.06225579 0.99792823 -0.36633635] [ 0. 0. 0. 1. ]] SLAMing on 12.561193817000001 meters Centerline goodness : 0.858396 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.00, Z:-0.37 [[ 9.97921556e-01 6.37685874e-02 -9.28086217e-03 2.18785560e+00] [-6.30897494e-02 9.96152068e-01 6.08337090e-02 -1.00460676e-03] [ 1.31244297e-02 -6.01217423e-02 9.98104767e-01 -3.68335498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591193817 meters Centerline goodness : 0.857810 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.37 [[ 0.99785513 0.06411366 -0.01321275 2.19738309] [-0.06331718 0.99654307 0.05378524 -0.0051406 ] [ 0.01661544 -0.05283329 0.99846511 -0.36584565] [ 0. 0. 0. 1. ]] SLAMing on 12.621193817000002 meters Centerline goodness : 0.857447 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99781562 0.06464693 -0.01359262 2.19059699] [-0.0639826 0.99695135 0.04465684 -0.00844091] [ 0.01643811 -0.0436896 0.99890991 -0.36899663] [ 0. 0. 0. 1. ]] SLAMing on 12.651193817000001 meters Centerline goodness : 0.858666 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99799411 0.06175436 -0.013934 2.19119918] [-0.06112138 0.99724553 0.04201832 -0.01150674] [ 0.01649043 -0.04108237 0.99901967 -0.36938542] [ 0. 0. 0. 1. ]] SLAMing on 12.681193817 meters Centerline goodness : 0.860398 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.01, Z:-0.37 [[ 0.99816736 0.05884077 -0.01413068 2.19143936] [-0.05824295 0.99751944 0.03953128 -0.01496884] [ 0.01642168 -0.03863582 0.99911841 -0.36967466] [ 0. 0. 0. 1. ]] SLAMing on 12.711193817000002 meters Centerline goodness : 0.862685 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.02, Z:-0.37 [[ 0.99869587 0.04881092 -0.01496837 2.19227958] [-0.04832882 0.99834921 0.03103519 -0.02298827] [ 0.01645852 -0.03027131 0.99940621 -0.37037814] [ 0. 0. 0. 1. ]] SLAMing on 12.741193817000001 meters Centerline goodness : 0.864102 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.37 [[ 0.99903182 0.0412145 -0.01538771 2.19254091] [-0.04083244 0.99886881 0.0243681 -0.02653233] [ 0.01637462 -0.02371619 0.99958462 -0.37078177] [ 0. 0. 0. 1. ]] SLAMing on 12.771193817000002 meters Centerline goodness : 0.865294 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.37 [[ 0.99931915 0.03332226 -0.01583865 2.19297583] [-0.0330461 0.99930254 0.01738921 -0.02916221] [ 0.01640705 -0.01685397 0.99972334 -0.37120449] [ 0. 0. 0. 1. ]] SLAMing on 12.801193817000001 meters Centerline goodness : 0.868155 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.99960281 0.02359615 -0.01540943 2.1917531 ] [-0.0234218 0.99966069 0.0113986 -0.03604241] [ 0.01567316 -0.01103316 0.99981629 -0.37177811] [ 0. 0. 0. 1. ]] SLAMing on 12.831193817 meters Centerline goodness : 0.867448 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.9996956 0.01932937 -0.01533226 2.19129324] [-0.01920235 0.99978043 0.00838836 -0.03881052] [ 0.01549103 -0.00809139 0.99984727 -0.37193561] [ 0. 0. 0. 1. ]] SLAMing on 12.861193817000002 meters Centerline goodness : 0.866889 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 0.99976572 0.01507826 -0.01552875 2.19162809] [-0.01500584 0.99987603 0.00476947 -0.04087348] [ 0.01559874 -0.00453533 0.99986805 -0.37201022] [ 0. 0. 0. 1. ]] SLAMing on 12.891193817000001 meters Centerline goodness : 0.868570 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99822112e-01 1.05958804e-02 -1.56035796e-02 2.19144735e+00] [-1.05846032e-02 9.99943657e-01 8.05140742e-04 -4.24110858e-02] [ 1.56112317e-02 -6.39839818e-04 9.99877933e-01 -3.71661493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921193817 meters Centerline goodness : 0.867725 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99822452e-01 1.02143026e-02 -1.58345419e-02 2.19240931e+00] [-1.02092232e-02 9.99947804e-01 4.01579810e-04 -4.19737383e-02] [ 1.58378173e-02 -2.39850138e-04 9.99874545e-01 -3.72200623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951193817000002 meters Centerline goodness : 0.868341 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99821231e-01 9.88294401e-03 -1.61193464e-02 2.19353053e+00] [-9.88700474e-03 9.99951108e-01 -1.72242915e-04 -4.06659339e-02] [ 1.61168560e-02 3.31584177e-04 9.99870060e-01 -3.72840516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981193817000001 meters Centerline goodness : 0.869009 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99821836e-01 9.52541659e-03 -1.62961177e-02 2.19433202e+00] [-9.53929788e-03 9.99954200e-01 -7.74294080e-04 -3.93339176e-02] [ 1.62879959e-02 9.29609650e-04 9.99866910e-01 -3.73332435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011193817 meters Centerline goodness : 0.865778 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.04, Z:-0.37 [[ 9.99823655e-01 9.02688149e-03 -1.64673586e-02 2.19488753e+00] [-9.05959690e-03 9.99957131e-01 -1.91316468e-03 -3.65818410e-02] [ 1.64493828e-02 2.06201494e-03 9.99862574e-01 -3.73498251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041193817000002 meters Centerline goodness : 0.867448 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.04, Z:-0.37 [[ 0.99982495 0.00859869 -0.01661702 2.19543795] [-0.0086425 0.99995936 -0.00256671 -0.03510405] [ 0.01659428 0.00270987 0.99985863 -0.37367901] [ 0. 0. 0. 1. ]] SLAMing on 13.071193817000001 meters Centerline goodness : 0.868850 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.37 [[ 0.99982498 0.00821296 -0.01680939 2.19584982] [-0.00826754 0.99996077 -0.00317985 -0.03338811] [ 0.01678262 0.00331827 0.99985366 -0.37359095] [ 0. 0. 0. 1. ]] SLAMing on 13.101193817000002 meters Centerline goodness : 0.869340 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.38 [[ 0.99992105 0.00668737 -0.01063849 2.20587067] [-0.00664246 0.9999689 0.00425129 -0.03357268] [ 0.01066659 -0.00418029 0.99993437 -0.37645608] [ 0. 0. 0. 1. ]] SLAMing on 13.131193817000002 meters Centerline goodness : 0.870192 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.37 [[ 9.99931604e-01 4.78432274e-03 -1.06722589e-02 2.20432031e+00] [-4.76451987e-03 9.99986882e-01 1.88020057e-03 -2.92629399e-02] [ 1.06811143e-02 -1.82922378e-03 9.99941282e-01 -3.74317749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161193817000001 meters Centerline goodness : 0.872220 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.38 [[ 0.99997976 0.00508063 -0.00382928 2.21427644] [-0.00510679 0.99996348 -0.0068524 -0.0257376 ] [ 0.00379432 0.00687181 0.99996919 -0.37746689] [ 0. 0. 0. 1. ]] SLAMing on 13.191193817000002 meters Centerline goodness : 0.873478 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.02, Z:-0.38 [[ 0.99998187 0.00459734 -0.00388822 2.21460194] [-0.00462709 0.99995982 -0.00767829 -0.02324128] [ 0.00385276 0.00769615 0.99996296 -0.37756313] [ 0. 0. 0. 1. ]] SLAMing on 13.221193817000001 meters Centerline goodness : 0.869115 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.38 [[ 0.99998531 0.00359117 -0.00406026 2.21624275] [-0.0036301 0.99994711 -0.00962244 -0.01774233] [ 0.00402549 0.00963704 0.99994546 -0.37893514] [ 0. 0. 0. 1. ]] SLAMing on 13.251193817 meters Centerline goodness : 0.869829 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.38 [[ 0.99998094 0.00426538 -0.00446285 2.21887351] [-0.00430673 0.9999475 -0.00929788 -0.01571879] [ 0.00442295 0.00931692 0.99994681 -0.38093287] [ 0. 0. 0. 1. ]] SLAMing on 13.281193817000002 meters Centerline goodness : 0.870202 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.01, Z:-0.38 [[ 0.99998152 0.00386847 -0.00469051 2.22020456] [-0.00391764 0.99993701 -0.01051807 -0.01175442] [ 0.00464952 0.01053625 0.99993368 -0.38185585] [ 0. 0. 0. 1. ]] SLAMing on 13.311193817000001 meters Centerline goodness : 0.867758 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.01, Z:-0.38 [[ 0.99996945 0.00588751 -0.0051423 2.22269072] [-0.00593356 0.999942 -0.00898807 -0.00761493] [ 0.00508908 0.00901831 0.99994638 -0.38359191] [ 0. 0. 0. 1. ]] SLAMing on 13.341193817 meters Centerline goodness : 0.870635 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.39 [[ 9.99957456e-01 9.02364609e-03 -1.91317682e-03 2.23997047e+00] [-9.04734684e-03 9.99877602e-01 -1.27642780e-02 6.02120479e-03] [ 1.79776233e-03 1.27810442e-02 9.99916703e-01 -3.86435219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371193817000002 meters Centerline goodness : 0.868748 Centerline is valid? [False, False] Translation: X:2.26, Y:0.01, Z:-0.39 [[ 9.99948865e-01 1.01124226e-02 7.68992762e-05 2.25832374e+00] [-1.01097652e-02 9.99811939e-01 -1.65492806e-02 1.35093192e-02] [-2.44238134e-04 1.65476570e-02 9.99863048e-01 -3.87514163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401193817000001 meters Centerline goodness : 0.866212 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.39 [[ 9.99917647e-01 1.28316124e-02 -2.21510425e-04 2.26021043e+00] [-1.28334846e-02 9.99808447e-01 -1.47773523e-02 1.83877821e-02] [ 3.18507381e-05 1.47789781e-02 9.99890784e-01 -3.88727212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431193817000002 meters Centerline goodness : 0.867387 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.39 [[ 9.99883250e-01 1.52721786e-02 -4.96336378e-04 2.26243161e+00] [-1.52773953e-02 9.99796402e-01 -1.31816435e-02 2.27738852e-02] [ 2.94922912e-04 1.31876873e-02 9.99912995e-01 -3.90334081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461193817000002 meters Centerline goodness : 0.867523 Centerline is valid? [False, False] Translation: X:2.26, Y:0.03, Z:-0.39 [[ 9.99776441e-01 2.11372461e-02 -5.34347760e-04 2.26475336e+00] [-2.11413935e-02 9.99730698e-01 -9.56937966e-03 3.35682661e-02] [ 3.31933526e-04 9.57853720e-03 9.99954070e-01 -3.92252293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491193817000001 meters Centerline goodness : 0.866412 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.39 [[ 9.99689003e-01 2.49336214e-02 -4.59197077e-04 2.26499842e+00] [-2.49363168e-02 9.99662229e-01 -7.32171383e-03 4.02525148e-02] [ 2.76485133e-04 7.33088748e-03 9.99973090e-01 -3.92147326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521193817000002 meters Centerline goodness : 0.869461 Centerline is valid? [False, False] Translation: X:2.27, Y:0.05, Z:-0.39 [[ 9.99572618e-01 2.92289533e-02 -4.98818228e-04 2.26566363e+00] [-2.92309842e-02 9.99561547e-01 -4.71836056e-03 4.66829416e-02] [ 3.60686779e-04 4.73092497e-03 9.99988744e-01 -3.92129625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551193817000001 meters Centerline goodness : 0.866210 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.99164085e-01 4.08785033e-02 -2.81879831e-04 2.26670179e+00] [-4.08770714e-02 9.99156357e-01 3.95474512e-03 5.65072430e-02] [ 4.43306086e-04 -3.93991687e-03 9.99992140e-01 -3.92206962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581193817 meters Centerline goodness : 0.866817 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98985732e-01 4.50262231e-02 -3.83327466e-04 2.26753808e+00] [-4.50226160e-02 9.98963165e-01 6.74973296e-03 6.08977130e-02] [ 6.86845001e-04 -6.72562852e-03 9.99977147e-01 -3.92385533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611193817000002 meters Centerline goodness : 0.865960 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98801506e-01 4.89417766e-02 -5.03353760e-04 2.26880267e+00] [-4.89342841e-02 9.98751696e-01 1.00242712e-02 6.33022752e-02] [ 9.93331065e-04 -9.98762597e-03 9.99949629e-01 -3.93076083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641193817000001 meters Centerline goodness : 0.867708 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98775941e-01 4.94576841e-02 -7.46111570e-04 2.26979279e+00] [-4.94484688e-02 9.98732137e-01 9.43229819e-03 6.60919277e-02] [ 1.21166523e-03 -9.38385843e-03 9.99955237e-01 -3.93580440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671193817 meters Centerline goodness : 0.867349 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98710642e-01 5.07603235e-02 -6.64971180e-04 2.26999681e+00] [-5.07515774e-02 9.98664811e-01 9.63701584e-03 6.73521084e-02] [ 1.15326136e-03 -9.59084194e-03 9.99953342e-01 -3.93793344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701193817000002 meters Centerline goodness : 0.866417 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.39 [[ 9.98690961e-01 5.11447774e-02 -7.58894727e-04 2.27042532e+00] [-5.11347336e-02 9.98642310e-01 9.93863315e-03 6.66903488e-02] [ 1.26617356e-03 -9.88681722e-03 9.99950323e-01 -3.94015252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731193817000001 meters Centerline goodness : 0.864626 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98665214e-01 5.16435619e-02 -8.56423254e-04 2.27097558e+00] [-5.16314873e-02 9.98608992e-01 1.06897872e-02 6.46990964e-02] [ 1.40729065e-03 -1.06313002e-02 9.99942496e-01 -3.94368451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761193817 meters Centerline goodness : 0.865186 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.39 [[ 9.98638695e-01 5.21515461e-02 -9.86903805e-04 2.27165489e+00] [-5.21363165e-02 9.98570301e-01 1.17965412e-02 6.15856899e-02] [ 1.60070069e-03 -1.17290290e-02 9.99929931e-01 -3.94762463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791193817000002 meters Centerline goodness : 0.864837 Centerline is valid? [False, False] Translation: X:2.27, Y:0.06, Z:-0.40 [[ 9.98753684e-01 4.98968065e-02 -1.17754941e-03 2.27229644e+00] [-4.98819635e-02 9.98701291e-01 1.03692280e-02 5.50874313e-02] [ 1.69341148e-03 -1.02975662e-02 9.99945545e-01 -3.95318179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821193817000001 meters Centerline goodness : 0.865131 Centerline is valid? [False, False] Translation: X:2.27, Y:0.05, Z:-0.40 [[ 9.98732526e-01 5.03177838e-02 -1.20922872e-03 2.27279706e+00] [-5.02999069e-02 9.98663399e-01 1.18884595e-02 4.98428970e-02] [ 1.80581340e-03 -1.18125671e-02 9.99928599e-01 -3.95739785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851193817000002 meters Centerline goodness : 0.865851 Centerline is valid? [False, False] Translation: X:2.28, Y:0.04, Z:-0.40 [[ 0.99885555 0.04770228 0.00347519 2.28196267] [-0.04776418 0.99864433 0.02069032 0.04268789] [-0.0024835 -0.02083263 0.99977989 -0.39809184] [ 0. 0. 0. 1. ]] SLAMing on 13.881193817000002 meters Centerline goodness : 0.868160 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99890433 0.04605317 0.00832118 2.29251162] [-0.04629476 0.99842642 0.03164626 0.03059692] [-0.00685068 -0.03199681 0.99946449 -0.39993297] [ 0. 0. 0. 1. ]] SLAMing on 13.911193817000001 meters Centerline goodness : 0.866689 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99891617 0.04587022 0.00789942 2.29383005] [-0.04610792 0.99838686 0.03313198 0.02592257] [-0.00636691 -0.0334603 0.99941977 -0.40034713] [ 0. 0. 0. 1. ]] SLAMing on 13.941193817000002 meters Centerline goodness : 0.867593 Centerline is valid? [False, False] Translation: X:2.29, Y:0.02, Z:-0.40 [[ 0.99907792 0.04227406 0.00749799 2.29453393] [-0.04248206 0.99864141 0.03017634 0.02235908] [-0.00621213 -0.03046704 0.99951647 -0.40057639] [ 0. 0. 0. 1. ]] SLAMing on 13.971193817000001 meters Centerline goodness : 0.864163 Centerline is valid? [False, False] Translation: X:2.29, Y:0.02, Z:-0.40 [[ 0.99932876 0.03595066 0.00704141 2.2942299 ] [-0.03611175 0.99905299 0.02427058 0.01980183] [-0.00616219 -0.02450857 0.99968063 -0.39938021] [ 0. 0. 0. 1. ]] SLAMing on 14.001193817 meters Centerline goodness : 0.865855 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.99975033 0.02131176 0.00671526 2.29320138] [-0.02138122 0.9997168 0.01044806 0.01498722] [-0.00649069 -0.01058903 0.99992287 -0.39822198] [ 0. 0. 0. 1. ]] SLAMing on 14.031193817000002 meters Centerline goodness : 0.864867 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.9998488 0.01609618 0.00657971 2.29313197] [-0.01614059 0.99984692 0.00675352 0.0103394 ] [-0.00646999 -0.00685869 0.99995555 -0.39808901] [ 0. 0. 0. 1. ]] SLAMing on 14.061193817000001 meters Centerline goodness : 0.866056 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.40 [[ 0.99991828 0.01097982 0.00654845 2.29319799] [-0.01100157 0.99993406 0.003294 0.00571052] [-0.00651185 -0.00336577 0.99997313 -0.39848834] [ 0. 0. 0. 1. ]] SLAMing on 14.091193817 meters Centerline goodness : 0.863538 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.40 [[ 0.99997167 0.00430872 0.0061725 2.29562798] [-0.00429234 0.99998724 -0.00266528 0.0032112 ] [-0.0061839 0.00263871 0.9999774 -0.4006116 ] [ 0. 0. 0. 1. ]] SLAMing on 14.121193817000002 meters Centerline goodness : 0.863406 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.40 [[ 9.99982221e-01 -9.30403752e-05 5.96224560e-03 2.29671757e+00] [ 1.30856528e-04 9.99979877e-01 -6.34252620e-03 1.52863913e-03] [-5.96153552e-03 6.34319364e-03 9.99962111e-01 -4.01516538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151193817000001 meters Centerline goodness : 0.866001 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.40 [[ 9.99957804e-01 -7.14311174e-03 5.77628925e-03 2.29914582e+00] [ 7.21553774e-03 9.99894376e-01 -1.26164077e-02 -6.34089791e-04] [-5.68555873e-03 1.26575543e-02 9.99903726e-01 -4.03945357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181193817000002 meters Centerline goodness : 0.864532 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.40 [[ 9.99959045e-01 -7.15596051e-03 5.54073860e-03 2.30015686e+00] [ 7.22338260e-03 9.99898929e-01 -1.22455741e-02 -2.29960511e-03] [-5.45254975e-03 1.22850954e-02 9.99909669e-01 -4.04629281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211193817000002 meters Centerline goodness : 0.868759 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 0.99996168 -0.00694372 0.0053306 2.30103142] [ 0.007008 0.9999018 -0.01213547 -0.00258217] [-0.00524581 0.01217236 0.99991215 -0.40517754] [ 0. 0. 0. 1. ]] SLAMing on 14.241193817000001 meters Centerline goodness : 0.872155 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 9.99982395e-01 -3.02039574e-03 5.10751612e-03 2.30150659e+00] [ 3.06416766e-03 9.99958461e-01 -8.58410228e-03 -1.67590687e-03] [-5.08137657e-03 8.59960144e-03 9.99950112e-01 -4.05100003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271193817000002 meters Centerline goodness : 0.869662 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:-0.41 [[ 9.99988715e-01 -1.25966829e-03 4.58065499e-03 2.30374337e+00] [ 1.29292824e-03 9.99972772e-01 -7.26526053e-03 -4.80891989e-04] [-4.57137845e-03 7.27110101e-03 9.99963116e-01 -4.06426419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301193817000001 meters Centerline goodness : 0.868082 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.41 [[ 9.99990314e-01 1.11189259e-03 4.25857400e-03 2.30573020e+00] [-1.09057344e-03 9.99986879e-01 -5.00522592e-03 7.31441248e-04] [-4.26408339e-03 5.00053315e-03 9.99978406e-01 -4.07953444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331193817 meters Centerline goodness : 0.871747 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.41 [[ 9.99985528e-01 3.65175068e-03 3.95079342e-03 2.30747818e+00] [-3.64167109e-03 9.99990104e-01 -2.55547567e-03 2.19025979e-03] [-3.96008628e-03 2.54105120e-03 9.99988930e-01 -4.09269010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361193817000002 meters Centerline goodness : 0.868815 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996857 0.00464826 0.00642225 2.32505965] [-0.00460134 0.99996276 -0.00730044 0.00904038] [-0.00645594 0.00727066 0.99995273 -0.41119529] [ 0. 0. 0. 1. ]] SLAMing on 14.391193817000001 meters Centerline goodness : 0.868815 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996857 0.00464826 0.00642225 2.32505965] [-0.00460134 0.99996276 -0.00730044 0.00904038] [-0.00645594 0.00727066 0.99995273 -0.41119529] [ 0. 0. 0. 1. ]] SLAMing on 14.421193817 meters Centerline goodness : 0.867829 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:-0.41 [[ 0.99996965 0.00455287 0.0063227 2.32540999] [-0.00450187 0.99995741 -0.00805704 0.01189516] [-0.00635911 0.00802833 0.99994755 -0.4111662 ] [ 0. 0. 0. 1. ]] SLAMing on 14.451193817000002 meters Centerline goodness : 0.870144 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.41 [[ 0.99994631 0.00480795 0.00917916 2.34367745] [-0.00471369 0.99993622 -0.01026336 0.01497549] [-0.00922792 0.01021955 0.9999052 -0.4115061 ] [ 0. 0. 0. 1. ]] SLAMing on 14.481193817000001 meters Centerline goodness : 0.870912 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.41 [[ 0.99994443 0.00510033 0.00922629 2.34338346] [-0.00499737 0.99992537 -0.01114842 0.01898099] [-0.00928246 0.0111017 0.99989529 -0.41079251] [ 0. 0. 0. 1. ]] SLAMing on 14.511193817000002 meters Centerline goodness : 0.864108 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.99991131 0.00957188 0.00926031 2.3432214 ] [-0.00949138 0.99991713 -0.00869809 0.02567099] [-0.0093428 0.00860943 0.99991929 -0.41003147] [ 0. 0. 0. 1. ]] SLAMing on 14.541193817000002 meters Centerline goodness : 0.864426 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.99986927 0.01337439 0.00908642 2.34382811] [-0.01332642 0.99989705 -0.00531946 0.02720508] [-0.00915663 0.00519768 0.99994457 -0.41018786] [ 0. 0. 0. 1. ]] SLAMing on 14.571193817000001 meters Centerline goodness : 0.862266 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.41 [[ 0.9998583 0.01415632 0.00910922 2.34407936] [-0.01410477 0.99988428 -0.00569857 0.03001504] [-0.00918884 0.00556927 0.99994227 -0.41048312] [ 0. 0. 0. 1. ]] SLAMing on 14.601193817000002 meters Centerline goodness : 0.867007 Centerline is valid? [False, False] Translation: X:2.35, Y:0.03, Z:-0.41 [[ 9.99788643e-01 1.85904413e-02 8.77862199e-03 2.34779399e+00] [-1.85747714e-02 9.99825738e-01 -1.86318512e-03 3.46865414e-02] [-8.81172964e-03 1.69973043e-03 9.99959731e-01 -4.14184942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631193817000002 meters Centerline goodness : 0.863016 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.42 [[ 0.99980621 0.01776068 0.00849162 2.34983929] [-0.01773427 0.99983769 -0.00317491 0.0380193 ] [-0.00854663 0.0030237 0.99995891 -0.41601838] [ 0. 0. 0. 1. ]] SLAMing on 14.661193817000001 meters Centerline goodness : 0.860087 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.42 [[ 0.99981154 0.01754248 0.00831568 2.35113409] [-0.01751506 0.99984096 -0.00335897 0.03910991] [-0.00837329 0.00321269 0.99995978 -0.41723195] [ 0. 0. 0. 1. ]] SLAMing on 14.691193817000002 meters Centerline goodness : 0.863226 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.42 [[ 0.99986762 0.01560407 0.0046096 2.34263593] [-0.0156309 0.99986076 0.00584299 0.03810188] [-0.00451778 -0.00591427 0.99997231 -0.41623149] [ 0. 0. 0. 1. ]] SLAMing on 14.721193817000001 meters Centerline goodness : 0.857955 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99894363e-01 1.43731084e-02 -2.16247945e-03 2.33480015e+00] [-1.43425147e-02 9.99805273e-01 1.35538931e-02 3.73774507e-02] [ 2.35686993e-03 -1.35214459e-02 9.99905803e-01 -4.13914908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751193817 meters Centerline goodness : 0.860784 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.41 [[ 0.99988892 0.01469645 -0.00248403 2.33613806] [-0.01466225 0.99980449 0.01326667 0.03865951] [ 0.00267852 -0.01322877 0.99990891 -0.41483284] [ 0. 0. 0. 1. ]] SLAMing on 14.781193817000002 meters Centerline goodness : 0.863291 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99859005e-01 1.66321114e-02 -2.31157222e-03 2.33486952e+00] [-1.65964881e-02 9.99754806e-01 1.46589578e-02 3.96894611e-02] [ 2.55481485e-03 -1.46185270e-02 9.99889880e-01 -4.13586202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811193817000001 meters Centerline goodness : 0.861232 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99822863e-01 1.87147725e-02 -2.00010067e-03 2.33286082e+00] [-1.86795408e-02 9.99691321e-01 1.63810325e-02 4.01654417e-02] [ 2.30605058e-03 -1.63407699e-02 9.99863821e-01 -4.11717970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841193817 meters Centerline goodness : 0.863123 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99762499e-01 2.17441673e-02 -1.46175994e-03 2.32893585e+00] [-2.17092436e-02 9.99549613e-01 2.07190901e-02 3.79105016e-02] [ 1.91162094e-03 -2.06824356e-02 9.99784268e-01 -4.06938567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871193817000002 meters Centerline goodness : 0.860121 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.40 [[ 9.99781736e-01 2.08525657e-02 -1.28519542e-03 2.32609311e+00] [-2.08208663e-02 9.99561004e-01 2.10782151e-02 3.60086707e-02] [ 1.72416608e-03 -2.10468556e-02 9.99777004e-01 -4.03126656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901193817000001 meters Centerline goodness : 0.859257 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.40 [[ 9.99820479e-01 1.89184757e-02 -1.04952262e-03 2.32372388e+00] [-1.88931973e-02 9.99614144e-01 2.03619887e-02 3.40653728e-02] [ 1.43433545e-03 -2.03385045e-02 9.99792122e-01 -4.00334841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931193817000002 meters Centerline goodness : 0.858405 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 9.99920053e-01 1.26039712e-02 -1.01411460e-03 2.30436422e+00] [-1.25651191e-02 9.99409911e-01 3.19679088e-02 3.11412654e-02] [ 1.41643878e-03 -3.19526106e-02 9.99488381e-01 -3.99384089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961193817000002 meters Centerline goodness : 0.860567 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.40 [[ 9.99985725e-01 1.13557169e-03 -5.22117407e-03 2.28248395e+00] [-9.33396434e-04 9.99255740e-01 3.85628639e-02 2.85588202e-02] [ 5.26107906e-03 -3.85574400e-02 9.99242536e-01 -3.96812589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991193817000001 meters Centerline goodness : 0.854192 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.40 [[ 0.99997997 -0.00324292 -0.00543504 2.28371678] [ 0.00342801 0.99940229 0.03439928 0.02806588] [ 0.00532023 -0.03441723 0.99939339 -0.39785572] [ 0. 0. 0. 1. ]] SLAMing on 15.021193817000002 meters Centerline goodness : 0.855468 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99995168 -0.00797971 -0.00574067 2.28541655] [ 0.00814707 0.99952427 0.02974646 0.02835911] [ 0.00550057 -0.0297918 0.99954099 -0.39919114] [ 0. 0. 0. 1. ]] SLAMing on 15.051193817000001 meters Centerline goodness : 0.853773 Centerline is valid? [False, False] Translation: X:2.29, Y:0.03, Z:-0.40 [[ 0.99987672 -0.01437202 -0.00632419 2.28788669] [ 0.01451706 0.999618 0.02351808 0.03038511] [ 0.00598378 -0.02360699 0.99970341 -0.40079565] [ 0. 0. 0. 1. ]] SLAMing on 15.081193817 meters Centerline goodness : 0.856730 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 9.99888187e-01 -1.47794644e-02 -2.27610059e-03 2.30020705e+00] [ 1.48081498e-02 9.99803895e-01 1.31487713e-02 3.33348544e-02] [ 2.08132244e-03 -1.31810060e-02 9.99910961e-01 -4.04774756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111193817000002 meters Centerline goodness : 0.855882 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:-0.40 [[ 0.99988262 -0.01509415 -0.0026275 2.30109271] [ 0.01512584 0.99980759 0.01248967 0.03474834] [ 0.00243847 -0.01252795 0.99991855 -0.40499113] [ 0. 0. 0. 1. ]] SLAMing on 15.141193817000001 meters Centerline goodness : 0.857965 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.41 [[ 9.99944289e-01 -1.04140409e-02 -1.72264599e-03 2.32169129e+00] [ 1.04133202e-02 9.99945689e-01 -4.26801790e-04 3.90824823e-02] [ 1.72699717e-03 4.08839548e-04 9.99998425e-01 -4.05770132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171193817 meters Centerline goodness : 0.855663 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.41 [[ 9.99971580e-01 -7.31798544e-03 1.81262468e-03 2.33029133e+00] [ 7.33414009e-03 9.99931952e-01 -9.07203724e-03 4.32348275e-02] [-1.74611230e-03 9.08507346e-03 9.99957205e-01 -4.06878530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201193817000002 meters Centerline goodness : 0.856888 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.41 [[ 0.99996778 -0.00304412 0.00742744 2.34183023] [ 0.00315186 0.99988937 -0.01453656 0.0471514 ] [-0.00738237 0.0145595 0.99986675 -0.41125125] [ 0. 0. 0. 1. ]] SLAMing on 15.231193817000001 meters Centerline goodness : 0.854711 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.41 [[ 9.99946485e-01 -1.36163155e-03 1.02553973e-02 2.35989507e+00] [ 1.53101914e-03 9.99862244e-01 -1.65272215e-02 5.18125660e-02] [-1.02314805e-02 1.65420383e-02 9.99810821e-01 -4.12690913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817000002 meters Centerline goodness : 0.856574 Centerline is valid? [False, False] Translation: X:2.36, Y:0.06, Z:-0.41 [[ 0.99994384 0.0039992 0.00981426 2.36125148] [-0.00387605 0.99991391 -0.01253559 0.05604027] [-0.00986355 0.01249685 0.99987326 -0.41296227] [ 0. 0. 0. 1. ]] SLAMing on 15.291193817000002 meters Centerline goodness : 0.857800 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.41 [[ 0.99996573 0.0034577 0.00752264 2.34193524] [-0.00347863 0.99999011 0.0027714 0.05492611] [-0.00751298 -0.00279747 0.99996786 -0.41097582] [ 0. 0. 0. 1. ]] SLAMing on 15.321193817000001 meters Centerline goodness : 0.857181 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.41 [[ 9.99990429e-01 3.80322508e-03 2.16251314e-03 2.33352942e+00] [-3.83347281e-03 9.99892400e-01 1.41595781e-02 5.34210865e-02] [-2.10842839e-03 -1.41677325e-02 9.99897410e-01 -4.08256077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351193817000002 meters Centerline goodness : 0.853121 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99998474 0.00346091 -0.00430706 2.32434144] [-0.00335568 0.9997014 0.02420442 0.05214994] [ 0.00438954 -0.0241896 0.99969775 -0.40408285] [ 0. 0. 0. 1. ]] SLAMing on 15.381193817000002 meters Centerline goodness : 0.853350 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.40 [[ 0.99998014 0.00398877 -0.00487866 2.3259924 ] [-0.00386809 0.99969231 0.02450164 0.05263732] [ 0.00497489 -0.02448228 0.99968789 -0.40487141] [ 0. 0. 0. 1. ]] SLAMing on 15.411193817000001 meters Centerline goodness : 0.856468 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99992596 0.00519867 -0.01100262 2.3174581 ] [-0.00478825 0.99930359 0.03700546 0.04985149] [ 0.01118734 -0.03695004 0.99925449 -0.40072864] [ 0. 0. 0. 1. ]] SLAMing on 15.441193817000002 meters Centerline goodness : 0.854763 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.9999185 0.00580355 -0.01137142 2.31810943] [-0.00537603 0.99929067 0.03727264 0.05039101] [ 0.01157966 -0.03720847 0.99924043 -0.40058604] [ 0. 0. 0. 1. ]] SLAMing on 15.471193817000001 meters Centerline goodness : 0.854473 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.40 [[ 0.99987126 0.0105924 -0.01205243 2.31859055] [-0.01006053 0.99900861 0.04336578 0.0464794 ] [ 0.01249983 -0.04323894 0.99898656 -0.39897207] [ 0. 0. 0. 1. ]] SLAMing on 15.501193817 meters Centerline goodness : 0.852209 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.40 [[ 0.99985651 0.01194818 -0.01200814 2.31738238] [-0.01138658 0.9988859 0.04579635 0.04322966] [ 0.01254194 -0.04565304 0.99887862 -0.39684982] [ 0. 0. 0. 1. ]] SLAMing on 15.531193817000002 meters Centerline goodness : 0.855386 Centerline is valid? [False, False] Translation: X:2.32, Y:0.04, Z:-0.39 [[ 0.99989714 0.01106552 -0.00912469 2.32259231] [-0.0107609 0.99940454 0.03278377 0.04361396] [ 0.00948202 -0.03268221 0.99942081 -0.3945878 ] [ 0. 0. 0. 1. ]] SLAMing on 15.561193817000001 meters Centerline goodness : 0.855692 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99993656 0.01001073 -0.00516408 2.32765772] [-0.00990593 0.99975218 0.01993622 0.0434219 ] [ 0.00536238 -0.0198838 0.99978792 -0.39276821] [ 0. 0. 0. 1. ]] SLAMing on 15.591193817000002 meters Centerline goodness : 0.853319 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99995683 0.00888675 -0.00271259 2.33250715] [-0.00886692 0.9999345 0.0072375 0.04360912] [ 0.00277673 -0.00721313 0.99997013 -0.38975766] [ 0. 0. 0. 1. ]] SLAMing on 15.621193817000002 meters Centerline goodness : 0.853058 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 0.99998074 0.00561761 -0.00263737 2.3316866 ] [-0.0056045 0.99997205 0.0049486 0.03890082] [ 0.00266509 -0.00493372 0.99998428 -0.38891059] [ 0. 0. 0. 1. ]] SLAMing on 15.651193817000001 meters Centerline goodness : 0.854489 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.39 [[ 9.99993951e-01 2.11523641e-03 -2.76095917e-03 2.33208428e+00] [-2.11002950e-03 9.99995993e-01 1.88745803e-03 3.63548399e-02] [ 2.76494053e-03 -1.88162091e-03 9.99994407e-01 -3.89131195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817000002 meters Centerline goodness : 0.848796 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:-0.39 [[ 9.99994443e-01 -1.44810562e-03 -3.00293364e-03 2.33288138e+00] [ 1.44526351e-03 9.99998506e-01 -9.48400618e-04 3.24722880e-02] [ 3.00430253e-03 9.44055317e-04 9.99995041e-01 -3.89536246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711193817000002 meters Centerline goodness : 0.848967 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:-0.39 [[ 0.99998222 -0.00501077 -0.00323347 2.33399932] [ 0.00499865 0.99998049 -0.00374626 0.02837508] [ 0.00325218 0.00373003 0.99998776 -0.39034303] [ 0. 0. 0. 1. ]] SLAMing on 15.741193817000001 meters Centerline goodness : 0.850044 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.39 [[ 0.99994483 -0.00967574 -0.00408913 2.33862585] [ 0.00964687 0.99992881 -0.00702289 0.02018702] [ 0.00415679 0.00698305 0.99996698 -0.39406477] [ 0. 0. 0. 1. ]] SLAMing on 15.771193817000002 meters Centerline goodness : 0.854047 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.40 [[ 0.99993771 -0.01005837 -0.00483881 2.34270958] [ 0.01002574 0.99992716 -0.00672065 0.01690917] [ 0.00490605 0.00667172 0.99996571 -0.39720255] [ 0. 0. 0. 1. ]] SLAMing on 15.801193817000001 meters Centerline goodness : 0.853220 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99993644 -0.00985508 -0.005477 2.34628777] [ 0.00982193 0.99993348 -0.00604716 0.01463306] [ 0.00553623 0.00599298 0.99996672 -0.39999508] [ 0. 0. 0. 1. ]] SLAMing on 15.831193817 meters Centerline goodness : 0.860329 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.9999448 -0.00853533 -0.00612777 2.34841736] [ 0.00851099 0.99995583 -0.00398802 0.01070097] [ 0.00616154 0.00393565 0.99997327 -0.40110112] [ 0. 0. 0. 1. ]] SLAMing on 15.861193817000002 meters Centerline goodness : 0.856159 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99992687 -0.01010232 -0.0066487 2.3501693 ] [ 0.01006573 0.99993413 -0.00551515 0.0085581 ] [ 0.00670398 0.00544782 0.99996269 -0.40188357] [ 0. 0. 0. 1. ]] SLAMing on 15.891193817000001 meters Centerline goodness : 0.854626 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.40 [[ 0.99990969 -0.01131409 -0.00725335 2.35219689] [ 0.01126667 0.99991511 -0.00654523 0.00543161] [ 0.00732679 0.00646292 0.99995227 -0.40284649] [ 0. 0. 0. 1. ]] SLAMing on 15.921193817000002 meters Centerline goodness : 0.852988 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:-0.40 [[ 9.99892841e-01 -1.23751078e-02 -7.82063989e-03 2.35442928e+00] [ 1.23186000e-02 9.99897964e-01 -7.23280105e-03 2.03261034e-03] [ 7.90934859e-03 7.13568666e-03 9.99943260e-01 -4.04135421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951193817000002 meters Centerline goodness : 0.854077 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:-0.40 [[ 0.99990377 -0.01129978 -0.00804777 2.354971 ] [ 0.01125993 0.9999242 -0.00498032 -0.0052938 ] [ 0.00810344 0.00488922 0.99995521 -0.4041979 ] [ 0. 0. 0. 1. ]] SLAMing on 15.981193817000001 meters Centerline goodness : 0.855305 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.41 [[ 0.99995496 -0.00854852 -0.00412339 2.36558072] [ 0.00849741 0.99988876 -0.01225817 -0.00721062] [ 0.00422772 0.01222258 0.99991636 -0.40705048] [ 0. 0. 0. 1. ]] SLAMing on 16.011193817000002 meters Centerline goodness : 0.857222 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.41 [[ 9.99988125e-01 -4.80372277e-03 8.20611144e-04 2.37659791e+00] [ 4.81756948e-03 9.99829975e-01 -1.77992424e-02 -8.77785427e-03] [-7.34968993e-04 1.78029844e-02 9.99841244e-01 -4.10921588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041193817 meters Centerline goodness : 0.852878 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.41 [[ 9.99990412e-01 -4.32481653e-03 6.86814318e-04 2.37679850e+00] [ 4.33587720e-03 9.99845842e-01 -1.70144992e-02 -1.00123429e-02] [-6.13123853e-04 1.70173140e-02 9.99855007e-01 -4.10858335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071193817 meters Centerline goodness : 0.855753 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:-0.41 [[ 9.99996334e-01 -2.62628965e-03 6.58553201e-04 2.39738768e+00] [ 2.63430068e-03 9.99918726e-01 -1.24740465e-02 -1.57629862e-02] [-6.25739218e-04 1.24757356e-02 9.99921979e-01 -4.12064116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101193817000002 meters Centerline goodness : 0.857537 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:-0.41 [[ 9.99995807e-01 -2.87693841e-03 3.31650263e-04 2.39812577e+00] [ 2.88061374e-03 9.99927725e-01 -1.16724624e-02 -1.97185280e-02] [-2.98045338e-04 1.16733688e-02 9.99931819e-01 -4.12271237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131193817000003 meters Centerline goodness : 0.850941 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99947639e-01 -1.02261091e-02 3.82886217e-04 2.39767942e+00] [ 1.02312803e-02 9.99791365e-01 -1.76790331e-02 -2.62892388e-02] [-2.02018613e-04 1.76820248e-02 9.99843640e-01 -4.11725952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161193817 meters Centerline goodness : 0.851091 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99900494e-01 -1.41030464e-02 3.25525212e-04 2.39799584e+00] [ 1.41067663e-02 9.99684133e-01 -2.07998622e-02 -2.92823985e-02] [-3.20809666e-05 2.08023846e-02 9.99783606e-01 -4.11904533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191193817000002 meters Centerline goodness : 0.853571 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.41 [[ 9.99885855e-01 -1.51087007e-02 6.87974567e-05 2.39886086e+00] [ 1.51069742e-02 9.99678980e-01 -2.03400358e-02 -3.29626329e-02] [ 2.38536142e-04 2.03387534e-02 9.99793118e-01 -4.12306620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221193817000003 meters Centerline goodness : 0.853304 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99876563e-01 -1.57102766e-02 -2.13425837e-04 2.39966963e+00] [ 1.57029976e-02 9.99681611e-01 -1.97507511e-02 -3.58617707e-02] [ 5.23647647e-04 1.97449617e-02 9.99804912e-01 -4.12586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251193817 meters Centerline goodness : 0.853304 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99876563e-01 -1.57102766e-02 -2.13425837e-04 2.39966963e+00] [ 1.57029976e-02 9.99681611e-01 -1.97507511e-02 -3.58617707e-02] [ 5.23647647e-04 1.97449617e-02 9.99804912e-01 -4.12586836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281193817000002 meters Centerline goodness : 0.848808 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99872539e-01 -1.59585856e-02 -4.79590485e-04 2.40042194e+00] [ 1.59463892e-02 9.99687277e-01 -1.92629414e-02 -3.78347332e-02] [ 7.86849805e-04 1.92528384e-02 9.99814337e-01 -4.12812752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311193817000003 meters Centerline goodness : 0.850066 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99871820e-01 -1.59903728e-02 -8.06871815e-04 2.40153983e+00] [ 1.59724309e-02 9.99696458e-01 -1.87582773e-02 -3.99774553e-02] [ 1.10657874e-03 1.87429852e-02 9.99823722e-01 -4.13390899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341193817 meters Centerline goodness : 0.849010 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99923411e-01 -1.23311000e-02 -1.05644430e-03 2.40197950e+00] [ 1.23145796e-02 9.99820045e-01 -1.44301015e-02 -4.17950508e-02] [ 1.23419322e-03 1.44159867e-02 9.99895323e-01 -4.13360590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371193817 meters Centerline goodness : 0.846022 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99961387e-01 -8.70106611e-03 -1.23117814e-03 2.40217343e+00] [ 8.68788371e-03 9.99908846e-01 -1.03354068e-02 -4.27655833e-02] [ 1.32099497e-03 1.03243114e-02 9.99945830e-01 -4.13165744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401193817000003 meters Centerline goodness : 0.849407 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.41 [[ 9.99978463e-01 -6.33303869e-03 -1.72239269e-03 2.40409100e+00] [ 6.31918431e-03 9.99948562e-01 -7.93356927e-03 -4.20753634e-02] [ 1.77254769e-03 7.92251428e-03 9.99967045e-01 -4.14245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431193817 meters Centerline goodness : 0.848214 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.04, Z:-0.42 [[ 9.99985762e-01 -4.79482987e-03 -2.34204323e-03 2.40713996e+00] [ 4.77916803e-03 9.99966483e-01 -6.64768985e-03 -4.13821429e-02] [ 2.37383927e-03 6.63640218e-03 9.99975161e-01 -4.16534340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461193817 meters Centerline goodness : 0.843410 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.04, Z:-0.42 [[ 9.99993699e-01 -2.03389851e-03 -2.90955195e-03 2.40997932e+00] [ 2.02196575e-03 9.99989558e-01 -4.09831802e-03 -4.02262811e-02] [ 2.91785714e-03 4.09240919e-03 9.99987369e-01 -4.18605592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491193817000003 meters Centerline goodness : 0.847369 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.04, Z:-0.42 [[ 0.99993015 0.00715035 -0.00941112 2.42318424] [-0.00717997 0.99996936 -0.00311735 -0.03771899] [ 0.00938854 0.0031847 0.99995086 -0.41871257] [ 0. 0. 0. 1. ]] SLAMing on 16.521193817 meters Centerline goodness : 0.843727 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:-0.42 [[ 0.9999227 0.01149079 -0.00474894 2.43506012] [-0.01153647 0.99988634 -0.00970627 -0.03534183] [ 0.00463687 0.0097603 0.99994162 -0.42266245] [ 0. 0. 0. 1. ]] SLAMing on 16.551193817 meters Centerline goodness : 0.842251 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:-0.43 [[ 9.99878931e-01 1.55343576e-02 8.98194716e-04 2.44594281e+00] [-1.55182239e-02 9.99754589e-01 -1.58096718e-02 -3.32700253e-02] [-1.14356739e-03 1.57938194e-02 9.99874616e-01 -4.25958891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581193817000003 meters Centerline goodness : 0.843474 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:-0.43 [[ 9.99807381e-01 1.96098378e-02 8.09984321e-04 2.44584099e+00] [-1.95990306e-02 9.99739500e-01 -1.16966079e-02 -3.35306941e-02] [-1.03914190e-03 1.16784800e-02 9.99931264e-01 -4.25287827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611193817 meters Centerline goodness : 0.841890 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.43 [[ 0.99972427 0.02308545 0.00429578 2.46186154] [-0.02302458 0.99964079 -0.01371677 -0.02916964] [-0.00461089 0.01361408 0.99989669 -0.42573555] [ 0. 0. 0. 1. ]] SLAMing on 16.641193817 meters Centerline goodness : 0.840253 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.43 [[ 0.99971581 0.02354106 0.00375756 2.46261841] [-0.02348643 0.99962647 -0.01397532 -0.02799763] [-0.00408515 0.0138831 0.99989528 -0.42507636] [ 0. 0. 0. 1. ]] SLAMing on 16.671193817000002 meters Centerline goodness : 0.840643 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.42 [[ 0.99970315 0.02411279 0.0034915 2.46301469] [-0.02406467 0.99962292 -0.01322531 -0.02941808] [-0.00380908 0.01313736 0.99990645 -0.42493747] [ 0. 0. 0. 1. ]] SLAMing on 16.701193817 meters Centerline goodness : 0.841293 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.42 [[ 0.9996974 0.02437757 0.00329343 2.46318423] [-0.02433523 0.99962772 -0.01233738 -0.03223299] [-0.00359296 0.0122535 0.99991847 -0.42481721] [ 0. 0. 0. 1. ]] SLAMing on 16.731193817 meters Centerline goodness : 0.839623 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99969788 0.02435954 0.0032816 2.4630656 ] [-0.02432076 0.99963945 -0.0113786 -0.03548484] [-0.0035576 0.01129535 0.99992988 -0.42484468] [ 0. 0. 0. 1. ]] SLAMing on 16.761193817000002 meters Centerline goodness : 0.837805 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.9997079 0.02386031 0.00384598 2.46091759] [-0.02381782 0.99965864 -0.01073828 -0.03807194] [-0.00410089 0.01064354 0.99993495 -0.42356807] [ 0. 0. 0. 1. ]] SLAMing on 16.791193817 meters Centerline goodness : 0.840372 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99970999 0.02375875 0.0039304 2.46046236] [-0.02371623 0.99966323 -0.01053367 -0.03862642] [-0.00417934 0.0104374 0.99993679 -0.42323065] [ 0. 0. 0. 1. ]] SLAMing on 16.821193817 meters Centerline goodness : 0.836297 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99971362 0.02362217 0.00382942 2.46066051] [-0.02358269 0.99967143 -0.01004426 -0.0401194 ] [-0.00406543 0.00995107 0.99994222 -0.42343722] [ 0. 0. 0. 1. ]] SLAMing on 16.851193817000002 meters Centerline goodness : 0.838136 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.42 [[ 0.99971737 0.02352479 0.00342949 2.46141708] [-0.02349169 0.99967991 -0.00939215 -0.04244665] [-0.00364934 0.00930893 0.99995001 -0.42370258] [ 0. 0. 0. 1. ]] SLAMing on 16.881193817000003 meters Centerline goodness : 0.839628 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 0.99972132 0.02337857 0.00327572 2.46160202] [-0.02335014 0.99969152 -0.0084633 -0.04573868] [-0.00347257 0.00838445 0.99995882 -0.42391566] [ 0. 0. 0. 1. ]] SLAMing on 16.911193817 meters Centerline goodness : 0.842894 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 0.99980497 0.01952851 0.00294339 2.46165239] [-0.01949237 0.99973988 -0.01184169 -0.04816743] [-0.00317387 0.011782 0.99992555 -0.42334861] [ 0. 0. 0. 1. ]] SLAMing on 16.941193817000002 meters Centerline goodness : 0.836987 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 9.99831487e-01 1.81934822e-02 2.44861354e-03 2.46353678e+00] [-1.81604581e-02 9.99751946e-01 -1.28936064e-02 -4.85519608e-02] [-2.68258575e-03 1.28469657e-02 9.99913876e-01 -4.24440487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971193817000003 meters Centerline goodness : 0.834879 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.05, Z:-0.42 [[ 9.99838346e-01 1.78514420e-02 2.14646478e-03 2.46414736e+00] [-1.78223637e-02 9.99758224e-01 -1.28785453e-02 -4.93498950e-02] [-2.37584642e-03 1.28382083e-02 9.99914764e-01 -4.24443405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001193817 meters Centerline goodness : 0.834585 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99872853e-01 1.58665976e-02 1.59032744e-03 2.46595395e+00] [-1.58421203e-02 9.99771169e-01 -1.43748832e-02 -5.05103943e-02] [-1.81804401e-03 1.43478613e-02 9.99895411e-01 -4.25264537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031193817000002 meters Centerline goodness : 0.835257 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99893973e-01 1.45297125e-02 9.64173403e-04 2.46803169e+00] [-1.45131689e-02 9.99776330e-01 -1.53836721e-02 -5.13220565e-02] [-1.18747808e-03 1.53680478e-02 9.99881199e-01 -4.26322113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061193817000003 meters Centerline goodness : 0.834259 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.05, Z:-0.43 [[ 9.99916143e-01 1.29480970e-02 2.30500070e-04 2.47085925e+00] [-1.29424677e-02 9.99777713e-01 -1.66438466e-02 -5.26097265e-02] [-4.45954973e-04 1.66394677e-02 9.99861455e-01 -4.28137556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091193817 meters Centerline goodness : 0.839343 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.43 [[ 9.99963434e-01 8.52934887e-03 -6.16755140e-04 2.47515923e+00] [-8.54012246e-03 9.99757005e-01 -2.03223254e-02 -5.64441160e-02] [ 4.43269069e-04 2.03268495e-02 9.99793290e-01 -4.31591279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121193817 meters Centerline goodness : 0.840671 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.43 [[ 9.99974435e-01 7.04313937e-03 -1.23448729e-03 2.47823599e+00] [-7.06772742e-03 9.99750368e-01 -2.11954855e-02 -5.79511788e-02] [ 1.08489637e-03 2.12036687e-02 9.99774588e-01 -4.33991008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151193817000003 meters Centerline goodness : 0.838943 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.44 [[ 9.99981920e-01 5.71726865e-03 -1.86367384e-03 2.48141250e+00] [-5.75690264e-03 9.99741299e-01 -2.20043684e-02 -5.85963921e-02] [ 1.73738682e-03 2.20146995e-02 9.99756138e-01 -4.36429365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181193817 meters Centerline goodness : 0.837520 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.06, Z:-0.44 [[ 9.99983931e-01 5.22186134e-03 -2.20687347e-03 2.48301618e+00] [-5.26939288e-03 9.99741637e-01 -2.21109194e-02 -5.89742448e-02] [ 2.09084314e-03 2.21221930e-02 9.99753088e-01 -4.37583842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211193817 meters Centerline goodness : 0.842079 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997992 0.00550545 -0.00313797 2.48743358] [-0.00557075 0.9997598 -0.02119678 -0.06012705] [ 0.00302052 0.02121383 0.9997704 -0.44075084] [ 0. 0. 0. 1. ]] SLAMing on 17.241193817000003 meters Centerline goodness : 0.839504 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997751 0.00571366 -0.00351084 2.48830808] [-0.00578551 0.99976672 -0.02080946 -0.06128012] [ 0.00339113 0.02082931 0.9997773 -0.44090592] [ 0. 0. 0. 1. ]] SLAMing on 17.271193817 meters Centerline goodness : 0.837928 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99997385 0.00619334 -0.00373455 2.48860111] [-0.00626811 0.99977319 -0.02035381 -0.06229573] [ 0.00360765 0.02037668 0.99978586 -0.44066663] [ 0. 0. 0. 1. ]] SLAMing on 17.301193817 meters Centerline goodness : 0.834663 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.06, Z:-0.44 [[ 0.99994493 0.0096988 -0.00400902 2.48865435] [-0.00976371 0.99981618 -0.01650103 -0.0641181 ] [ 0.00384825 0.01653927 0.99985581 -0.43983978] [ 0. 0. 0. 1. ]] SLAMing on 17.331193817000003 meters Centerline goodness : 0.837568 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99911527e-01 1.32876363e-02 6.14585815e-04 2.50318781e+00] [-1.32750191e-02 9.99762219e-01 -1.72997050e-02 -6.04659378e-02] [-8.44311866e-04 1.72900158e-02 9.99850160e-01 -4.38334500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters Centerline goodness : 0.844961 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99853132e-01 1.71303244e-02 5.16850836e-04 2.50317067e+00] [-1.71216786e-02 9.99760268e-01 -1.36475451e-02 -5.89834776e-02] [-7.50513805e-04 1.36366913e-02 9.99906734e-01 -4.37728136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391193817 meters Centerline goodness : 0.840618 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:-0.44 [[ 9.99782959e-01 2.08282574e-02 4.67756137e-04 2.50335638e+00] [-2.08224477e-02 9.99731780e-01 -1.01387406e-02 -5.74058226e-02] [-6.78802974e-04 1.01268002e-02 9.99948492e-01 -4.37513946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421193817000002 meters Centerline goodness : 0.841920 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.05, Z:-0.44 [[ 0.9996863 0.0241358 0.00668995 2.51550632] [-0.02403212 0.99959613 -0.01516693 -0.0549409 ] [-0.00705331 0.0150014 0.9998626 -0.44188412] [ 0. 0. 0. 1. ]] SLAMing on 17.451193817 meters Centerline goodness : 0.839117 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99969359 0.02387041 0.00655276 2.51540092] [-0.02376799 0.99960063 -0.01528633 -0.05550146] [-0.00691503 0.0151259 0.99986169 -0.44128876] [ 0. 0. 0. 1. ]] SLAMing on 17.481193817 meters Centerline goodness : 0.840899 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99973164 0.02240557 0.00588539 2.51777391] [-0.02230584 0.99961509 -0.01649626 -0.0567114 ] [-0.00625273 0.01636056 0.99984661 -0.44266113] [ 0. 0. 0. 1. ]] SLAMing on 17.511193817000002 meters Centerline goodness : 0.841942 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99976532 0.02096117 0.0054709 2.51979963] [-0.02086139 0.99962572 -0.01769812 -0.05751163] [-0.00583982 0.01757984 0.99982841 -0.44413709] [ 0. 0. 0. 1. ]] SLAMing on 17.541193817000003 meters Centerline goodness : 0.844662 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99977491 0.02053714 0.00532555 2.52012387] [-0.02043909 0.99963166 -0.01785479 -0.05797234] [-0.00569027 0.01774192 0.99982641 -0.44415194] [ 0. 0. 0. 1. ]] SLAMing on 17.571193817 meters Centerline goodness : 0.843498 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.9997949 0.01957039 0.00521109 2.52050032] [-0.01947066 0.99963837 -0.01854759 -0.05665989] [-0.00557219 0.01844232 0.9998144 -0.44416747] [ 0. 0. 0. 1. ]] SLAMing on 17.601193817000002 meters Centerline goodness : 0.843014 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.44 [[ 0.99979837 0.01944612 0.00500696 2.52138784] [-0.0193499 0.99963982 -0.01859605 -0.05633812] [-0.00536677 0.01849542 0.99981454 -0.44473199] [ 0. 0. 0. 1. ]] SLAMing on 17.631193817000003 meters Centerline goodness : 0.847944 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.45 [[ 0.99980421 0.01921059 0.0047424 2.52262075] [-0.01911877 0.9996423 -0.01870133 -0.05676698] [-0.00509996 0.018607 0.99981387 -0.44560967] [ 0. 0. 0. 1. ]] SLAMing on 17.661193817 meters Centerline goodness : 0.849493 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.06, Z:-0.45 [[ 0.99981687 0.01861121 0.00445445 2.52442117] [-0.0185222 0.99964304 -0.01925424 -0.05720036] [-0.0048112 0.01916821 0.9998047 -0.44709667] [ 0. 0. 0. 1. ]] SLAMing on 17.691193817000002 meters Centerline goodness : 0.853123 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99983355 0.01777223 0.00412576 2.52664617] [-0.01768776 0.99964989 -0.0196783 -0.05846659] [-0.00447404 0.01960205 0.99979785 -0.44906286] [ 0. 0. 0. 1. ]] SLAMing on 17.721193817000003 meters Centerline goodness : 0.850244 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99984141 0.01736063 0.0039695 2.527357 ] [-0.01727879 0.99965474 -0.01979519 -0.058742 ] [-0.00431179 0.01972346 0.99979618 -0.44950509] [ 0. 0. 0. 1. ]] SLAMing on 17.751193817 meters Centerline goodness : 0.852877 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99986109 0.01631381 0.00341403 2.52933009] [-0.01624081 0.99965963 -0.02041716 -0.05881038] [-0.00374595 0.02035888 0.99978572 -0.45066786] [ 0. 0. 0. 1. ]] SLAMing on 17.781193817000002 meters Centerline goodness : 0.856073 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.06, Z:-0.45 [[ 0.99988602 0.01484755 0.00273826 2.53196314] [-0.01478557 0.99966136 -0.02141386 -0.05916554] [-0.00305528 0.02137093 0.99976695 -0.45236967] [ 0. 0. 0. 1. ]] SLAMing on 17.811193817000003 meters Centerline goodness : 0.849098 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99975874e-01 6.79362084e-03 -1.44832662e-03 2.53560059e+00] [-6.81271975e-03 9.99884073e-01 -1.36171715e-02 -6.02944877e-02] [ 1.35564882e-03 1.36267100e-02 9.99906233e-01 -4.55555175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841193817 meters Centerline goodness : 0.858823 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99987809e-01 4.48344262e-03 -2.06906843e-03 2.53884720e+00] [-4.51490754e-03 9.99870266e-01 -1.54618092e-02 -5.93918401e-02] [ 1.99947787e-03 1.54709623e-02 9.99878318e-01 -4.58022399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871193817 meters Centerline goodness : 0.857454 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.46 [[ 9.99994079e-01 2.20283574e-03 -2.64379240e-03 2.54197812e+00] [-2.24831744e-03 9.99847377e-01 -1.73253356e-02 -5.79180598e-02] [ 2.60522403e-03 1.73311771e-02 9.99846410e-01 -4.60372511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901193817000003 meters Centerline goodness : 0.852637 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 9.99992540e-01 -2.17404611e-03 -3.19283273e-03 2.54522577e+00] [ 2.10482533e-03 9.99766080e-01 -2.15256914e-02 -5.41770724e-02] [ 3.23888371e-03 2.15188104e-02 9.99763197e-01 -4.62671591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931193817 meters Centerline goodness : 0.853577 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998901 -0.00317543 -0.00344925 2.54600326] [ 0.00309637 0.99973775 -0.02269014 -0.0517413 ] [ 0.00352039 0.02267921 0.9997366 -0.46286272] [ 0. 0. 0. 1. ]] SLAMing on 17.961193817 meters Centerline goodness : 0.853448 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998624 -0.00383085 -0.00358276 2.54619725] [ 0.00374488 0.99971206 -0.02370196 -0.04893628] [ 0.00367252 0.02368822 0.99971265 -0.46263978] [ 0. 0. 0. 1. ]] SLAMing on 17.991193817000003 meters Centerline goodness : 0.856244 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.05, Z:-0.46 [[ 0.99998286 -0.00450431 -0.00374162 2.54635302] [ 0.0044094 0.99967775 -0.02499921 -0.045052 ] [ 0.00385302 0.02498229 0.99968047 -0.46223153] [ 0. 0. 0. 1. ]] SLAMing on 18.021193817 meters Centerline goodness : 0.854090 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.04, Z:-0.46 [[ 9.99994705e-01 -2.98638476e-03 1.29286988e-03 2.56075265e+00] [ 3.02111813e-03 9.99610239e-01 -2.77532498e-02 -3.52054267e-02] [-1.20948408e-03 2.77570087e-02 9.99613968e-01 -4.61581209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051193817 meters Centerline goodness : 0.856012 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.46 [[ 9.99999201e-01 -1.34929646e-04 1.25656778e-03 2.56070738e+00] [ 1.66913218e-04 9.99675117e-01 -2.54879013e-02 -3.08282600e-02] [-1.25272047e-03 2.54880907e-02 9.99674341e-01 -4.61124763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081193817000003 meters Centerline goodness : 0.855717 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.46 [[ 9.99995646e-01 2.67498168e-03 1.24635237e-03 2.56026799e+00] [-2.64527163e-03 9.99725980e-01 -2.32587276e-02 -2.64779693e-02] [-1.30822751e-03 2.32553294e-02 9.99728702e-01 -4.60221835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111193817 meters Centerline goodness : 0.856140 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.46 [[ 9.99985581e-01 5.21066336e-03 1.29900439e-03 2.55989633e+00] [-5.18198115e-03 9.99762171e-01 -2.11836720e-02 -2.23814136e-02] [-1.40907643e-03 2.11766351e-02 9.99774757e-01 -4.59555147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141193817 meters Centerline goodness : 0.856608 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99973593e-01 7.12457433e-03 1.43308911e-03 2.55833801e+00] [-7.09302173e-03 9.99755711e-01 -2.09334209e-02 -1.17247617e-02] [-1.58188073e-03 2.09227032e-02 9.99779845e-01 -4.57074058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171193817000002 meters Centerline goodness : 0.857669 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99952677e-01 9.64388339e-03 1.28027461e-03 2.55888796e+00] [-9.61793801e-03 9.99774670e-01 -1.89236570e-02 -7.32662980e-03] [-1.46248367e-03 1.89104479e-02 9.99820112e-01 -4.57041920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201193817 meters Centerline goodness : 0.857669 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.46 [[ 9.99952677e-01 9.64388339e-03 1.28027461e-03 2.55888796e+00] [-9.61793801e-03 9.99774670e-01 -1.89236570e-02 -7.32662980e-03] [-1.46248367e-03 1.89104479e-02 9.99820112e-01 -4.57041920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231193817 meters Centerline goodness : 0.855973 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.46 [[ 9.99938298e-01 1.10839864e-02 7.37906780e-04 2.56158294e+00] [-1.10689585e-02 9.99777602e-01 -1.79506064e-02 -2.66676587e-03] [-9.36706949e-04 1.79413310e-02 9.99838603e-01 -4.58867362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261193817000002 meters Centerline goodness : 0.855934 Centerline is valid? [False, False] Translation: X:2.57, Y:0.01, Z:-0.46 [[ 9.99945708e-01 1.00902509e-02 -2.60151446e-03 2.57306597e+00] [-1.01309463e-02 9.99818487e-01 -1.61355601e-02 8.44216611e-03] [ 2.43823040e-03 1.61610399e-02 9.99866429e-01 -4.61899769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291193817000003 meters Centerline goodness : 0.854610 Centerline is valid? [False, False] Translation: X:2.58, Y:0.01, Z:-0.46 [[ 0.99992583 0.01177683 -0.00310493 2.57603364] [-0.01182246 0.99981592 -0.01511117 0.01358742] [ 0.0029264 0.01514675 0.999881 -0.46409472] [ 0. 0. 0. 1. ]] SLAMing on 18.321193817 meters Centerline goodness : 0.857916 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.47 [[ 0.99989805 0.01390013 -0.00326792 2.57788562] [-0.01394424 0.99980634 -0.01388678 0.01901359] [ 0.00307426 0.01393094 0.99989823 -0.46551211] [ 0. 0. 0. 1. ]] SLAMing on 18.351193817000002 meters Centerline goodness : 0.856336 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.46 [[ 0.99986068 0.0163791 -0.0032165 2.57763085] [-0.01641786 0.99978809 -0.01241875 0.02439809] [ 0.00301241 0.01246983 0.99991771 -0.46486662] [ 0. 0. 0. 1. ]] SLAMing on 18.381193817000003 meters Centerline goodness : 0.863431 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.46 [[ 0.99977664 0.0209491 -0.00279383 2.57565256] [-0.02097652 0.99972817 -0.01017723 0.0365289 ] [ 0.00257986 0.01023356 0.99994431 -0.46227482] [ 0. 0. 0. 1. ]] SLAMing on 18.411193817 meters Centerline goodness : 0.862491 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.46 [[ 9.99718915e-01 2.35573967e-02 -2.67200500e-03 2.57527433e+00] [-2.35799494e-02 9.99683673e-01 -8.74868129e-03 4.33246889e-02] [ 2.46506362e-03 8.80922791e-03 9.99958160e-01 -4.61654018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441193817000002 meters Centerline goodness : 0.865369 Centerline is valid? [False, False] Translation: X:2.57, Y:0.05, Z:-0.46 [[ 9.99652949e-01 2.62177162e-02 -2.57172726e-03 2.57485709e+00] [-2.62357782e-02 9.99629414e-01 -7.26078085e-03 5.01698844e-02] [ 2.38041312e-03 7.32573225e-03 9.99970333e-01 -4.60872950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471193817000003 meters Centerline goodness : 0.869217 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.46 [[ 9.99567166e-01 2.93092522e-02 -2.53926634e-03 2.57494098e+00] [-2.93225440e-02 9.99555600e-01 -5.36576177e-03 5.66923321e-02] [ 2.38087142e-03 5.43789704e-03 9.99982380e-01 -4.60569354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501193817 meters Centerline goodness : 0.867837 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.46 [[ 9.99357884e-01 3.57399294e-02 -2.54516837e-03 2.57613133e+00] [-3.57430319e-02 9.99360312e-01 -1.18411055e-03 6.69365002e-02] [ 2.50122023e-03 1.27432225e-03 9.99996060e-01 -4.61057722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531193817000002 meters Centerline goodness : 0.868216 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.46 [[ 9.99229656e-01 3.91587574e-02 -2.58561902e-03 2.57688586e+00] [-3.91551884e-02 9.99232137e-01 1.41681966e-03 7.07825537e-02] [ 2.63911451e-03 -1.31448782e-03 9.99995654e-01 -4.61434267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561193817000003 meters Centerline goodness : 0.870999 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.46 [[ 0.99911449 0.04197899 -0.0028279 2.57895064] [-0.04196925 0.99911304 0.0034219 0.0750876 ] [ 0.00296904 -0.00330018 0.99999015 -0.46290715] [ 0. 0. 0. 1. ]] SLAMing on 18.591193817 meters Centerline goodness : 0.872887 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.47 [[ 0.99883862 0.04807777 -0.00315115 2.58209521] [-0.04805043 0.9988109 0.00824213 0.08127259] [ 0.00354366 -0.00808115 0.99996107 -0.4652084 ] [ 0. 0. 0. 1. ]] SLAMing on 18.621193817 meters Centerline goodness : 0.873831 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.47 [[ 0.99865673 0.0517162 -0.00319017 2.58264534] [-0.05167692 0.9985992 0.01136375 0.08328667] [ 0.00377339 -0.01118363 0.99993034 -0.46525265] [ 0. 0. 0. 1. ]] SLAMing on 18.651193817000003 meters Centerline goodness : 0.875420 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 0.99847873 0.05505185 -0.00308433 2.58230657] [-0.05500231 0.99838335 0.01433284 0.08521718] [ 0.00386839 -0.0141414 0.99989252 -0.46451974] [ 0. 0. 0. 1. ]] SLAMing on 18.681193817 meters Centerline goodness : 0.876367 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 0.99846052 0.05537696 -0.00315791 2.58199206] [-0.05533046 0.9983797 0.01328554 0.09091971] [ 0.00388851 -0.01309036 0.99990676 -0.46346397] [ 0. 0. 0. 1. ]] SLAMing on 18.711193817 meters Centerline goodness : 0.874504 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.46 [[ 9.98487180e-01 5.49663433e-02 -1.43249989e-03 2.58920657e+00] [-5.49142645e-02 9.98185201e-01 2.47129260e-02 8.94543208e-02] [ 2.78827937e-03 -2.45968751e-02 9.99693563e-01 -4.61404920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741193817000003 meters Centerline goodness : 0.878418 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.46 [[ 9.98499491e-01 5.47412629e-02 -1.46983701e-03 2.58913084e+00] [-5.46880423e-02 9.98195059e-01 2.48161744e-02 8.97780861e-02] [ 2.82565277e-03 -2.46985550e-02 9.99690951e-01 -4.60657672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771193817 meters Centerline goodness : 0.877791 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98572654e-01 5.33942403e-02 1.30777862e-03 2.59571815e+00] [-5.34067312e-02 9.97926230e-01 3.59299516e-02 8.71869377e-02] [ 6.13385878e-04 -3.59485113e-02 9.99353455e-01 -4.58982464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801193817 meters Centerline goodness : 0.879249 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98600761e-01 5.28685902e-02 1.19669767e-03 2.59603257e+00] [-5.28774976e-02 9.97957944e-01 3.58317307e-02 8.72142917e-02] [ 7.00119138e-04 -3.58448719e-02 9.99357121e-01 -4.58764505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831193817000003 meters Centerline goodness : 0.877638 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98813434e-01 4.86962270e-02 6.34152545e-04 2.59681561e+00] [-4.86920982e-02 9.98319616e-01 3.14169426e-02 8.74829427e-02] [ 8.96799646e-04 -3.14105426e-02 9.99506165e-01 -4.58807739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861193817 meters Centerline goodness : 0.876291 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98806328e-01 4.88445139e-02 3.63349247e-04 2.59729515e+00] [-4.88310370e-02 9.98292211e-01 3.20654254e-02 8.64440543e-02] [ 1.20349139e-03 -3.20448925e-02 9.99485706e-01 -4.58459517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891193817 meters Centerline goodness : 0.878447 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98812847e-01 4.87123401e-02 6.34987830e-05 2.59805612e+00] [-4.86891275e-02 9.98294919e-01 3.21966429e-02 8.59718332e-02] [ 1.50498331e-03 -3.21615123e-02 9.99481552e-01 -4.58669152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921193817000002 meters Centerline goodness : 0.877211 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98824196e-01 4.84790954e-02 -4.30878814e-05 2.59845020e+00] [-4.84528908e-02 9.98312741e-01 3.19998363e-02 8.62299456e-02] [ 1.59433830e-03 -3.19601231e-02 9.99487873e-01 -4.58941330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951193817 meters Centerline goodness : 0.876715 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98855589e-01 4.78278957e-02 -6.52958918e-05 2.59787177e+00] [-4.78017346e-02 9.98352558e-01 3.17358557e-02 8.69801818e-02] [ 1.58304752e-03 -3.16964156e-02 9.99496289e-01 -4.57857707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981193817 meters Centerline goodness : 0.876152 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.98871920e-01 4.74855288e-02 -1.08551101e-04 2.59754574e+00] [-4.74583584e-02 9.98372662e-01 3.16185317e-02 8.66528141e-02] [ 1.60979715e-03 -3.15777118e-02 9.99500003e-01 -4.57286076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011193817000002 meters Centerline goodness : 0.877080 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99040671e-01 4.37903904e-02 -3.74436725e-04 2.59763885e+00] [-4.37640189e-02 9.98671592e-01 2.71985803e-02 8.84861781e-02] [ 1.56497577e-03 -2.71561010e-02 9.99629980e-01 -4.57033451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041193817000003 meters Centerline goodness : 0.875647 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99062758e-01 4.32816945e-02 -5.47999271e-04 2.59761674e+00] [-4.32507048e-02 9.98692481e-01 2.72526096e-02 8.78148644e-02] [ 1.72682187e-03 -2.72033659e-02 9.99628428e-01 -4.56486816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071193817 meters Centerline goodness : 0.877142 Centerline is valid? [False, False] Translation: X:2.60, Y:0.09, Z:-0.46 [[ 9.99127534e-01 4.17602204e-02 -5.03877147e-04 2.59628617e+00] [-4.17326198e-02 9.98783915e-01 2.62503365e-02 8.74083103e-02] [ 1.59948423e-03 -2.62064058e-02 9.99655274e-01 -4.55005907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101193817000002 meters Centerline goodness : 0.874493 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99521981e-01 3.08860380e-02 -1.36472265e-03 2.57909771e+00] [-3.08303313e-02 9.99062325e-01 3.03967350e-02 8.85268353e-02] [ 2.30227770e-03 -3.03401299e-02 9.99536981e-01 -4.54661086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131193817000003 meters Centerline goodness : 0.877278 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99652715e-01 2.62994630e-02 -1.66939860e-03 2.57959418e+00] [-2.62480336e-02 9.99326247e-01 2.56533020e-02 9.05184467e-02] [ 2.34294190e-03 -2.56005746e-02 9.99669506e-01 -4.54824887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161193817 meters Centerline goodness : 0.876024 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.46 [[ 9.99762802e-01 2.16899499e-02 -1.97117649e-03 2.58029753e+00] [-2.16439963e-02 9.99546657e-01 2.09288631e-02 9.24535980e-02] [ 2.42422886e-03 -2.08812347e-02 9.99779024e-01 -4.55196612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191193817000002 meters Centerline goodness : 0.875493 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99886691e-01 1.49096123e-02 -2.07572509e-03 2.57958827e+00] [-1.48775737e-02 9.99781581e-01 1.46781408e-02 9.33999494e-02] [ 2.29411710e-03 -1.46455959e-02 9.99890116e-01 -4.54436434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221193817000003 meters Centerline goodness : 0.877024 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99938240e-01 1.08812271e-02 -2.26166941e-03 2.57992532e+00] [-1.08575103e-02 9.99888554e-01 1.02466894e-02 9.45725622e-02] [ 2.37291391e-03 -1.02215005e-02 9.99944944e-01 -4.54448643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251193817 meters Centerline goodness : 0.872801 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.45 [[ 9.99942144e-01 1.04817256e-02 -2.41703252e-03 2.58004498e+00] [-1.04576564e-02 9.99897640e-01 9.76456819e-03 9.49387694e-02] [ 2.51913464e-03 -9.73872676e-03 9.99949404e-01 -4.54208297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281193817000002 meters Centerline goodness : 0.872345 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.45 [[ 9.99889308e-01 1.46716672e-02 -2.47255978e-03 2.58002508e+00] [-1.46389882e-02 9.99811506e-01 1.27535655e-02 9.85638835e-02] [ 2.65920979e-03 -1.27159580e-02 9.99915613e-01 -4.53660801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311193817000003 meters Centerline goodness : 0.870349 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.45 [[ 9.99815076e-01 1.90647141e-02 -2.52007792e-03 2.58034229e+00] [-1.90222183e-02 9.99692151e-01 1.59298052e-02 1.02376655e-01] [ 2.82299929e-03 -1.58789220e-02 9.99869937e-01 -4.53555449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341193817 meters Centerline goodness : 0.869224 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99709500e-01 2.39869034e-02 -2.35475986e-03 2.58038322e+00] [-2.39374392e-02 9.99529679e-01 1.91681939e-02 1.06894668e-01] [ 2.81343798e-03 -1.91062586e-02 9.99813500e-01 -4.53309224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371193817 meters Centerline goodness : 0.871691 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99581166e-01 2.88604759e-02 -2.13676086e-03 2.58010277e+00] [-2.88054035e-02 9.99333594e-01 2.24191122e-02 1.10996052e-01] [ 2.78236315e-03 -2.23481720e-02 9.99746377e-01 -4.52781932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401193817000003 meters Centerline goodness : 0.870902 Centerline is valid? [False, False] Translation: X:2.58, Y:0.11, Z:-0.45 [[ 9.99440836e-01 3.33791953e-02 -1.96073090e-03 2.57983134e+00] [-3.33175279e-02 9.99111192e-01 2.58218400e-02 1.14034372e-01] [ 2.82090042e-03 -2.57420746e-02 9.99664638e-01 -4.52307251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431193817 meters Centerline goodness : 0.880774 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.99065642e-01 4.31889247e-02 -1.60020951e-03 2.58524348e+00] [-4.31353160e-02 9.98754553e-01 2.50736274e-02 1.18615930e-01] [ 2.68111954e-03 -2.49811741e-02 9.99684326e-01 -4.47910359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461193817 meters Centerline goodness : 0.879745 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.99022002e-01 4.41786206e-02 -1.81370262e-03 2.58617053e+00] [-4.41188800e-02 9.98707350e-01 2.52419084e-02 1.19996727e-01] [ 2.92651083e-03 -2.51372034e-02 9.99679727e-01 -4.48365372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491193817000003 meters Centerline goodness : 0.871824 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98883580e-01 4.71937476e-02 -2.08394020e-03 2.58878884e+00] [-4.71183093e-02 9.98507046e-01 2.76322839e-02 1.17799220e-01] [ 3.38490000e-03 -2.75032429e-02 9.99615983e-01 -4.50607989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521193817 meters Centerline goodness : 0.872446 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98849557e-01 4.79030349e-02 -2.20505550e-03 2.58960326e+00] [-4.78218026e-02 9.98456247e-01 2.82523944e-02 1.16588856e-01] [ 3.55502688e-03 -2.81144419e-02 9.99598389e-01 -4.51256851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551193817 meters Centerline goodness : 0.876238 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:-0.45 [[ 9.98827741e-01 4.83520093e-02 -2.28625852e-03 2.59013934e+00] [-4.82661034e-02 9.98417589e-01 2.88565497e-02 1.15280490e-01] [ 3.67791288e-03 -2.87123736e-02 9.99580948e-01 -4.51680926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581193817000003 meters Centerline goodness : 0.872402 Centerline is valid? [False, False] Translation: X:2.59, Y:0.11, Z:-0.45 [[ 9.98808903e-01 4.87335614e-02 -2.41165858e-03 2.59075093e+00] [-4.86404333e-02 9.98372915e-01 2.97595597e-02 1.12802315e-01] [ 3.85802394e-03 -2.96068091e-02 9.99554177e-01 -4.52101384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611193817 meters Centerline goodness : 0.870455 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.45 [[ 9.98975662e-01 4.52498475e-02 2.80153327e-04 2.60889564e+00] [-4.52366891e-02 9.98492750e-01 3.10784380e-02 1.02637233e-01] [ 1.12656351e-03 -3.10592763e-02 9.99516909e-01 -4.53807275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641193817 meters Centerline goodness : 0.863901 Centerline is valid? [False, False] Translation: X:2.61, Y:0.10, Z:-0.45 [[ 9.99113631e-01 4.20945534e-02 2.73521111e-05 2.60931893e+00] [-4.20781946e-02 9.98706814e-01 2.85328707e-02 9.83845526e-02] [ 1.17376171e-03 -2.85087310e-02 9.99592854e-01 -4.53997926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671193817000002 meters Centerline goodness : 0.865477 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.45 [[ 9.99240634e-01 3.89623752e-02 -2.98112605e-04 2.61037208e+00] [-3.89415761e-02 9.98905472e-01 2.59116263e-02 9.46502834e-02] [ 1.30736482e-03 -2.58803409e-02 9.99664193e-01 -4.54783872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701193817000004 meters Centerline goodness : 0.875915 Centerline is valid? [False, False] Translation: X:2.61, Y:0.09, Z:-0.46 [[ 9.99352938e-01 3.59644836e-02 -5.11201096e-04 2.61124392e+00] [-3.59429285e-02 9.99084039e-01 2.32204224e-02 9.18929954e-02] [ 1.34584336e-03 -2.31870233e-02 9.99730239e-01 -4.55567919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731193817 meters Centerline goodness : 0.861923 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.46 [[ 0.99945179 0.03284142 0.00419162 2.62127133] [-0.03295584 0.99897548 0.03101447 0.08265136] [-0.00316876 -0.03113561 0.99951015 -0.45768784] [ 0. 0. 0. 1. ]] SLAMing on 19.761193817000002 meters Centerline goodness : 0.863121 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.46 [[ 0.99956548 0.02855596 0.00730867 2.6290519 ] [-0.02881586 0.99884904 0.03834371 0.07641251] [-0.00620532 -0.03853766 0.99923788 -0.45757886] [ 0. 0. 0. 1. ]] SLAMing on 19.791193817000003 meters Centerline goodness : 0.864582 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.45 [[ 0.99964653 0.02520304 0.00846308 2.63411892] [-0.0255832 0.99850505 0.04830279 0.06870594] [-0.00723305 -0.04850223 0.99879688 -0.45219147] [ 0. 0. 0. 1. ]] SLAMing on 19.821193817 meters Centerline goodness : 0.869102 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.44 [[ 0.99983057 0.01788565 0.0043525 2.65387602] [-0.01820409 0.99580231 0.08970157 0.04872834] [-0.00272986 -0.0897656 0.99595918 -0.44147456] [ 0. 0. 0. 1. ]] SLAMing on 19.851193817000002 meters Centerline goodness : 0.867736 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.44 [[ 9.99812640e-01 1.89014080e-02 4.17392302e-03 2.65323179e+00] [-1.92125853e-02 9.95290024e-01 9.50191759e-02 4.20206682e-02] [-2.35826773e-03 -9.50815649e-02 9.95466692e-01 -4.37615253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881193817000003 meters Centerline goodness : 0.865266 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.43 [[ 9.99859116e-01 1.67334761e-02 -1.31835753e-03 2.66973579e+00] [-1.64602940e-02 9.92850375e-01 1.18225175e-01 3.26241562e-02] [ 3.28724990e-03 -1.18186818e-01 9.92985936e-01 -4.27949233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911193817 meters Centerline goodness : 0.865527 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.42 [[ 0.99986999 0.01535813 -0.00491329 2.68161782] [-0.01453771 0.99041045 0.1373892 0.02398899] [ 0.00697622 -0.13729991 0.99050496 -0.41796418] [ 0. 0. 0. 1. ]] SLAMing on 19.941193817000002 meters Centerline goodness : 0.862802 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.40 [[ 0.99986523 0.01163877 -0.01157877 2.68609981] [-0.00951495 0.98556575 0.16902547 0.00888022] [ 0.01337889 -0.16889252 0.98554367 -0.40327944] [ 0. 0. 0. 1. ]] SLAMing on 19.971193817000003 meters Centerline goodness : 0.861229 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.40 [[ 0.99990439 0.00946611 -0.01008015 2.67941295] [-0.00765427 0.98598555 0.16665508 0.00613692] [ 0.01151646 -0.16656199 0.98596373 -0.39842405] [ 0. 0. 0. 1. ]] SLAMing on 20.001193817 meters Centerline goodness : 0.864599 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.99993664 0.00827425 -0.00763195 2.67284792] [-0.00710117 0.98974769 0.1426502 0.00737955] [ 0.00873403 -0.14258697 0.98974374 -0.39875164] [ 0. 0. 0. 1. ]] SLAMing on 20.031193817000002 meters Centerline goodness : 0.862415 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.99996588 0.00717716 -0.00408901 2.67199138] [-0.00661505 0.99226636 0.12395044 0.00776332] [ 0.004947 -0.12391916 0.99227998 -0.39878761] [ 0. 0. 0. 1. ]] SLAMing on 20.061193817000003 meters Centerline goodness : 0.863838 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 9.99986639e-01 4.95477772e-03 1.47408673e-03 2.66928957e+00] [-5.08329529e-03 9.94333341e-01 1.06185529e-01 5.84102183e-03] [-9.39607890e-04 -1.06191604e-01 9.94345242e-01 -3.96116486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091193817 meters Centerline goodness : 0.863838 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.40 [[ 0.9999748 0.00492401 0.00511341 2.67136332] [-0.00535552 0.99609548 0.0881199 0.01012711] [-0.00465954 -0.08814506 0.99609675 -0.39879449] [ 0. 0. 0. 1. ]] SLAMing on 20.121193817 meters Centerline goodness : 0.863762 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.40 [[ 0.99996058 0.003021 0.00834938 2.67888849] [-0.00363235 0.99723651 0.0742034 0.01190978] [-0.00810214 -0.0742308 0.99720817 -0.3989442 ] [ 0. 0. 0. 1. ]] SLAMing on 20.151193817000003 meters Centerline goodness : 0.862976 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.40 [[ 0.99995116 0.00511134 0.00845856 2.69455738] [-0.00562002 0.99810666 0.06124958 0.01196992] [-0.00812948 -0.06129413 0.99808664 -0.39855118] [ 0. 0. 0. 1. ]] SLAMing on 20.181193817 meters Centerline goodness : 0.863341 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.40 [[ 0.99990169 0.00546215 0.01291418 2.70237656] [-0.00610238 0.99872719 0.05006754 0.0146443 ] [-0.01262426 -0.05014143 0.99866234 -0.39997453] [ 0. 0. 0. 1. ]] SLAMing on 20.211193817 meters Centerline goodness : 0.862557 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.40 [[ 0.99981816 0.00694536 0.01775975 2.71173663] [-0.00765707 0.99915725 0.04032572 0.01831352] [-0.0174647 -0.04045438 0.99902874 -0.40269882] [ 0. 0. 0. 1. ]] SLAMing on 20.241193817000003 meters Centerline goodness : 0.864433 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:-0.40 [[ 0.9997404 0.00841384 0.02117424 2.71966801] [-0.00904185 0.99951676 0.02974042 0.02216823] [-0.02091378 -0.02992416 0.99933336 -0.40324849] [ 0. 0. 0. 1. ]] SLAMing on 20.271193817 meters Centerline goodness : 0.864421 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.41 [[ 0.99963995 0.01030416 0.02477481 2.72959126] [-0.01080073 0.99974176 0.01999385 0.0250669 ] [-0.0245624 -0.02025424 0.9994931 -0.40573234] [ 0. 0. 0. 1. ]] SLAMing on 20.301193817 meters Centerline goodness : 0.863941 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99954751 0.01211435 0.02753196 2.73962687] [-0.01239061 0.99987436 0.00988578 0.02776068] [-0.02740875 -0.01022244 0.99957204 -0.40797369] [ 0. 0. 0. 1. ]] SLAMing on 20.331193817000003 meters Centerline goodness : 0.869273 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99954444 0.01197507 0.02770388 2.74010145] [-0.01222388 0.9998863 0.00882918 0.03074016] [-0.027595 -0.00916381 0.99957718 -0.40901038] [ 0. 0. 0. 1. ]] SLAMing on 20.361193817 meters Centerline goodness : 0.868481 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.41 [[ 0.99955066 0.01166351 0.02761246 2.74075078] [-0.01188892 0.99989721 0.00801345 0.0331553 ] [-0.02751616 -0.00833814 0.99958658 -0.40961592] [ 0. 0. 0. 1. ]] SLAMing on 20.391193817 meters Centerline goodness : 0.869503 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.9995567 0.01150801 0.02745866 2.74174268] [-0.01170772 0.99990609 0.00712339 0.0362326 ] [-0.02737411 -0.00744171 0.99959756 -0.41052493] [ 0. 0. 0. 1. ]] SLAMing on 20.421193817000002 meters Centerline goodness : 0.869537 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.99955273 0.01173287 0.02750773 2.74221308] [-0.01191593 0.99990787 0.00650047 0.03935492] [-0.02742892 -0.00682534 0.99960045 -0.41121996] [ 0. 0. 0. 1. ]] SLAMing on 20.451193817000004 meters Centerline goodness : 0.871537 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.41 [[ 0.99950171 0.01573887 0.02736108 2.74329978] [-0.01600752 0.99982552 0.00962763 0.04322348] [-0.02720478 -0.01006082 0.99957925 -0.41222966] [ 0. 0. 0. 1. ]] SLAMing on 20.481193817 meters Centerline goodness : 0.869475 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.41 [[ 0.99957423 0.01690094 0.02378466 2.73486817] [-0.01743191 0.99959941 0.02229662 0.04197479] [-0.02339829 -0.02270174 0.99946843 -0.41035995] [ 0. 0. 0. 1. ]] SLAMing on 20.511193817000002 meters Centerline goodness : 0.868422 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.41 [[ 0.99964541 0.01781825 0.01978775 2.72753443] [-0.01852354 0.99917828 0.03605059 0.039044 ] [-0.01912913 -0.03640434 0.99915404 -0.40820097] [ 0. 0. 0. 1. ]] SLAMing on 20.541193817000003 meters Centerline goodness : 0.867988 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.40 [[ 0.99978319 0.01575272 0.01361679 2.72769913] [-0.01646134 0.99842689 0.05359823 0.03537113] [-0.01275105 -0.05381076 0.99846974 -0.40366843] [ 0. 0. 0. 1. ]] SLAMing on 20.571193817 meters Centerline goodness : 0.870434 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.40 [[ 0.99978984 0.01534163 0.01359849 2.72760457] [-0.01606068 0.99838745 0.05444774 0.03365767] [-0.01274124 -0.0546547 0.99842402 -0.40300754] [ 0. 0. 0. 1. ]] SLAMing on 20.601193817000002 meters Centerline goodness : 0.871035 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.40 [[ 0.99983499 0.01256144 0.01312228 2.72967863] [-0.01322264 0.99858136 0.05157941 0.03331646] [-0.01245576 -0.05174441 0.99858268 -0.40451745] [ 0. 0. 0. 1. ]] SLAMing on 20.631193817000003 meters Centerline goodness : 0.870342 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.40 [[ 0.99992304 0.00945134 0.00803698 2.72098853] [-0.0099214 0.99811201 0.06061342 0.03050957] [-0.00744892 -0.0606885 0.99812896 -0.40100152] [ 0. 0. 0. 1. ]] SLAMing on 20.661193817 meters Centerline goodness : 0.866295 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.40 [[ 0.99995927 0.00812672 0.00392538 2.71235306] [-0.00830692 0.99879791 0.04830876 0.03144413] [-0.00352807 -0.0483394 0.99882474 -0.39967308] [ 0. 0. 0. 1. ]] SLAMing on 20.691193817000002 meters Centerline goodness : 0.867536 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.39 [[ 9.99985965e-01 4.88040551e-03 -2.06184399e-03 2.70257521e+00] [-4.75216495e-03 9.98294125e-01 5.81915486e-02 2.47037515e-02] [ 2.34232509e-03 -5.81809336e-02 9.98303307e-01 -3.94125764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817000003 meters Centerline goodness : 0.866888 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.39 [[ 9.99996940e-01 1.38282951e-03 -2.05123728e-03 2.70305396e+00] [-1.26913293e-03 9.98516767e-01 5.44302742e-02 2.50843328e-02] [ 2.12346261e-03 -5.44275044e-02 9.98515467e-01 -3.94802198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751193817 meters Centerline goodness : 0.868550 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.39 [[ 9.99974136e-01 8.53842552e-04 -7.14129829e-03 2.69468775e+00] [-5.43049513e-04 9.99057204e-01 4.34097657e-02 2.78593913e-02] [ 7.17163061e-03 -4.34047648e-02 9.99031828e-01 -3.93206427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781193817000002 meters Centerline goodness : 0.865850 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99905749e-01 5.56335658e-04 -1.37179780e-02 2.68423981e+00] [-8.83042636e-05 9.99418588e-01 3.40951311e-02 3.09522215e-02] [ 1.37289705e-02 -3.40907062e-02 9.99324441e-01 -3.89499764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811193817000003 meters Centerline goodness : 0.865974 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99903190e-01 1.57819414e-04 -1.39135013e-02 2.68450577e+00] [ 3.11967619e-04 9.99430049e-01 3.37561963e-02 3.12476288e-02] [ 1.39108987e-02 -3.37572690e-02 9.99333245e-01 -3.89230856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841193817 meters Centerline goodness : 0.865818 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.39 [[ 9.99900498e-01 -1.31368876e-04 -1.41059401e-02 2.68473807e+00] [ 6.04082006e-04 9.99438112e-01 3.35126076e-02 3.12856280e-02] [ 1.40936117e-02 -3.35177942e-02 9.99338745e-01 -3.88956588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871193817 meters Centerline goodness : 0.866645 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99912380e-01 -8.32749262e-04 -1.32113527e-02 2.66281314e+00] [ 1.26052026e-03 9.99474063e-01 3.24038377e-02 3.25283747e-02] [ 1.31774201e-02 -3.24176517e-02 9.99387538e-01 -3.87627743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901193817000003 meters Centerline goodness : 0.865564 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99910824e-01 -1.21544505e-03 -1.32991096e-02 2.66314271e+00] [ 1.63962750e-03 9.99488722e-01 3.19312859e-02 3.34603222e-02] [ 1.32534994e-02 -3.19502439e-02 9.99401584e-01 -3.87778639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931193817 meters Centerline goodness : 0.864805 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99908437e-01 -1.76475029e-03 -1.34165116e-02 2.66333815e+00] [ 2.18323298e-03 9.99509489e-01 3.12412366e-02 3.49754584e-02] [ 1.33547977e-02 -3.12676675e-02 9.99421824e-01 -3.87717485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961193817 meters Centerline goodness : 0.863397 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.39 [[ 9.99906165e-01 -2.26459770e-03 -1.35104881e-02 2.66359381e+00] [ 2.67637947e-03 9.99529997e-01 3.05388666e-02 3.63271292e-02] [ 1.34349799e-02 -3.05721602e-02 9.99442267e-01 -3.87720073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991193817000003 meters Centerline goodness : 0.862200 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.39 [[ 0.999935 -0.0030793 -0.01097803 2.64073749] [ 0.00339553 0.99957642 0.02890426 0.03814287] [ 0.01088437 -0.02893965 0.9995219 -0.38659814] [ 0. 0. 0. 1. ]] SLAMing on 21.021193817 meters Centerline goodness : 0.866780 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.38 [[ 0.99995942 -0.00499951 -0.00749473 2.61636144] [ 0.00519957 0.99962415 0.02691685 0.03791718] [ 0.00735734 -0.02695472 0.99960958 -0.38433455] [ 0. 0. 0. 1. ]] SLAMing on 21.051193817 meters Centerline goodness : 0.865047 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.39 [[ 0.99993499 -0.00814594 -0.00797872 2.61823037] [ 0.00832936 0.99969541 0.02323173 0.03992973] [ 0.00778704 -0.02329668 0.99969827 -0.38539176] [ 0. 0. 0. 1. ]] SLAMing on 21.081193817000003 meters Centerline goodness : 0.865806 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.39 [[ 0.99988837 -0.01259591 -0.00803661 2.61897817] [ 0.01273978 0.99975486 0.01810868 0.04428108] [ 0.00780654 -0.01820904 0.99980373 -0.38616881] [ 0. 0. 0. 1. ]] SLAMing on 21.111193817000004 meters Centerline goodness : 0.863020 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.99986152 -0.01430486 -0.00850334 2.62138358] [ 0.01444351 0.99975996 0.01647421 0.04552033] [ 0.00826564 -0.01659475 0.99982813 -0.38803257] [ 0. 0. 0. 1. ]] SLAMing on 21.141193817 meters Centerline goodness : 0.861165 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.99981116 -0.01720749 -0.00903064 2.62420205] [ 0.01732701 0.99976104 0.01332825 0.04624644] [ 0.00879914 -0.01348221 0.99987039 -0.3901256 ] [ 0. 0. 0. 1. ]] SLAMing on 21.171193817000002 meters Centerline goodness : 0.862632 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.39 [[ 0.9997988 -0.01784937 -0.00915237 2.62489827] [ 0.01796737 0.99975436 0.01297645 0.04580226] [ 0.00891851 -0.01313828 0.99987391 -0.39076242] [ 0. 0. 0. 1. ]] SLAMing on 21.201193817000004 meters Centerline goodness : 0.862679 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99977361 -0.01916628 -0.00924021 2.62543725] [ 0.01927477 0.99974461 0.01179797 0.04757064] [ 0.00901173 -0.0119734 0.99988771 -0.39129544] [ 0. 0. 0. 1. ]] SLAMing on 21.231193817 meters Centerline goodness : 0.861310 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99975981 -0.01987935 -0.0092263 2.62570962] [ 0.0199782 0.99974264 0.01074797 0.05035434] [ 0.00901027 -0.01092971 0.99989967 -0.39163601] [ 0. 0. 0. 1. ]] SLAMing on 21.261193817000002 meters Centerline goodness : 0.863331 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.39 [[ 0.99973968 -0.02080511 -0.00936615 2.62642338] [ 0.0208929 0.99973776 0.00937526 0.05369818] [ 0.00916864 -0.00956851 0.99991219 -0.39211128] [ 0. 0. 0. 1. ]] SLAMing on 21.291193817000003 meters Centerline goodness : 0.863017 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.39 [[ 0.99972406 -0.02145942 -0.00955472 2.62716128] [ 0.02153639 0.99973584 0.0080272 0.05761238] [ 0.00937994 -0.00823076 0.99992213 -0.39249249] [ 0. 0. 0. 1. ]] SLAMing on 21.321193817 meters Centerline goodness : 0.860838 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975749 -0.01965561 -0.0099306 2.62850068] [ 0.01974103 0.99976833 0.00857759 0.06530628] [ 0.00975971 -0.00877155 0.9999139 -0.39331379] [ 0. 0. 0. 1. ]] SLAMing on 21.351193817000002 meters Centerline goodness : 0.859825 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975519 -0.01954818 -0.01036429 2.62982236] [ 0.01962732 0.99977856 0.00758951 0.06937568] [ 0.01021364 -0.00779107 0.99991749 -0.39385364] [ 0. 0. 0. 1. ]] SLAMing on 21.381193817000003 meters Centerline goodness : 0.860709 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.39 [[ 0.99975971 -0.01911477 -0.01073102 2.63058796] [ 0.01918837 0.99979277 0.00679821 0.07347117] [ 0.01059885 -0.00700249 0.99991931 -0.3938894 ] [ 0. 0. 0. 1. ]] SLAMing on 21.411193817 meters Centerline goodness : 0.860056 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.39 [[ 0.99981697 -0.01569213 -0.01094435 2.63062877] [ 0.01579673 0.99982974 0.00953714 0.07678569] [ 0.01079283 -0.00970828 0.99989463 -0.39353263] [ 0. 0. 0. 1. ]] SLAMing on 21.441193817000002 meters Centerline goodness : 0.861364 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.39 [[ 0.99986192 -0.01229138 -0.01118337 2.63088562] [ 0.01242665 0.99984948 0.01210762 0.08085732] [ 0.01103287 -0.01224492 0.99986416 -0.39340036] [ 0. 0. 0. 1. ]] SLAMing on 21.471193817000003 meters Centerline goodness : 0.862408 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.39 [[ 9.99931852e-01 -1.77368875e-03 -1.15388889e-02 2.63190011e+00] [ 2.02018852e-03 9.99769251e-01 2.13860604e-02 8.74413265e-02] [ 1.14982941e-02 -2.14079137e-02 9.99704702e-01 -3.94026448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501193817 meters Centerline goodness : 0.861610 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.39 [[ 9.99928837e-01 2.36854222e-03 -1.16923644e-02 2.63272666e+00] [-2.08343021e-03 9.99701648e-01 2.43367041e-02 9.15024930e-02] [ 1.17465185e-02 -2.43106120e-02 9.99635440e-01 -3.94679541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531193817000002 meters Centerline goodness : 0.860241 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:-0.39 [[ 0.99990916 0.00666849 -0.0117131 2.63308526] [-0.00634654 0.99960681 0.02731193 0.09549834] [ 0.01189062 -0.02723511 0.99955833 -0.39499508] [ 0. 0. 0. 1. ]] SLAMing on 21.561193817000003 meters Centerline goodness : 0.859946 Centerline is valid? [False, False] Translation: X:2.63, Y:0.10, Z:-0.40 [[ 0.99987133 0.01061487 -0.01202704 2.63399155] [-0.01024588 0.99948721 0.03033692 0.09850526] [ 0.0123429 -0.03020979 0.99946737 -0.39529412] [ 0. 0. 0. 1. ]] SLAMing on 21.591193817 meters Centerline goodness : 0.858470 Centerline is valid? [False, False] Translation: X:2.64, Y:0.10, Z:-0.39 [[ 0.99972036 0.01731452 -0.01610595 2.64246281] [-0.01680901 0.99937773 0.0310097 0.10046594] [ 0.01663285 -0.0307303 0.99938931 -0.39270119] [ 0. 0. 0. 1. ]] SLAMing on 21.621193817 meters Centerline goodness : 0.860010 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.39 [[ 0.99972032 0.01610389 -0.01731905 2.66419944] [-0.01558126 0.99943145 0.02989973 0.10039105] [ 0.0177907 -0.02962151 0.99940285 -0.39332441] [ 0. 0. 0. 1. ]] SLAMing on 21.651193817000003 meters Centerline goodness : 0.858185 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.40 [[ 0.99982501 0.01268959 -0.01374519 2.67874162] [-0.01219744 0.99930176 0.03531605 0.09768569] [ 0.01418374 -0.03514221 0.99928167 -0.39866674] [ 0. 0. 0. 1. ]] SLAMing on 21.681193817 meters Centerline goodness : 0.860409 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.40 [[ 0.99986734 0.01040626 -0.01253058 2.69781644] [-0.00994743 0.99929729 0.03613822 0.09559055] [ 0.01289784 -0.03600878 0.99926824 -0.39866967] [ 0. 0. 0. 1. ]] SLAMing on 21.711193817 meters Centerline goodness : 0.859201 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99949365e-01 1.80031552e-03 -9.90083844e-03 2.71456266e+00] [-1.04420728e-03 9.97118729e-01 7.58495270e-02 8.31616032e-02] [ 1.00088645e-02 -7.58353478e-02 9.97070119e-01 -3.89219536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741193817000003 meters Centerline goodness : 0.858207 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99953044e-01 1.34850292e-03 -9.59641202e-03 2.71339640e+00] [-6.09627595e-04 9.97062854e-01 7.65852071e-02 8.20316412e-02] [ 9.67150133e-03 -7.65757607e-02 9.97016858e-01 -3.87302922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771193817 meters Centerline goodness : 0.856314 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.39 [[ 9.99950355e-01 -2.28018498e-03 -9.69990437e-03 2.71358805e+00] [ 2.97772640e-03 9.97362738e-01 7.25169034e-02 8.26160727e-02] [ 9.50897123e-03 -7.25421870e-02 9.97320014e-01 -3.87203673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801193817 meters Centerline goodness : 0.860504 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.39 [[ 0.99994105 -0.005663 -0.00926464 2.68810102] [ 0.00618907 0.99831037 0.0577763 0.08467127] [ 0.0089218 -0.05783023 0.99828656 -0.38991292] [ 0. 0. 0. 1. ]] SLAMing on 21.831193817000003 meters Centerline goodness : 0.858920 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99988181 -0.00774152 -0.01328283 2.67921878] [ 0.00831798 0.99900099 0.04390701 0.08814287] [ 0.01292965 -0.04401231 0.99894732 -0.38849245] [ 0. 0. 0. 1. ]] SLAMing on 21.861193817000004 meters Centerline goodness : 0.859681 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99984408 -0.01131039 -0.01356037 2.6803181 ] [ 0.0118446 0.99913011 0.03998419 0.08962199] [ 0.01309634 -0.04013858 0.99910829 -0.38911531] [ 0. 0. 0. 1. ]] SLAMing on 21.891193817 meters Centerline goodness : 0.861643 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.39 [[ 0.99979668 -0.01453279 -0.01397868 2.6820939 ] [ 0.01503155 0.99922922 0.0362633 0.09160095] [ 0.0134409 -0.03646605 0.9992445 -0.39019875] [ 0. 0. 0. 1. ]] SLAMing on 21.921193817000002 meters Centerline goodness : 0.857819 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.99971839 -0.015777 -0.01772623 2.67300043] [ 0.01618831 0.99959733 0.02330472 0.09522673] [ 0.01735141 -0.02358512 0.99957124 -0.38890038] [ 0. 0. 0. 1. ]] SLAMing on 21.951193817000004 meters Centerline goodness : 0.859763 Centerline is valid? [False, False] Translation: X:2.67, Y:0.09, Z:-0.39 [[ 0.99970678 -0.01607376 -0.01811048 2.67437487] [ 0.01649163 0.99959561 0.02316567 0.09488304] [ 0.0177308 -0.02345754 0.99956759 -0.38963792] [ 0. 0. 0. 1. ]] SLAMing on 21.981193817 meters Centerline goodness : 0.859763 Centerline is valid? [False, False] Translation: X:2.67, Y:0.09, Z:-0.39 [[ 0.99970678 -0.01607376 -0.01811048 2.67437487] [ 0.01649163 0.99959561 0.02316567 0.09488304] [ 0.0177308 -0.02345754 0.99956759 -0.38963792] [ 0. 0. 0. 1. ]] SLAMing on 22.011193817000002 meters Centerline goodness : 0.860847 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969248 -0.01647486 -0.01853454 2.67571686] [ 0.016896 0.99959727 0.02279983 0.09519843] [ 0.01815146 -0.02310597 0.99956823 -0.39022059] [ 0. 0. 0. 1. ]] SLAMing on 22.041193817000003 meters Centerline goodness : 0.860792 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969549 -0.01627547 -0.01854841 2.67594198] [ 0.01668518 0.99961536 0.02215245 0.09784242] [ 0.01818074 -0.02245519 0.99958253 -0.39049545] [ 0. 0. 0. 1. ]] SLAMing on 22.071193817 meters Centerline goodness : 0.862232 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99969871 -0.01570803 -0.018861 2.67659958] [ 0.01612165 0.99962837 0.02198203 0.09965979] [ 0.0185087 -0.02227947 0.99958044 -0.39061273] [ 0. 0. 0. 1. ]] SLAMing on 22.101193817000002 meters Centerline goodness : 0.861092 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99971286 -0.01447234 -0.01909857 2.67744709] [ 0.01489623 0.99964162 0.02224252 0.10158202] [ 0.01876982 -0.02252063 0.99957017 -0.39113855] [ 0. 0. 0. 1. ]] SLAMing on 22.131193817000003 meters Centerline goodness : 0.859777 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.39 [[ 0.99972147 -0.01359651 -0.01929015 2.67794186] [ 0.01402375 0.99965544 0.02218848 0.10336078] [ 0.01898181 -0.02245282 0.99956769 -0.39146422] [ 0. 0. 0. 1. ]] SLAMing on 22.161193817 meters Centerline goodness : 0.861738 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.9997747 -0.00954144 -0.01896086 2.6749909 ] [ 0.01003285 0.99961178 0.0259931 0.10282581] [ 0.01870548 -0.02617747 0.99948229 -0.38848963] [ 0. 0. 0. 1. ]] SLAMing on 22.191193817000002 meters Centerline goodness : 0.862153 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 0.99980406 -0.0065773 -0.01867052 2.67269465] [ 0.00711377 0.99955948 0.02881386 0.10252319] [ 0.01847278 -0.02894104 0.99941041 -0.38638869] [ 0. 0. 0. 1. ]] SLAMing on 22.221193817000003 meters Centerline goodness : 0.863620 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.39 [[ 9.99822268e-01 -2.44283068e-03 -1.86939578e-02 2.67210608e+00] [ 3.05767336e-03 9.99452906e-01 3.29323356e-02 1.02622602e-01] [ 1.86032823e-02 -3.29836425e-02 9.99282741e-01 -3.85430674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251193817 meters Centerline goodness : 0.862972 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.39 [[ 9.99891136e-01 -2.93835248e-05 -1.47551850e-02 2.68879944e+00] [ 5.39645637e-04 9.99401819e-01 3.45790949e-02 1.04432693e-01] [ 1.47453426e-02 -3.45832930e-02 9.99293035e-01 -3.85020168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281193817000002 meters Centerline goodness : 0.863370 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.38 [[ 9.99937097e-01 2.59958015e-03 -1.09107098e-02 2.70583790e+00] [-2.18990762e-03 9.99298232e-01 3.73931653e-02 1.05618401e-01] [ 1.10002595e-02 -3.73669198e-02 9.99241066e-01 -3.84898791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311193817000003 meters Centerline goodness : 0.861034 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.39 [[ 0.99992103 0.00493977 -0.01155573 2.70768523] [-0.00448176 0.99921622 0.03933025 0.10427671] [ 0.01174096 -0.03927536 0.99915944 -0.38556518] [ 0. 0. 0. 1. ]] SLAMing on 22.341193817 meters Centerline goodness : 0.860953 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.39 [[ 0.99997129 0.00485549 -0.00581709 2.71810577] [-0.0046805 0.99954712 0.02972632 0.10406424] [ 0.00595879 -0.02969824 0.99954115 -0.38855344] [ 0. 0. 0. 1. ]] SLAMing on 22.371193817 meters Centerline goodness : 0.861161 Centerline is valid? [False, False] Translation: X:2.74, Y:0.10, Z:-0.39 [[ 0.99998405 0.00435871 -0.00359317 2.73770933] [-0.00424245 0.99948682 0.03175051 0.09988017] [ 0.00372972 -0.03173476 0.99948937 -0.38947505] [ 0. 0. 0. 1. ]] SLAMing on 22.401193817000003 meters Centerline goodness : 0.864937 Centerline is valid? [False, False] Translation: X:2.76, Y:0.10, Z:-0.39 [[ 9.99995745e-01 2.00664399e-03 -2.11719407e-03 2.75706691e+00] [-1.94282158e-03 9.99556136e-01 2.97280278e-02 9.77195218e-02] [ 2.17590789e-03 -2.97237880e-02 9.99555782e-01 -3.89489615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431193817 meters Centerline goodness : 0.864978 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.39 [[ 9.99986654e-01 1.09252516e-03 -5.04965104e-03 2.78009476e+00] [-9.41676764e-04 9.99556050e-01 2.97794715e-02 9.38443560e-02] [ 5.07994407e-03 -2.97743189e-02 9.99543738e-01 -3.90576224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461193817 meters Centerline goodness : 0.863808 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.39 [[ 9.99984152e-01 1.61496963e-03 -5.39323842e-03 2.78117623e+00] [-1.44948748e-03 9.99532266e-01 3.05474619e-02 9.19556435e-02] [ 5.44004905e-03 -3.05391603e-02 9.99518767e-01 -3.90984825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491193817000003 meters Centerline goodness : 0.865057 Centerline is valid? [False, False] Translation: X:2.80, Y:0.09, Z:-0.39 [[ 9.99977071e-01 1.36830658e-03 -6.63218134e-03 2.80288500e+00] [-1.16080004e-03 9.99512758e-01 3.11913151e-02 8.98992980e-02] [ 6.67162915e-03 -3.11829013e-02 9.99491429e-01 -3.91688420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521193817 meters Centerline goodness : 0.865063 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.39 [[ 9.99968695e-01 5.04454443e-04 -7.89646540e-03 2.82436215e+00] [-2.61706091e-04 9.99528232e-01 3.07122931e-02 8.82250685e-02] [ 7.90823305e-03 -3.07092651e-02 9.99497074e-01 -3.92052567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551193817 meters Centerline goodness : 0.864644 Centerline is valid? [False, False] Translation: X:2.83, Y:0.08, Z:-0.39 [[ 9.99964499e-01 -5.67015028e-04 -8.40707824e-03 2.82673104e+00] [ 8.16816016e-04 9.99557347e-01 2.97395806e-02 8.45648651e-02] [ 8.38649403e-03 -2.97453919e-02 9.99522325e-01 -3.93585525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581193817000003 meters Centerline goodness : 0.862304 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:-0.39 [[ 9.99978685e-01 1.46423580e-04 -6.52748208e-03 2.84652548e+00] [ 7.04320236e-05 9.99448415e-01 3.32093347e-02 8.08347680e-02] [ 6.52874425e-03 -3.32090866e-02 9.99427102e-01 -3.94720024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611193817000004 meters Centerline goodness : 0.863514 Centerline is valid? [False, False] Translation: X:2.86, Y:0.08, Z:-0.39 [[ 9.99990081e-01 -2.21646150e-03 -3.86321433e-03 2.86490503e+00] [ 2.33372774e-03 9.99528399e-01 3.06191589e-02 7.90402768e-02] [ 3.79352625e-03 -3.06278709e-02 9.99523658e-01 -3.94651699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641193817 meters Centerline goodness : 0.866340 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-0.40 [[ 9.99996022e-01 -2.11806114e-03 -1.86299509e-03 2.88409928e+00] [ 2.18216147e-03 9.99381213e-01 3.51059811e-02 6.98612226e-02] [ 1.78748568e-03 -3.51099067e-02 9.99381859e-01 -3.95934668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671193817000002 meters Centerline goodness : 0.863323 Centerline is valid? [False, False] Translation: X:2.90, Y:0.06, Z:-0.39 [[ 9.99992273e-01 -3.73014928e-03 -1.24117516e-03 2.90008612e+00] [ 3.79325900e-03 9.98453019e-01 5.54723272e-02 6.31141930e-02] [ 1.03233503e-03 -5.54766067e-02 9.98459454e-01 -3.91446215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701193817000004 meters Centerline goodness : 0.868652 Centerline is valid? [False, False] Translation: X:2.90, Y:0.06, Z:-0.39 [[ 9.99978126e-01 -6.31772281e-03 -1.95795771e-03 2.90269398e+00] [ 6.41279322e-03 9.98568421e-01 5.31035241e-02 6.23650234e-02] [ 1.61966140e-03 -5.31149185e-02 9.98587093e-01 -3.92421404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731193817 meters Centerline goodness : 0.869554 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.39 [[ 9.99953902e-01 -9.14800428e-03 -2.91688450e-03 2.92369563e+00] [ 9.28705984e-03 9.98609846e-01 5.18856946e-02 6.08742258e-02] [ 2.43817903e-03 -5.19103920e-02 9.98648770e-01 -3.92589178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761193817000002 meters Centerline goodness : 0.871261 Centerline is valid? [False, False] Translation: X:2.92, Y:0.06, Z:-0.39 [[ 0.99982259 -0.01756799 -0.00679334 2.91802175] [ 0.01778229 0.99930079 0.03288949 0.05714371] [ 0.00621079 -0.03300446 0.99943591 -0.39321329] [ 0. 0. 0. 1. ]] SLAMing on 22.791193817000003 meters Centerline goodness : 0.866080 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.39 [[ 0.99968272 -0.02409677 -0.00733477 2.92073796] [ 0.02428591 0.99934324 0.02689402 0.05401812] [ 0.00668189 -0.02706362 0.99961138 -0.39475729] [ 0. 0. 0. 1. ]] SLAMing on 22.821193817 meters Centerline goodness : 0.871924 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.40 [[ 0.99948199 -0.03126313 -0.00763953 2.92257502] [ 0.03141213 0.99930174 0.02023132 0.05116034] [ 0.0070017 -0.02046081 0.99976614 -0.39564416] [ 0. 0. 0. 1. ]] SLAMing on 22.851193817000002 meters Centerline goodness : 0.868849 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:-0.39 [[ 0.99903736 -0.04324014 -0.00739203 2.92205321] [ 0.04330902 0.99901724 0.0094273 0.04717568] [ 0.00697712 -0.00973836 0.99992824 -0.39419334] [ 0. 0. 0. 1. ]] SLAMing on 22.881193817000003 meters Centerline goodness : 0.870413 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.40 [[ 9.98927985e-01 -4.62903402e-02 -2.91570282e-04 2.93247386e+00] [ 4.62898256e-02 9.98926808e-01 -1.57625067e-03 4.82341119e-02] [ 3.64222551e-04 1.56106417e-03 9.99998715e-01 -3.97087582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911193817 meters Centerline goodness : 0.868986 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.40 [[ 9.98739437e-01 -5.01937019e-02 -3.60030133e-04 2.93177314e+00] [ 5.01908718e-02 9.98723657e-01 -5.65088717e-03 4.88362511e-02] [ 6.43209558e-04 5.62569364e-03 9.99983969e-01 -3.95464398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941193817000002 meters Centerline goodness : 0.871827 Centerline is valid? [False, False] Translation: X:2.94, Y:0.05, Z:-0.40 [[ 0.9987564 -0.04946348 0.00624686 2.9410094 ] [ 0.04954738 0.99867255 -0.01407786 0.04975055] [-0.00554223 0.01436987 0.99988139 -0.39794396] [ 0. 0. 0. 1. ]] SLAMing on 22.971193817000003 meters Centerline goodness : 0.873654 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.99874698 -0.04907465 0.00980505 2.95867511] [ 0.04920532 0.9986966 -0.01356264 0.04924662] [-0.00912669 0.01402811 0.99985995 -0.39787709] [ 0. 0. 0. 1. ]] SLAMing on 23.001193817 meters Centerline goodness : 0.877240 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.99874237 -0.04917113 0.00979152 2.95889372] [ 0.04930614 0.99868473 -0.01406076 0.05132652] [-0.00908726 0.01452586 0.9998532 -0.39812877] [ 0. 0. 0. 1. ]] SLAMing on 23.031193817000002 meters Centerline goodness : 0.878049 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:-0.40 [[ 0.9987302 -0.04946753 0.00953734 2.96017529] [ 0.04960417 0.99866127 -0.01466607 0.0531926 ] [-0.00879908 0.01512053 0.99984696 -0.39912881] [ 0. 0. 0. 1. ]] SLAMing on 23.061193817000003 meters Centerline goodness : 0.876087 Centerline is valid? [False, False] Translation: X:2.96, Y:0.06, Z:-0.40 [[ 0.99873433 -0.04945935 0.00913852 2.96338126] [ 0.04959114 0.99865985 -0.01480612 0.05510983] [-0.00839398 0.01524057 0.99984862 -0.40206893] [ 0. 0. 0. 1. ]] SLAMing on 23.091193817 meters Centerline goodness : 0.878363 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.40 [[ 0.99877007 -0.04883374 0.00857956 2.96642172] [ 0.04895324 0.99869842 -0.01431939 0.05721342] [-0.00786913 0.01472178 0.99986066 -0.40458594] [ 0. 0. 0. 1. ]] SLAMing on 23.121193817 meters Centerline goodness : 0.879725 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.41 [[ 0.99872308 -0.04925725 0.0112216 2.98483246] [ 0.04947503 0.99857439 -0.02003517 0.06610964] [-0.01021872 0.02056478 0.9997363 -0.40791207] [ 0. 0. 0. 1. ]] SLAMing on 23.151193817000003 meters Centerline goodness : 0.876689 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.41 [[ 0.99879577 -0.04780625 0.0110258 3.00574509] [ 0.04800712 0.99867126 -0.0187358 0.06947669] [-0.01011546 0.01924255 0.99976367 -0.40865036] [ 0. 0. 0. 1. ]] SLAMing on 23.181193817 meters Centerline goodness : 0.878520 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.41 [[ 0.99883354 -0.04717325 0.01030715 3.00809321] [ 0.04735897 0.998705 -0.0185861 0.07394612] [-0.00941703 0.01905256 0.99977413 -0.40994668] [ 0. 0. 0. 1. ]] SLAMing on 23.211193817 meters Centerline goodness : 0.884606 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.41 [[ 0.99892809 -0.0453771 0.00914228 3.02965332] [ 0.04552946 0.99881472 -0.01721089 0.07842987] [-0.00835046 0.01760868 0.99981008 -0.41073945] [ 0. 0. 0. 1. ]] SLAMing on 23.241193817000003 meters Centerline goodness : 0.878904 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.99906002 -0.04250192 0.0085245 3.03143791] [ 0.0426328 0.99896574 -0.01580828 0.08577307] [-0.0078438 0.01615685 0.9998387 -0.41184783] [ 0. 0. 0. 1. ]] SLAMing on 23.271193817000004 meters Centerline goodness : 0.879731 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.99919739 -0.03920034 0.0082411 3.03191852] [ 0.03930416 0.99914483 -0.01283704 0.08810711] [-0.00773083 0.01315065 0.99988364 -0.41204803] [ 0. 0. 0. 1. ]] SLAMing on 23.301193817 meters Centerline goodness : 0.885623 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.41 [[ 0.9993283 -0.03574341 0.0080849 3.03132309] [ 0.03582236 0.99930972 -0.00984066 0.09123717] [-0.00772758 0.01012367 0.99991889 -0.41121138] [ 0. 0. 0. 1. ]] SLAMing on 23.331193817000003 meters Centerline goodness : 0.886481 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.41 [[ 0.99954165 -0.02920022 0.00798924 3.03002022] [ 0.02923641 0.99956261 -0.00445162 0.09955133] [-0.00785575 0.00468316 0.99995818 -0.40989693] [ 0. 0. 0. 1. ]] SLAMing on 23.361193817000004 meters Centerline goodness : 0.885337 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.41 [[ 9.99640532e-01 -2.56615753e-02 7.76462552e-03 3.03095593e+00] [ 2.56733238e-02 9.99669381e-01 -1.41719663e-03 1.02847231e-01] [-7.72569089e-03 1.61603093e-03 9.99968851e-01 -4.10837931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391193817 meters Centerline goodness : 0.888220 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 9.99729076e-01 -2.20105558e-02 7.57038571e-03 3.03171952e+00] [ 2.19977903e-02 9.99756461e-01 1.76539817e-03 1.05459773e-01] [-7.60739942e-03 -1.59838812e-03 9.99969786e-01 -4.11666726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421193817000002 meters Centerline goodness : 0.889647 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.9997966 -0.01881086 0.00727382 3.03319744] [ 0.01877899 0.99981387 0.00442495 0.10787273] [-0.0073557 -0.00428746 0.99996376 -0.41320607] [ 0. 0. 0. 1. ]] SLAMing on 23.451193817000004 meters Centerline goodness : 0.888212 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.42 [[ 0.99982097 -0.01769303 0.00670744 3.03602197] [ 0.01766484 0.99983498 0.00423946 0.11071383] [-0.00678134 -0.00412022 0.99996852 -0.41589558] [ 0. 0. 0. 1. ]] SLAMing on 23.481193817 meters Centerline goodness : 0.893380 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.42 [[ 9.99829144e-01 -1.72953891e-02 6.52314374e-03 3.03736646e+00] [ 1.72781478e-02 9.99847102e-01 2.69025359e-03 1.15246223e-01] [-6.56867534e-03 -2.57708610e-03 9.99975105e-01 -4.17961209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511193817000002 meters Centerline goodness : 0.891539 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.42 [[ 0.99988007 -0.01429369 0.00596046 3.03817976] [ 0.01425504 0.99987742 0.00647607 0.11469372] [-0.0060523 -0.00639033 0.99996127 -0.41754007] [ 0. 0. 0. 1. ]] SLAMing on 23.541193817000003 meters Centerline goodness : 0.898291 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.42 [[ 0.99987501 -0.01271411 0.00939756 3.0299253 ] [ 0.01259838 0.99984532 0.01227282 0.11697527] [-0.00955215 -0.01215289 0.99988052 -0.41777724] [ 0. 0. 0. 1. ]] SLAMing on 23.571193817 meters Centerline goodness : 0.898000 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99985482 -0.01133313 0.01272423 3.02360744] [ 0.01110041 0.9997725 0.01821318 0.11776621] [-0.01292775 -0.0180693 0.99975316 -0.42019818] [ 0. 0. 0. 1. ]] SLAMing on 23.601193817000002 meters Centerline goodness : 0.897025 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99989249 -0.00782123 0.01240337 3.02365087] [ 0.00754214 0.99972086 0.02239015 0.11719059] [-0.01257503 -0.02229419 0.99967237 -0.41938352] [ 0. 0. 0. 1. ]] SLAMing on 23.631193817000003 meters Centerline goodness : 0.896016 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.42 [[ 0.99989631 -0.0075745 0.01224719 3.02341322] [ 0.00729875 0.99972232 0.02240544 0.11773394] [-0.01241349 -0.02231373 0.99967395 -0.41857507] [ 0. 0. 0. 1. ]] SLAMing on 23.661193817 meters Centerline goodness : 0.899066 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99988144 -0.00988923 0.01180279 3.02945602] [ 0.00951307 0.99945811 0.03151186 0.11544945] [-0.01210802 -0.03139585 0.99943369 -0.41385822] [ 0. 0. 0. 1. ]] SLAMing on 23.691193817000002 meters Centerline goodness : 0.900249 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.99988009 -0.01012321 0.01171864 3.02915491] [ 0.00974926 0.99945493 0.03154036 0.11499738] [-0.01203155 -0.03142233 0.99943378 -0.41303109] [ 0. 0. 0. 1. ]] SLAMing on 23.721193817000003 meters Centerline goodness : 0.899061 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.41 [[ 0.9998757 -0.01053456 0.01173042 3.02901734] [ 0.01016126 0.99945397 0.03144067 0.11432496] [-0.01205522 -0.03131757 0.99943678 -0.41278156] [ 0. 0. 0. 1. ]] SLAMing on 23.751193817 meters Centerline goodness : 0.898971 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99983578 -0.01360659 0.01196973 3.02874733] [ 0.01327221 0.99953135 0.02758489 0.11617638] [-0.01233946 -0.0274215 0.9995478 -0.41285541] [ 0. 0. 0. 1. ]] SLAMing on 23.781193817000002 meters Centerline goodness : 0.900404 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99982693 -0.01431548 0.0118819 3.02887755] [ 0.013998 0.99955383 0.02638543 0.11985749] [-0.01225432 -0.02621454 0.99958123 -0.41298286] [ 0. 0. 0. 1. ]] SLAMing on 23.811193817000003 meters Centerline goodness : 0.905517 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99982043 -0.01451047 0.01218838 3.02820286] [ 0.01418842 0.99955848 0.02610628 0.1209649 ] [-0.01256181 -0.02592866 0.99958487 -0.41276371] [ 0. 0. 0. 1. ]] SLAMing on 23.841193817 meters Centerline goodness : 0.897098 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99984583 -0.0162439 0.00666743 3.0198859 ] [ 0.01599514 0.9992308 0.03580444 0.11971548] [-0.00724391 -0.03569228 0.99933657 -0.40962529] [ 0. 0. 0. 1. ]] SLAMing on 23.871193817 meters Centerline goodness : 0.899305 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99975905 -0.02103689 0.00626812 3.02275111] [ 0.02083709 0.99932069 0.0303971 0.12071225] [-0.00690332 -0.03025917 0.99951825 -0.41247313] [ 0. 0. 0. 1. ]] SLAMing on 23.901193817000003 meters Centerline goodness : 0.899305 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99975905 -0.02103689 0.00626812 3.02275111] [ 0.02083709 0.99932069 0.0303971 0.12071225] [-0.00690332 -0.03025917 0.99951825 -0.41247313] [ 0. 0. 0. 1. ]] SLAMing on 23.931193817 meters Centerline goodness : 0.901242 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99967117 -0.02485518 0.00630645 3.02335383] [ 0.02468443 0.99936114 0.02584554 0.12242553] [-0.00694482 -0.02568137 0.99964606 -0.41333319] [ 0. 0. 0. 1. ]] SLAMing on 23.961193817 meters Centerline goodness : 0.903817 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99966034 -0.02539217 0.00586899 3.0246435 ] [ 0.02523472 0.99935619 0.02550327 0.12274512] [-0.0065128 -0.0253465 0.99965751 -0.41389037] [ 0. 0. 0. 1. ]] SLAMing on 23.991193817000003 meters Centerline goodness : 0.900897 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99964948 -0.02589799 0.00549583 3.02536591] [ 0.02575325 0.99935696 0.02494878 0.12371039] [-0.00613842 -0.0247985 0.99967362 -0.4139078 ] [ 0. 0. 0. 1. ]] SLAMing on 24.021193817000004 meters Centerline goodness : 0.895964 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99965689 -0.02567811 0.00517035 3.02600655] [ 0.02554073 0.99935907 0.02508223 0.1236423 ] [-0.0058111 -0.02494157 0.99967202 -0.41390966] [ 0. 0. 0. 1. ]] SLAMing on 24.051193817 meters Centerline goodness : 0.895662 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.41 [[ 0.99966502 -0.02536979 0.00511993 3.02539815] [ 0.02523202 0.99935928 0.02538463 0.12309632] [-0.00576066 -0.02524694 0.99966465 -0.41281219] [ 0. 0. 0. 1. ]] SLAMing on 24.081193817000003 meters Centerline goodness : 0.902390 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99967207 -0.02506645 0.00523736 3.02435145] [ 0.02492481 0.99936267 0.02555398 0.12307296] [-0.00587457 -0.02541506 0.99965972 -0.41157469] [ 0. 0. 0. 1. ]] SLAMing on 24.111193817000004 meters Centerline goodness : 0.899824 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.41 [[ 0.99968305 -0.02464642 0.00513277 3.02404176] [ 0.02450716 0.99937117 0.0256254 0.12393522] [-0.00576112 -0.02549148 0.99965844 -0.41083447] [ 0. 0. 0. 1. ]] SLAMing on 24.141193817 meters Centerline goodness : 0.900856 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 0.99968975 -0.02434889 0.00524704 3.02349623] [ 0.02420982 0.99939145 0.02511197 0.12609144] [-0.0058553 -0.02497715 0.99967087 -0.41058706] [ 0. 0. 0. 1. ]] SLAMing on 24.171193817000002 meters Centerline goodness : 0.902115 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99873362e-01 -1.57542500e-02 2.25033675e-03 3.02328124e+00] [ 1.57246861e-02 9.99796954e-01 1.26009708e-02 1.29671778e-01] [-2.44839867e-03 -1.25639892e-02 9.99918072e-01 -4.09768925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201193817000004 meters Centerline goodness : 0.898889 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99889581e-01 -1.46949529e-02 2.21021969e-03 3.02359110e+00] [ 1.46651474e-02 9.99808652e-01 1.29457576e-02 1.29841959e-01] [-2.40003407e-03 -1.29119149e-02 9.99913757e-01 -4.10243711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231193817 meters Centerline goodness : 0.903121 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.41 [[ 9.99944795e-01 -1.03444714e-02 1.84334253e-03 3.02452295e+00] [ 1.03103669e-02 9.99791262e-01 1.76388269e-02 1.28113271e-01] [-2.02542209e-03 -1.76188476e-02 9.99842725e-01 -4.10645092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261193817000002 meters Centerline goodness : 0.903878 Centerline is valid? [False, False] Translation: X:3.04, Y:0.13, Z:-0.41 [[ 0.99997361 -0.00587925 0.00426867 3.0432156 ] [ 0.0057692 0.99966195 0.02535146 0.12512325] [-0.00441627 -0.02532616 0.99966949 -0.41119859] [ 0. 0. 0. 1. ]] SLAMing on 24.291193817000003 meters Centerline goodness : 0.905918 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.41 [[ 0.99994959 -0.00484616 0.00879413 3.05847495] [ 0.00460372 0.99961443 0.02738235 0.12500365] [-0.00892344 -0.02734048 0.99958635 -0.40918903] [ 0. 0. 0. 1. ]] SLAMing on 24.321193817 meters Centerline goodness : 0.907191 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.41 [[ 9.99936050e-01 -2.94949891e-03 1.09177197e-02 3.07770229e+00] [ 2.58863714e-03 9.99454615e-01 3.29206748e-02 1.21855995e-01] [-1.10088648e-02 -3.28903075e-02 9.99398335e-01 -4.10256768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351193817000002 meters Centerline goodness : 0.907349 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.41 [[ 9.99927043e-01 -1.97800019e-03 1.19162375e-02 3.09793466e+00] [ 1.54012289e-03 9.99327196e-01 3.66440204e-02 1.18921906e-01] [-1.19807021e-02 -3.66229945e-02 9.99257334e-01 -4.11273649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381193817000003 meters Centerline goodness : 0.907808 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.41 [[ 9.99906495e-01 -3.04985282e-03 1.33304227e-02 3.11790473e+00] [ 2.57544911e-03 9.99367726e-01 3.54614550e-02 1.17833240e-01] [-1.34301464e-02 -3.54238073e-02 9.99282135e-01 -4.11972938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411193817 meters Centerline goodness : 0.907936 Centerline is valid? [False, False] Translation: X:3.12, Y:0.11, Z:-0.41 [[ 9.99914356e-01 -9.41696373e-04 1.30535109e-02 3.11867637e+00] [ 4.47484901e-04 9.99284779e-01 3.78117642e-02 1.12187904e-01] [-1.30797820e-02 -3.78026846e-02 9.99199618e-01 -4.11965360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817000002 meters Centerline goodness : 0.906910 Centerline is valid? [False, False] Translation: X:3.15, Y:0.11, Z:-0.41 [[ 9.99947451e-01 2.73788428e-03 9.87919924e-03 3.14752447e+00] [-3.08186603e-03 9.99383497e-01 3.49732507e-02 1.09729092e-01] [-9.77735597e-03 -3.50018593e-02 9.99339418e-01 -4.10908146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471193817000003 meters Centerline goodness : 0.906307 Centerline is valid? [False, False] Translation: X:3.17, Y:0.11, Z:-0.41 [[ 0.99995243 0.00421545 0.00879594 3.16950367] [-0.00453634 0.99931286 0.03678638 0.10759221] [-0.00863482 -0.03682453 0.99928444 -0.41245002] [ 0. 0. 0. 1. ]] SLAMing on 24.501193817 meters Centerline goodness : 0.904064 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.41 [[ 0.99991534 0.00972783 0.00864163 3.17125597] [-0.01009141 0.99902077 0.04307731 0.1014115 ] [-0.00821412 -0.04316087 0.99903437 -0.41389441] [ 0. 0. 0. 1. ]] SLAMing on 24.531193817000002 meters Centerline goodness : 0.902910 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.41 [[ 0.99990881 0.01049167 0.00850258 3.17186839] [-0.0108586 0.99895821 0.04432356 0.09816604] [-0.0080287 -0.04441184 0.99898104 -0.41410872] [ 0. 0. 0. 1. ]] SLAMing on 24.561193817000003 meters Centerline goodness : 0.899343 Centerline is valid? [False, False] Translation: X:3.17, Y:0.09, Z:-0.42 [[ 0.99992359 0.00963067 0.00775038 3.17490975] [-0.00995916 0.99900268 0.04352545 0.09412428] [-0.00732347 -0.04359932 0.99902226 -0.41596199] [ 0. 0. 0. 1. ]] SLAMing on 24.591193817 meters Centerline goodness : 0.897813 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.42 [[ 0.99996007 0.00730049 0.00515397 3.19771545] [-0.00751376 0.99906186 0.04264906 0.08866272] [-0.00483778 -0.04268609 0.99907682 -0.41751869] [ 0. 0. 0. 1. ]] SLAMing on 24.621193817 meters Centerline goodness : 0.894201 Centerline is valid? [False, False] Translation: X:3.20, Y:0.08, Z:-0.42 [[ 9.99994662e-01 2.64321138e-03 -1.92093170e-03 3.20243634e+00] [-2.59778635e-03 9.99725675e-01 2.32771438e-02 7.89905736e-02] [ 1.98193116e-03 -2.32720293e-02 9.99727205e-01 -4.19818711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651193817000003 meters Centerline goodness : 0.894000 Centerline is valid? [False, False] Translation: X:3.20, Y:0.07, Z:-0.42 [[ 9.99996674e-01 -1.47321371e-04 -2.57489418e-03 3.20466222e+00] [ 2.04112899e-04 9.99756417e-01 2.20695415e-02 7.29013423e-02] [ 2.57101567e-03 -2.20699936e-02 9.99753122e-01 -4.20338608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817000004 meters Centerline goodness : 0.894826 Centerline is valid? [False, False] Translation: X:3.21, Y:0.07, Z:-0.42 [[ 9.99990178e-01 -3.39419021e-03 -2.85000958e-03 3.20546285e+00] [ 3.45002977e-03 9.99797573e-01 1.98219480e-02 6.70835452e-02] [ 2.78215320e-03 -1.98315860e-02 9.99799464e-01 -4.20453188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711193817 meters Centerline goodness : 0.893673 Centerline is valid? [False, False] Translation: X:3.21, Y:0.06, Z:-0.42 [[ 0.99996491 -0.00649223 -0.00529498 3.21041544] [ 0.00657585 0.99985145 0.01593244 0.0610151 ] [ 0.00519075 -0.0159667 0.99985905 -0.42009725] [ 0. 0. 0. 1. ]] SLAMing on 24.741193817000003 meters Centerline goodness : 0.891249 Centerline is valid? [False, False] Translation: X:3.21, Y:0.05, Z:-0.42 [[ 0.99991654 -0.01155733 -0.00577363 3.21213112] [ 0.01163038 0.99985066 0.01278243 0.0495409 ] [ 0.00562503 -0.01284851 0.99990163 -0.42061188] [ 0. 0. 0. 1. ]] SLAMing on 24.771193817000004 meters Centerline goodness : 0.893386 Centerline is valid? [False, False] Translation: X:3.21, Y:0.04, Z:-0.42 [[ 0.99987246 -0.01478504 -0.00603865 3.21280701] [ 0.01484786 0.99983468 0.010495 0.04461952] [ 0.00588248 -0.01058332 0.99992669 -0.42047302] [ 0. 0. 0. 1. ]] SLAMing on 24.801193817 meters Centerline goodness : 0.891128 Centerline is valid? [False, False] Translation: X:3.22, Y:0.04, Z:-0.42 [[ 9.99859131e-01 -1.66402451e-02 -2.19536517e-03 3.22156180e+00] [ 1.66365824e-02 9.99860197e-01 -1.67625178e-03 4.02895856e-02] [ 2.22295150e-03 1.63949227e-03 9.99996185e-01 -4.21488037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831193817000003 meters Centerline goodness : 0.896516 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.42 [[ 9.99724249e-01 -2.34723741e-02 -6.87879521e-04 3.21719518e+00] [ 2.34701673e-02 9.99719862e-01 -3.05758384e-03 2.44138031e-02] [ 7.59455571e-04 3.04059607e-03 9.99995089e-01 -4.15700730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861193817000004 meters Centerline goodness : 0.900267 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:-0.41 [[ 9.99637403e-01 -2.69157521e-02 -7.77865154e-04 3.21721831e+00] [ 2.69114563e-02 9.99624877e-01 -5.08707426e-03 1.75499452e-02] [ 9.14495789e-04 5.06429622e-03 9.99986758e-01 -4.14951313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891193817 meters Centerline goodness : 0.898023 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.41 [[ 9.99538569e-01 -3.03624862e-02 -8.76820711e-04 3.21734822e+00] [ 3.03554119e-02 9.99513310e-01 -7.18973686e-03 1.15887863e-02] [ 1.09469226e-03 7.15980303e-03 9.99973769e-01 -4.14400594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921193817000002 meters Centerline goodness : 0.899232 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:-0.41 [[ 9.99430354e-01 -3.37301374e-02 -1.11550763e-03 3.21834162e+00] [ 3.37182362e-02 9.99387487e-01 -9.36653096e-03 6.37085301e-03] [ 1.43075874e-03 9.32358241e-03 9.99955511e-01 -4.14588034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951193817000004 meters Centerline goodness : 0.898681 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.00, Z:-0.42 [[ 9.99211955e-01 -3.96551891e-02 -1.71306042e-03 3.22213138e+00] [ 3.96284093e-02 9.99122586e-01 -1.35516300e-02 -1.55103184e-03] [ 2.24894980e-03 1.34730649e-02 9.99906705e-01 -4.17356188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981193817 meters Centerline goodness : 0.898125 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.01, Z:-0.42 [[ 9.99215155e-01 -3.95463429e-02 -2.27159159e-03 3.22427899e+00] [ 3.95154459e-02 9.99142857e-01 -1.23321437e-02 -6.29849342e-03] [ 2.75733569e-03 1.22327019e-02 9.99921376e-01 -4.18532650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011193817000002 meters Centerline goodness : 0.899071 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.42 [[ 9.99220163e-01 -3.93980064e-02 -2.61965123e-03 3.22542962e+00] [ 3.93662802e-02 9.99161810e-01 -1.12238080e-02 -1.01315071e-02] [ 3.05965112e-03 1.11119294e-02 9.99933580e-01 -4.19012060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041193817000003 meters Centerline goodness : 0.897626 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.42 [[ 9.99234195e-01 -3.90170589e-02 -2.94847702e-03 3.22608120e+00] [ 3.89857136e-02 9.99189424e-01 -1.00304417e-02 -1.37019380e-02] [ 3.33744538e-03 9.90781182e-03 9.99945347e-01 -4.18840546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071193817 meters Centerline goodness : 0.899181 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.02, Z:-0.42 [[ 0.99925592 -0.03843015 -0.00327461 3.22555824] [ 0.03840223 0.99922872 -0.00819936 -0.02126502] [ 0.00358718 0.00806751 0.99996102 -0.4170962 ] [ 0. 0. 0. 1. ]] SLAMing on 25.101193817000002 meters Centerline goodness : 0.901330 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99927215 -0.03797242 -0.00364127 3.22590685] [ 0.03794633 0.99925537 -0.00698488 -0.02559678] [ 0.00390379 0.00684163 0.99996898 -0.41644131] [ 0. 0. 0. 1. ]] SLAMing on 25.131193817000003 meters Centerline goodness : 0.901530 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99930812 -0.03700369 -0.00374206 3.22585436] [ 0.03698365 0.99930186 -0.0052917 -0.02977832] [ 0.00393526 0.00514965 0.999979 -0.41603932] [ 0. 0. 0. 1. ]] SLAMing on 25.161193817 meters Centerline goodness : 0.903339 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 0.99936305 -0.03541372 -0.00440138 3.22829375] [ 0.03539691 0.99936596 -0.00383979 -0.0297238 ] [ 0.00453457 0.00368155 0.99998294 -0.41754386] [ 0. 0. 0. 1. ]] SLAMing on 25.191193817000002 meters Centerline goodness : 0.900741 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.03, Z:-0.42 [[ 9.99491630e-01 -3.14942355e-02 -4.95936374e-03 3.22944867e+00] [ 3.14966635e-02 9.99503772e-01 4.12224721e-04 -3.06942009e-02] [ 4.94392006e-03 -5.68218569e-04 9.99987617e-01 -4.17839806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221193817000003 meters Centerline goodness : 0.898619 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.03, Z:-0.42 [[ 0.99972563 -0.02285435 -0.00513286 3.24915233] [ 0.02281581 0.99971196 -0.00744534 -0.03191707] [ 0.00530154 0.00732618 0.99995911 -0.41829346] [ 0. 0. 0. 1. ]] SLAMing on 25.251193817 meters Centerline goodness : 0.899550 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.04, Z:-0.42 [[ 0.99992092 -0.0108666 -0.00632953 3.26811999] [ 0.01078381 0.99985771 -0.01297185 -0.03593643] [ 0.00646959 0.01290257 0.99989583 -0.41757474] [ 0. 0. 0. 1. ]] SLAMing on 25.281193817000002 meters Centerline goodness : 0.898547 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.04, Z:-0.42 [[ 9.99972449e-01 -7.08770937e-03 -2.20587227e-03 3.28285291e+00] [ 7.04575259e-03 9.99804404e-01 -1.84800214e-02 -3.54093901e-02] [ 2.33642183e-03 1.84639703e-02 9.99826796e-01 -4.22988006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311193817000003 meters Centerline goodness : 0.900226 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.04, Z:-0.42 [[ 0.99998325 -0.00406722 -0.00411764 3.30490956] [ 0.00399792 0.99985251 -0.01670262 -0.03771536] [ 0.00418496 0.01668588 0.99985202 -0.42357206] [ 0. 0. 0. 1. ]] SLAMing on 25.341193817 meters Centerline goodness : 0.898185 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.42 [[ 9.99988026e-01 -2.61472756e-03 -4.13660266e-03 3.32614395e+00] [ 2.54538765e-03 9.99857641e-01 -1.66799077e-02 -3.97620575e-02] [ 4.17962719e-03 1.66691787e-02 9.99852324e-01 -4.24297151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371193817 meters Centerline goodness : 0.900480 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99995096e-01 -2.28653629e-03 2.14020413e-03 3.33627120e+00] [ 2.30186790e-03 9.99971511e-01 -7.18878420e-03 -4.80343024e-02] [-2.12370574e-03 7.19367541e-03 9.99971870e-01 -4.26947904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401193817000003 meters Centerline goodness : 0.899905 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99995920e-01 -2.21168808e-03 1.80764316e-03 3.33723247e+00] [ 2.22330695e-03 9.99976720e-01 -6.45109758e-03 -5.07768028e-02] [-1.79333326e-03 6.45509021e-03 9.99977558e-01 -4.27285539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431193817000004 meters Centerline goodness : 0.900706 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.43 [[ 9.99996764e-01 -2.17005868e-03 1.32806146e-03 3.33857419e+00] [ 2.17769996e-03 9.99980927e-01 -5.77956622e-03 -5.34889494e-02] [-1.31549413e-03 5.78243964e-03 9.99982416e-01 -4.27774385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461193817 meters Centerline goodness : 0.897113 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.06, Z:-0.43 [[ 9.99999565e-01 -7.15169329e-04 5.99404045e-04 3.34061516e+00] [ 7.17021870e-04 9.99994950e-01 -3.09614214e-03 -6.00934036e-02] [-5.97186752e-04 3.09657058e-03 9.99995027e-01 -4.28595976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491193817000003 meters Centerline goodness : 0.898021 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.06, Z:-0.43 [[ 9.99990332e-01 1.04387679e-03 4.27152454e-03 3.35304970e+00] [-9.93852883e-04 9.99931101e-01 -1.16964306e-02 -6.12438715e-02] [-4.28343987e-03 1.16920723e-02 9.99922471e-01 -4.32604206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521193817000004 meters Centerline goodness : 0.901914 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.07, Z:-0.43 [[ 9.99991081e-01 1.40528767e-03 3.98294849e-03 3.35335799e+00] [-1.36321559e-03 9.99943459e-01 -1.05461516e-02 -6.51512372e-02] [-3.99754367e-03 1.05406279e-02 9.99936455e-01 -4.32141809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551193817 meters Centerline goodness : 0.899727 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.07, Z:-0.43 [[ 9.99970148e-01 1.96612848e-03 7.47238691e-03 3.37055337e+00] [-1.88253950e-03 9.99935763e-01 -1.11770016e-02 -6.95079102e-02] [-7.49388233e-03 1.11626008e-02 9.99909615e-01 -4.31408792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581193817000003 meters Centerline goodness : 0.900988 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.07, Z:-0.43 [[ 9.99969736e-01 2.54111268e-03 7.35327809e-03 3.37016933e+00] [-2.47043345e-03 9.99950818e-01 -9.60510666e-03 -7.42206255e-02] [-7.37732410e-03 9.58665018e-03 9.99926833e-01 -4.30458758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611193817000004 meters Centerline goodness : 0.909496 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:-0.43 [[ 9.99970960e-01 2.65131827e-03 7.14487851e-03 3.37095055e+00] [-2.58896106e-03 9.99958605e-01 -8.72270113e-03 -7.77456646e-02] [-7.16770941e-03 8.70395002e-03 9.99936431e-01 -4.30826984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641193817 meters Centerline goodness : 0.907240 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:-0.43 [[ 9.99973114e-01 3.04695237e-03 6.66992635e-03 3.37383089e+00] [-2.99756935e-03 9.99968117e-01 -7.40135209e-03 -8.27276353e-02] [-6.69226526e-03 7.38115952e-03 9.99950365e-01 -4.33300632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671193817000002 meters Centerline goodness : 0.899027 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.09, Z:-0.43 [[ 9.99974929e-01 3.04403024e-03 6.39337496e-03 3.37476574e+00] [-3.00083285e-03 9.99972680e-01 -6.75534588e-03 -8.53797190e-02] [-6.41376377e-03 6.73599107e-03 9.99956744e-01 -4.33711493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701193817000004 meters Centerline goodness : 0.902541 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.09, Z:-0.43 [[ 9.99980673e-01 2.16737662e-03 5.82724642e-03 3.37674669e+00] [-2.12744546e-03 9.99974276e-01 -6.84998091e-03 -8.89791953e-02] [-5.84194301e-03 6.83745137e-03 9.99959560e-01 -4.34600228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731193817 meters Centerline goodness : 0.903431 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.09, Z:-0.43 [[ 9.99983572e-01 -1.33996109e-03 5.57317047e-03 3.37734409e+00] [ 1.39476863e-03 9.99950594e-01 -9.84194432e-03 -9.21601117e-02] [-5.55970730e-03 9.84955592e-03 9.99936036e-01 -4.34662032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761193817000002 meters Centerline goodness : 0.900804 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99995468 -0.00771261 0.00558072 3.37784819] [ 0.00779444 0.9998602 -0.01479313 -0.10064077] [-0.00546584 0.01483596 0.999875 -0.43518597] [ 0. 0. 0. 1. ]] SLAMing on 25.791193817000003 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99991893 -0.01151762 0.00542918 3.37889343] [ 0.01161298 0.99977283 -0.01787269 -0.10384451] [-0.0052221 0.01793429 0.99982553 -0.43602461] [ 0. 0. 0. 1. ]] SLAMing on 25.821193817 meters Centerline goodness : 0.901101 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.10, Z:-0.44 [[ 0.99991893 -0.01151762 0.00542918 3.37889343] [ 0.01161298 0.99977283 -0.01787269 -0.10384451] [-0.0052221 0.01793429 0.99982553 -0.43602461] [ 0. 0. 0. 1. ]] SLAMing on 25.851193817000002 meters Centerline goodness : 0.899291 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.11, Z:-0.44 [[ 0.99986827 -0.01535506 0.00525971 3.38016802] [ 0.01546294 0.9996573 -0.02112309 -0.10626495] [-0.00493356 0.02120164 0.99976305 -0.4371098 ] [ 0. 0. 0. 1. ]] SLAMing on 25.881193817000003 meters Centerline goodness : 0.898799 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.11, Z:-0.44 [[ 0.9998053 -0.01903988 0.00518199 3.38105317] [ 0.01916002 0.99952315 -0.0242152 -0.10875702] [-0.00471846 0.02430977 0.99969334 -0.43782772] [ 0. 0. 0. 1. ]] SLAMing on 25.911193817 meters Centerline goodness : 0.899554 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.44 [[ 0.99971607 -0.02324854 0.00522322 3.38197928] [ 0.02337925 0.99937439 -0.02653767 -0.11564445] [-0.00460299 0.02665225 0.99963417 -0.43864208] [ 0. 0. 0. 1. ]] SLAMing on 25.941193817000002 meters Centerline goodness : 0.899433 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.12, Z:-0.44 [[ 0.99971599 -0.02332283 0.00489669 3.3832912 ] [ 0.02344056 0.99939874 -0.02554792 -0.11939656] [-0.00429789 0.02565545 0.99966161 -0.43932422] [ 0. 0. 0. 1. ]] SLAMing on 25.971193817000003 meters Centerline goodness : 0.897685 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 0.9997181 -0.02332279 0.00444682 3.38517761] [ 0.02342685 0.99941304 -0.02499505 -0.1211874 ] [-0.00386126 0.02509218 0.99967768 -0.44057753] [ 0. 0. 0. 1. ]] SLAMing on 26.001193817 meters Centerline goodness : 0.894727 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 0.99972502 -0.02310694 0.00399541 3.38703116] [ 0.02319725 0.99943629 -0.02426911 -0.12329008] [-0.00343237 0.02435512 0.99969748 -0.44187047] [ 0. 0. 0. 1. ]] SLAMing on 26.031193817000002 meters Centerline goodness : 0.892738 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.12, Z:-0.44 [[ 9.99732237e-01 -2.28692185e-02 3.52877362e-03 3.38808162e+00] [ 2.29472428e-02 9.99450166e-01 -2.39330064e-02 -1.24070926e-01] [-2.97950423e-03 2.40075737e-02 9.99707337e-01 -4.41982476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061193817000003 meters Centerline goodness : 0.893845 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99805701e-01 -1.94738483e-02 3.05449873e-03 3.38890775e+00] [ 1.95299777e-02 9.99617706e-01 -1.95709537e-02 -1.27271354e-01] [-2.67220923e-03 1.96268053e-02 9.99803805e-01 -4.41683054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091193817 meters Centerline goodness : 0.895819 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99869893e-01 -1.58676539e-02 2.90075073e-03 3.38829928e+00] [ 1.59093772e-02 9.99761279e-01 -1.49758686e-02 -1.29790853e-01] [-2.66242636e-03 1.50200693e-02 9.99883648e-01 -4.40109284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121193817 meters Centerline goodness : 0.898291 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.13, Z:-0.44 [[ 9.99868797e-01 -1.59643080e-02 2.74391637e-03 3.38830437e+00] [ 1.60041101e-02 9.99757089e-01 -1.51536265e-02 -1.28457374e-01] [-2.50133268e-03 1.51955523e-02 9.99881412e-01 -4.39596640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151193817000003 meters Centerline goodness : 0.902530 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.13, Z:-0.44 [[ 0.99989507 -0.01372857 0.00462286 3.40751282] [ 0.01380046 0.99977842 -0.01589501 -0.12742589] [-0.00440362 0.01595714 0.99986298 -0.44020421] [ 0. 0. 0. 1. ]] SLAMing on 26.181193817000004 meters Centerline goodness : 0.901395 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.13, Z:-0.44 [[ 0.9999368 -0.01043885 0.0041743 3.40835485] [ 0.01048847 0.99987242 -0.01204762 -0.12778343] [-0.00404801 0.01209064 0.99991871 -0.43998288] [ 0. 0. 0. 1. ]] SLAMing on 26.211193817 meters Centerline goodness : 0.903870 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.12, Z:-0.44 [[ 0.99994801 -0.00609016 0.00817852 3.42439394] [ 0.00620341 0.99988424 -0.01389352 -0.12427352] [-0.00809296 0.01394353 0.99987003 -0.44047949] [ 0. 0. 0. 1. ]] SLAMing on 26.241193817000003 meters Centerline goodness : 0.905822 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.12, Z:-0.44 [[ 9.99922800e-01 -3.09358983e-03 1.20342429e-02 3.44106254e+00] [ 3.30755781e-03 9.99836081e-01 -1.78008489e-02 -1.20791088e-01] [-1.19772017e-02 1.78392786e-02 9.99769127e-01 -4.42551029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271193817000004 meters Centerline goodness : 0.907439 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.12, Z:-0.44 [[ 9.99876269e-01 3.15102361e-04 1.57272640e-02 3.45798991e+00] [-1.44924552e-06 9.99801192e-01 -1.99393010e-02 -1.17509056e-01] [-1.57304202e-02 1.99368111e-02 9.99677487e-01 -4.43255137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301193817 meters Centerline goodness : 0.908546 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.11, Z:-0.44 [[ 0.99980284 0.00462183 0.01931092 3.47565816] [-0.00423079 0.99978616 -0.02024193 -0.1149867 ] [-0.01940034 0.02015624 0.9996086 -0.44399557] [ 0. 0. 0. 1. ]] SLAMing on 26.331193817000003 meters Centerline goodness : 0.911231 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.11, Z:-0.45 [[ 0.99969661 0.00818224 0.02323215 3.49167139] [-0.00763655 0.99969512 -0.02348085 -0.10983792] [-0.0234172 0.02329632 0.99945431 -0.44549934] [ 0. 0. 0. 1. ]] SLAMing on 26.361193817000004 meters Centerline goodness : 0.908772 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964355 0.00939045 0.02499202 3.5108948 ] [-0.0087282 0.99961131 -0.02647713 -0.10957255] [-0.02523094 0.02624956 0.99933696 -0.44661888] [ 0. 0. 0. 1. ]] SLAMing on 26.391193817 meters Centerline goodness : 0.906545 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964638 0.00949842 0.02483727 3.5115339 ] [-0.00884793 0.99961835 -0.02617011 -0.11057906] [-0.02507636 0.0259411 0.99934891 -0.44703888] [ 0. 0. 0. 1. ]] SLAMing on 26.421193817000002 meters Centerline goodness : 0.912699 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99964796 0.00963152 0.0247221 3.51230051] [-0.0089922 0.99962559 -0.02584234 -0.11131015] [-0.02496174 0.02561094 0.99936029 -0.44772731] [ 0. 0. 0. 1. ]] SLAMing on 26.451193817000004 meters Centerline goodness : 0.909066 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.11, Z:-0.45 [[ 0.99963143 0.012403 0.02414875 3.51490427] [-0.01186492 0.99968094 -0.02229888 -0.11264227] [-0.02441762 0.02200414 0.99945965 -0.44965994] [ 0. 0. 0. 1. ]] SLAMing on 26.481193817 meters Centerline goodness : 0.908221 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.11, Z:-0.45 [[ 0.9996019 0.01542982 0.0236214 3.51743972] [-0.01498779 0.99971136 -0.01877692 -0.11412295] [-0.0239043 0.01841541 0.99954462 -0.45141839] [ 0. 0. 0. 1. ]] SLAMing on 26.511193817000002 meters Centerline goodness : 0.902703 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.12, Z:-0.45 [[ 0.99957295 0.01819016 0.0228699 3.52036765] [-0.0178293 0.99971485 -0.0158849 -0.11604218] [-0.02315232 0.01547036 0.99961224 -0.45336331] [ 0. 0. 0. 1. ]] SLAMing on 26.541193817000003 meters Centerline goodness : 0.903744 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.12, Z:-0.45 [[ 0.99956057 0.02213118 0.01972013 3.54187686] [-0.02181202 0.99962994 -0.01625501 -0.11800588] [-0.02007257 0.01581773 0.99967339 -0.45425122] [ 0. 0. 0. 1. ]] SLAMing on 26.571193817 meters Centerline goodness : 0.903691 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.12, Z:-0.46 [[ 0.99942241 0.03054147 0.01490181 3.57398517] [-0.03020859 0.99929984 -0.02207404 -0.12037075] [-0.01556555 0.02161112 0.99964527 -0.45681658] [ 0. 0. 0. 1. ]] SLAMing on 26.601193817000002 meters Centerline goodness : 0.901866 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.12, Z:-0.46 [[ 0.99937079 0.03255359 0.01408141 3.5776739 ] [-0.03227163 0.99928285 -0.0198072 -0.12255124] [-0.0147161 0.01934031 0.99970465 -0.4594672 ] [ 0. 0. 0. 1. ]] SLAMing on 26.631193817000003 meters Centerline goodness : 0.900556 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.13, Z:-0.46 [[ 0.9993374 0.03387132 0.01332265 3.58045659] [-0.03362775 0.9992705 -0.01810074 -0.12571481] [-0.01392602 0.01764074 0.9997474 -0.46128817] [ 0. 0. 0. 1. ]] SLAMing on 26.661193817 meters Centerline goodness : 0.898132 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.13, Z:-0.46 [[ 0.99933015 0.03423008 0.0129446 3.58185053] [-0.03400559 0.99927393 -0.01718254 -0.12856871] [-0.01352336 0.01673085 0.99976857 -0.46218032] [ 0. 0. 0. 1. ]] SLAMing on 26.691193817000002 meters Centerline goodness : 0.897699 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.14, Z:-0.46 [[ 0.99937464 0.03291549 0.01291902 3.58149246] [-0.03268785 0.99931321 -0.01745321 -0.13669485] [-0.01348463 0.01702 0.99976421 -0.46200079] [ 0. 0. 0. 1. ]] SLAMing on 26.721193817000003 meters Centerline goodness : 0.898578 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.14, Z:-0.46 [[ 0.99946703 0.03005599 0.01273936 3.58133436] [-0.02980411 0.99936511 -0.0195215 -0.14159547] [-0.01331801 0.01913141 0.99972827 -0.46163994] [ 0. 0. 0. 1. ]] SLAMing on 26.751193817 meters Centerline goodness : 0.897568 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.15, Z:-0.46 [[ 0.99955345 0.02707149 0.01265058 3.58077385] [-0.02679536 0.99940951 -0.02150899 -0.14718973] [-0.01322539 0.02116041 0.99968861 -0.46088118] [ 0. 0. 0. 1. ]] SLAMing on 26.781193817000002 meters Centerline goodness : 0.898779 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.15, Z:-0.46 [[ 0.99962929 0.02409669 0.01267381 3.57984169] [-0.02379636 0.99944441 -0.02333657 -0.15265769] [-0.0132291 0.02302633 0.99964733 -0.45984957] [ 0. 0. 0. 1. ]] SLAMing on 26.811193817000003 meters Centerline goodness : 0.898809 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.16, Z:-0.46 [[ 0.99969457 0.02122731 0.01265553 3.57925367] [-0.02090469 0.99946631 -0.02510139 -0.15810798] [-0.01318161 0.02482916 0.9996048 -0.4591142 ] [ 0. 0. 0. 1. ]] SLAMing on 26.841193817000004 meters Centerline goodness : 0.900590 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.17, Z:-0.46 [[ 0.99980807 0.01501611 0.01258305 3.5786852 ] [-0.01465655 0.99949495 -0.02819644 -0.1702798 ] [-0.0130001 0.02800661 0.9995232 -0.45766943] [ 0. 0. 0. 1. ]] SLAMing on 26.871193817 meters Centerline goodness : 0.904384 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.18, Z:-0.46 [[ 0.99985539 0.01167221 0.01236789 3.57948158] [-0.01129233 0.99947549 -0.03035173 -0.17618672] [-0.01271567 0.03020767 0.99946276 -0.45823714] [ 0. 0. 0. 1. ]] SLAMing on 26.901193817000003 meters Centerline goodness : 0.903179 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.19, Z:-0.46 [[ 9.99861512e-01 2.95636574e-03 1.63773229e-02 3.57477064e+00] [-2.49638334e-03 9.99603793e-01 -2.80361324e-02 -1.90079595e-01] [-1.64537191e-02 2.79913656e-02 9.99472740e-01 -4.59340788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931193817000004 meters Centerline goodness : 0.899900 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99989943 -0.00420449 0.01354427 3.57140873] [ 0.00442885 0.99985277 -0.01657757 -0.19801868] [-0.01347258 0.01663589 0.99977084 -0.45643477] [ 0. 0. 0. 1. ]] SLAMing on 26.961193817 meters Centerline goodness : 0.906090 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99987769 -0.00835066 0.01322428 3.57294418] [ 0.00861093 0.9997679 -0.01974832 -0.20198293] [-0.01305629 0.01985978 0.99971752 -0.45738959] [ 0. 0. 0. 1. ]] SLAMing on 26.991193817000003 meters Centerline goodness : 0.904604 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.20, Z:-0.46 [[ 0.99983862 -0.01247414 0.01292782 3.57462989] [ 0.01277136 0.99964999 -0.02316864 -0.20485961] [-0.01263428 0.02333001 0.99964798 -0.45866342] [ 0. 0. 0. 1. ]] SLAMing on 27.021193817000004 meters Centerline goodness : 0.905738 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.99970372 -0.0207043 0.0127987 3.57619163] [ 0.02109012 0.99930354 -0.03078385 -0.20730293] [-0.01215243 0.03104466 0.99944412 -0.46001404] [ 0. 0. 0. 1. ]] SLAMing on 27.051193817 meters Centerline goodness : 0.905512 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.9997008 -0.0209848 0.01256778 3.5764094 ] [ 0.02135632 0.99931586 -0.03019465 -0.20958026] [-0.01192555 0.03045402 0.99946502 -0.45931491] [ 0. 0. 0. 1. ]] SLAMing on 27.081193817000003 meters Centerline goodness : 0.905384 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.9997074 -0.02077562 0.0123892 3.57638321] [ 0.02113372 0.99934103 -0.02951045 -0.21124021] [-0.01176794 0.02976364 0.99948769 -0.45863235] [ 0. 0. 0. 1. ]] SLAMing on 27.111193817000004 meters Centerline goodness : 0.905851 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.21, Z:-0.46 [[ 0.99977558 -0.0175452 0.0118724 3.57744308] [ 0.01784059 0.99952196 -0.02524997 -0.21380181] [-0.0114237 0.02545611 0.99961067 -0.45837895] [ 0. 0. 0. 1. ]] SLAMing on 27.141193817 meters Centerline goodness : 0.906574 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.22, Z:-0.46 [[ 0.99984007 -0.01371689 0.0114749 3.57844403] [ 0.01395274 0.9996877 -0.02073243 -0.21597018] [-0.01118693 0.02088922 0.99971921 -0.45858584] [ 0. 0. 0. 1. ]] SLAMing on 27.171193817000002 meters Centerline goodness : 0.898608 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.22, Z:-0.46 [[ 0.99988832 -0.01042409 0.01070874 3.58101081] [ 0.01060638 0.99979736 -0.0171097 -0.21677526] [-0.01052821 0.01722137 0.99979627 -0.46002193] [ 0. 0. 0. 1. ]] SLAMing on 27.201193817000004 meters Centerline goodness : 0.903736 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99976120e-01 -1.88975972e-03 6.64748665e-03 3.60589903e+00] [ 1.97559341e-03 9.99914460e-01 -1.29294229e-02 -2.17020188e-01] [-6.62248452e-03 1.29422468e-02 9.99894315e-01 -4.63595746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231193817 meters Centerline goodness : 0.900202 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99978055e-01 1.84940232e-03 6.36157547e-03 3.60677618e+00] [-1.79265405e-03 9.99958657e-01 -8.91463999e-03 -2.17679105e-01] [-6.37779921e-03 8.90304026e-03 9.99940028e-01 -4.63800983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261193817000002 meters Centerline goodness : 0.898028 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 0.99997101 0.00495586 0.00578085 3.60853945] [-0.00492463 0.99997327 -0.00540357 -0.21958424] [-0.00580748 0.00537495 0.99996869 -0.46430411] [ 0. 0. 0. 1. ]] SLAMing on 27.291193817000003 meters Centerline goodness : 0.895336 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 0.99997092 0.00525703 0.00552388 3.60914772] [-0.00522805 0.99997256 -0.00524817 -0.21983785] [-0.00555132 0.00521914 0.99997097 -0.46444717] [ 0. 0. 0. 1. ]] SLAMing on 27.321193817 meters Centerline goodness : 0.895449 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99949085e-01 8.73167670e-03 5.05824947e-03 3.61117688e+00] [-8.72391394e-03 9.99960737e-01 -1.55471019e-03 -2.20264831e-01] [-5.07162610e-03 1.51050330e-03 9.99985998e-01 -4.65754790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351193817000002 meters Centerline goodness : 0.896750 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99951317e-01 8.59208738e-03 4.85170820e-03 3.61211220e+00] [-8.58232677e-03 9.99961113e-01 -2.02903789e-03 -2.18612953e-01] [-4.86895320e-03 1.98730017e-03 9.99986172e-01 -4.66524399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381193817000003 meters Centerline goodness : 0.893848 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99942334e-01 9.51371229e-03 4.98181752e-03 3.61083183e+00] [-9.50731675e-03 9.99953952e-01 -1.30588785e-03 -2.19504923e-01] [-4.99401195e-03 1.25844883e-03 9.99986738e-01 -4.65109906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411193817 meters Centerline goodness : 0.895732 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99939600e-01 9.86682694e-03 4.84172463e-03 3.61047951e+00] [-9.86267343e-03 9.99950975e-01 -8.80985210e-04 -2.21063101e-01] [-4.85017979e-03 8.33179650e-04 9.99987891e-01 -4.64174345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817000002 meters Centerline goodness : 0.892644 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99938356e-01 1.00408473e-02 4.73971750e-03 3.61027378e+00] [-1.00375293e-02 9.99949361e-01 -7.23324304e-04 -2.21868577e-01] [-4.74674027e-03 6.75704663e-04 9.99988506e-01 -4.63566903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471193817000003 meters Centerline goodness : 0.892208 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99940097e-01 9.93628187e-03 4.59058369e-03 3.61052037e+00] [-9.93201311e-03 9.99950223e-01 -9.51758977e-04 -2.21571400e-01] [-4.59981213e-03 9.06108226e-04 9.99989010e-01 -4.63438643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501193817 meters Centerline goodness : 0.899264 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99939834e-01 1.00017443e-02 4.50484496e-03 3.61050044e+00] [-9.99623693e-03 9.99949263e-01 -1.24340109e-03 -2.20122966e-01] [-4.51705258e-03 1.19829478e-03 9.99989080e-01 -4.63226351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531193817000002 meters Centerline goodness : 0.893640 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99944753e-01 9.59145430e-03 4.30063522e-03 3.61129929e+00] [-9.58519475e-03 9.99952975e-01 -1.47375257e-03 -2.20579907e-01] [-4.31456841e-03 1.43244873e-03 9.99989666e-01 -4.63631311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561193817000003 meters Centerline goodness : 0.894037 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.46 [[ 9.99957376e-01 8.44119806e-03 3.74064042e-03 3.61350429e+00] [-8.43290259e-03 9.99961961e-01 -2.22791272e-03 -2.21809237e-01] [-3.75930438e-03 2.19627330e-03 9.99990522e-01 -4.64852461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591193817000004 meters Centerline goodness : 0.891774 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.22, Z:-0.47 [[ 9.99983320e-01 4.56399468e-03 3.53974294e-03 3.61429239e+00] [-4.54225521e-03 9.99970923e-01 -6.12545067e-03 -2.22396308e-01] [-3.56759654e-03 6.10927008e-03 9.99974974e-01 -4.65485081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621193817 meters Centerline goodness : 0.893016 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.22, Z:-0.47 [[ 9.99994379e-01 6.67057814e-04 3.28593562e-03 3.61512857e+00] [-6.34523427e-04 9.99950870e-01 -9.89221477e-03 -2.23413713e-01] [-3.29237286e-03 9.89007416e-03 9.99945672e-01 -4.65974181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651193817000003 meters Centerline goodness : 0.894274 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99996192e-01 -8.82439721e-04 2.61498341e-03 3.61831606e+00] [ 9.10048024e-04 9.99943665e-01 -1.05754208e-02 -2.26114574e-01] [-2.60550392e-03 1.05777603e-02 9.99940659e-01 -4.68058766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681193817000004 meters Centerline goodness : 0.891983 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99987422e-01 -4.63687182e-03 1.91195433e-03 3.62351394e+00] [ 4.66194427e-03 9.99900357e-01 -1.33245030e-02 -2.28762707e-01] [-1.84997980e-03 1.33332488e-02 9.99909397e-01 -4.72727571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711193817 meters Centerline goodness : 0.891983 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.23, Z:-0.47 [[ 9.99987422e-01 -4.63687182e-03 1.91195433e-03 3.62351394e+00] [ 4.66194427e-03 9.99900357e-01 -1.33245030e-02 -2.28762707e-01] [-1.84997980e-03 1.33332488e-02 9.99909397e-01 -4.72727571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817000003 meters Centerline goodness : 0.890996 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99986055e-01 -5.09836371e-03 1.37687460e-03 3.62531390e+00] [ 5.11613303e-03 9.99899443e-01 -1.32260812e-02 -2.30025530e-01] [-1.30930477e-03 1.32329411e-02 9.99911584e-01 -4.73552308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771193817000004 meters Centerline goodness : 0.891126 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99982364e-01 -5.89441226e-03 7.26911924e-04 3.62747450e+00] [ 5.90375878e-03 9.99889997e-01 -1.36066078e-02 -2.30940548e-01] [-6.46629006e-04 1.36106593e-02 9.99907162e-01 -4.74518188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801193817 meters Centerline goodness : 0.893481 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.23, Z:-0.47 [[ 9.99984570e-01 -5.54013880e-03 4.07605791e-04 3.62749718e+00] [ 5.54488187e-03 9.99903491e-01 -1.27382534e-02 -2.33283940e-01] [-3.36994761e-04 1.27403169e-02 9.99918782e-01 -4.73556071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831193817000003 meters Centerline goodness : 0.890960 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99988995e-01 -4.69011668e-03 1.14965845e-04 3.62734134e+00] [ 4.69113035e-03 9.99922550e-01 -1.15276774e-02 -2.36366687e-01] [-6.08907887e-05 1.15280898e-02 9.99933548e-01 -4.72550963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861193817000004 meters Centerline goodness : 0.889705 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99998057e-01 -1.89964634e-03 -5.26671464e-04 3.62971565e+00] [ 1.89520566e-03 9.99963695e-01 -8.30764235e-03 -2.37156444e-01] [ 5.42433926e-04 8.30662805e-03 9.99965352e-01 -4.73671343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891193817 meters Centerline goodness : 0.891243 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.24, Z:-0.47 [[ 9.99998489e-01 1.38901538e-03 -1.04534643e-03 3.63157944e+00] [-1.39404051e-03 9.99987403e-01 -4.82187106e-03 -2.37166675e-01] [ 1.03863561e-03 4.82332103e-03 9.99987828e-01 -4.74564878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817000002 meters Centerline goodness : 0.892222 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.23, Z:-0.48 [[ 0.99998054 0.00499437 0.00373764 3.6462034 ] [-0.00495516 0.99993336 -0.01042742 -0.23446575] [-0.00378947 0.0104087 0.99993865 -0.47856096] [ 0. 0. 0. 1. ]] SLAMing on 27.951193817000004 meters Centerline goodness : 0.893663 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99981721e-01 4.84578387e-03 3.61618162e-03 3.64619108e+00] [-4.80873913e-03 9.99936584e-01 -1.01834872e-02 -2.35989169e-01] [-3.66529927e-03 1.01659118e-02 9.99941608e-01 -4.77966150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193817 meters Centerline goodness : 0.892839 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99983935e-01 4.46591350e-03 3.49086577e-03 3.64636634e+00] [-4.43062099e-03 9.99939650e-01 -1.00531430e-02 -2.37644029e-01] [-3.53555156e-03 1.00375148e-02 9.99943372e-01 -4.77535710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011193817000002 meters Centerline goodness : 0.891435 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99987574e-01 3.82941840e-03 3.19164787e-03 3.64720409e+00] [-3.79628743e-03 9.99939513e-01 -1.03227275e-02 -2.38291685e-01] [-3.23098486e-03 1.03104828e-02 9.99941626e-01 -4.77665405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817000003 meters Centerline goodness : 0.890599 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99993139e-01 2.49593927e-03 2.73735720e-03 3.64880027e+00] [-2.46520046e-03 9.99934510e-01 -1.11758408e-02 -2.38006595e-01] [-2.76507215e-03 1.11690160e-02 9.99933802e-01 -4.78289806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071193817 meters Centerline goodness : 0.893148 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99995398e-01 1.91823305e-03 2.35022707e-03 3.65028525e+00] [-1.89019700e-03 9.99927718e-01 -1.18737846e-02 -2.36717693e-01] [-2.37283388e-03 1.18692875e-02 9.99926742e-01 -4.79165632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817000002 meters Centerline goodness : 0.894860 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.24, Z:-0.48 [[ 9.99993000e-01 3.32845872e-03 1.70924414e-03 3.65336705e+00] [-3.31076100e-03 9.99941939e-01 -1.02546140e-02 -2.36375678e-01] [-1.74327696e-03 1.02488833e-02 9.99945959e-01 -4.81082754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131193817000003 meters Centerline goodness : 0.894202 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.24, Z:-0.48 [[ 9.99988782e-01 4.61857875e-03 1.05113448e-03 3.65665902e+00] [-4.60907036e-03 9.99949992e-01 -8.87529863e-03 -2.35997329e-01] [-1.09207318e-03 8.87035432e-03 9.99960061e-01 -4.83285089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters Centerline goodness : 0.888345 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.23, Z:-0.49 [[ 9.99988280e-01 4.84134935e-03 -4.53021217e-05 3.66192064e+00] [-4.84156083e-03 9.99948537e-01 -8.91530799e-03 -2.33568248e-01] [ 2.13766974e-06 8.91542283e-03 9.99960257e-01 -4.87297036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191193817000002 meters Centerline goodness : 0.892063 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.23, Z:-0.49 [[ 9.99992404e-01 3.85657505e-03 -5.64411377e-04 3.66407757e+00] [-3.86203594e-03 9.99942369e-01 -1.00171967e-02 -2.32345101e-01] [ 5.25746778e-04 1.00193004e-02 9.99949667e-01 -4.88708030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817000003 meters Centerline goodness : 0.886577 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99995429e-01 2.78702865e-03 -1.17235887e-03 3.66643124e+00] [-2.79972817e-03 9.99935864e-01 -1.09740035e-02 -2.32110109e-01] [ 1.14169882e-03 1.09772356e-02 9.99939097e-01 -4.90095506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251193817000004 meters Centerline goodness : 0.888749 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99997078e-01 1.70572556e-03 -1.71306234e-03 3.66862026e+00] [-1.72551396e-03 9.99931029e-01 -1.16172070e-02 -2.32864675e-01] [ 1.69312842e-03 1.16201290e-02 9.99931051e-01 -4.91269325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817000002 meters Centerline goodness : 0.887699 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99997712e-01 -5.17535331e-04 -2.07577603e-03 3.67080737e+00] [ 4.90834924e-04 9.99917407e-01 -1.28428042e-02 -2.34597829e-01] [ 2.08225119e-03 1.28417559e-02 9.99915373e-01 -4.92610908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311193817000003 meters Centerline goodness : 0.890655 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99996391e-01 -1.06333629e-03 -2.46716535e-03 3.67217221e+00] [ 1.03138797e-03 9.99916069e-01 -1.29147389e-02 -2.35111645e-01] [ 2.48069099e-03 1.29121477e-02 9.99913558e-01 -4.93161653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341193817000004 meters Centerline goodness : 0.888242 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99995287e-01 -1.31564726e-03 -2.77395129e-03 3.67286886e+00] [ 1.28042500e-03 9.99919023e-01 -1.26612736e-02 -2.36266459e-01] [ 2.79038444e-03 1.26576621e-02 9.99915995e-01 -4.93097714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371193817 meters Centerline goodness : 0.888422 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99994139e-01 -1.57973263e-03 -3.03737610e-03 3.67339853e+00] [ 1.54215635e-03 9.99922743e-01 -1.23340918e-02 -2.37676890e-01] [ 3.05662601e-03 1.23293354e-02 9.99919319e-01 -4.92796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401193817000003 meters Centerline goodness : 0.890852 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99993045e-01 -1.80042170e-03 -3.26623827e-03 3.67368087e+00] [ 1.76081735e-03 9.99925387e-01 -1.20879916e-02 -2.38556516e-01] [ 3.28775805e-03 1.20821562e-02 9.99921603e-01 -4.92321474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431193817000004 meters Centerline goodness : 0.894600 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.24, Z:-0.49 [[ 9.99991384e-01 -2.37727592e-03 -3.40308981e-03 3.67366794e+00] [ 2.33409642e-03 9.99917431e-01 -1.26365533e-02 -2.35676116e-01] [ 3.43284939e-03 1.26285013e-02 9.99914365e-01 -4.91642585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193817 meters Centerline goodness : 0.896084 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.23, Z:-0.49 [[ 9.99992220e-01 -2.49336641e-04 -3.93675688e-03 3.67547355e+00] [ 2.09468837e-04 9.99948727e-01 -1.01242342e-02 -2.34817294e-01] [ 3.93907937e-03 1.01233308e-02 9.99940999e-01 -4.92116070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491193817000003 meters Centerline goodness : 0.895014 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.23, Z:-0.49 [[ 9.99986361e-01 2.95751723e-03 -4.30480054e-03 3.67601805e+00] [-2.98643414e-03 9.99972917e-01 -6.72650955e-03 -2.34683040e-01] [ 4.28479019e-03 6.73927381e-03 9.99968111e-01 -4.91498623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817000004 meters Centerline goodness : 0.899011 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 9.99962487e-01 7.68534192e-03 -3.99506867e-03 3.67358280e+00] [-7.69723162e-03 9.99965967e-01 -2.96928586e-03 -2.32361491e-01] [ 3.97211274e-03 2.99992544e-03 9.99987611e-01 -4.88804301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551193817 meters Centerline goodness : 0.898766 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.23, Z:-0.49 [[ 0.99996217 0.00766962 -0.0041027 3.67345315] [-0.00768553 0.99996296 -0.00387512 -0.22873641] [ 0.00407283 0.00390651 0.99998408 -0.48846402] [ 0. 0. 0. 1. ]] SLAMing on 28.581193817000003 meters Centerline goodness : 0.905934 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.22, Z:-0.49 [[ 0.99996466 0.00720648 -0.00432989 3.67419902] [-0.00722843 0.99996099 -0.00507702 -0.22468191] [ 0.00429314 0.00510813 0.99997774 -0.48890736] [ 0. 0. 0. 1. ]] SLAMing on 28.611193817000004 meters Centerline goodness : 0.906384 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.49 [[ 0.99995929 0.00761439 -0.00484083 3.67738758] [-0.00763676 0.99996017 -0.0046198 -0.2214485 ] [ 0.00480546 0.00465658 0.99997761 -0.49111178] [ 0. 0. 0. 1. ]] SLAMing on 28.641193817 meters Centerline goodness : 0.906817 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.22, Z:-0.49 [[ 9.99941908e-01 9.12988021e-03 -5.72939130e-03 3.68077612e+00] [-9.14947506e-03 9.99952351e-01 -3.40321752e-03 -2.15957683e-01] [ 5.69804734e-03 3.45544075e-03 9.99977796e-01 -4.92884349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671193817000002 meters Centerline goodness : 0.901282 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.49 [[ 0.99994456 0.00850875 -0.0062027 3.68203975] [-0.00853694 0.99995328 -0.00453364 -0.21334419] [ 0.00616384 0.00458634 0.99997049 -0.4932428 ] [ 0. 0. 0. 1. ]] SLAMing on 28.701193817000004 meters Centerline goodness : 0.898423 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.21, Z:-0.49 [[ 0.99994652 0.0078898 -0.00668612 3.68346822] [-0.00792759 0.99995265 -0.00564418 -0.21114824] [ 0.00664127 0.00569689 0.99996172 -0.4937987 ] [ 0. 0. 0. 1. ]] SLAMing on 28.731193817 meters Centerline goodness : 0.903198 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.21, Z:-0.50 [[ 0.99992984 0.00912348 -0.00755503 3.68731965] [-0.00915765 0.99994794 -0.00450108 -0.20932723] [ 0.00751357 0.00456995 0.99996133 -0.49610796] [ 0. 0. 0. 1. ]] SLAMing on 28.761193817000002 meters Centerline goodness : 0.903740 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.20, Z:-0.50 [[ 0.99990736 0.01242459 -0.00555898 3.70637813] [-0.01249399 0.99984218 -0.01262991 -0.19799101] [ 0.00540118 0.01269819 0.99990479 -0.50316647] [ 0. 0. 0. 1. ]] SLAMing on 28.791193817000003 meters Centerline goodness : 0.901055 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.50 [[ 0.99986723 0.01507707 -0.00618046 3.70897987] [-0.01514007 0.99983257 -0.0102765 -0.19455686] [ 0.00602449 0.01036871 0.9999281 -0.50457088] [ 0. 0. 0. 1. ]] SLAMing on 28.821193817 meters Centerline goodness : 0.900291 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.51 [[ 0.9998732 0.01445572 -0.00667916 3.71078042] [-0.01453334 0.99982566 -0.01172337 -0.19017824] [ 0.00650852 0.01181896 0.99990897 -0.50554004] [ 0. 0. 0. 1. ]] SLAMing on 28.851193817000002 meters Centerline goodness : 0.899761 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.19, Z:-0.51 [[ 0.99987053 0.01452071 -0.00693274 3.71117767] [-0.01460764 0.99981318 -0.01265784 -0.18625134] [ 0.00674764 0.01275747 0.99989585 -0.50545775] [ 0. 0. 0. 1. ]] SLAMing on 28.881193817000003 meters Centerline goodness : 0.899611 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.99987428 0.0140475 -0.00735429 3.71234252] [-0.01414515 0.99981018 -0.01339844 -0.18467236] [ 0.00716468 0.01350078 0.99988319 -0.50574432] [ 0. 0. 0. 1. ]] SLAMing on 28.911193817 meters Centerline goodness : 0.901374 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.9998734 0.01389988 -0.0077445 3.71318572] [-0.01400545 0.99980739 -0.01374902 -0.18392372] [ 0.0075519 0.01385574 0.99987549 -0.50573412] [ 0. 0. 0. 1. ]] SLAMing on 28.941193817000002 meters Centerline goodness : 0.900054 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.18, Z:-0.51 [[ 0.99987186 0.01381985 -0.00807894 3.71386039] [-0.01393206 0.99980491 -0.01400149 -0.18310543] [ 0.00788387 0.01411225 0.99986934 -0.50560522] [ 0. 0. 0. 1. ]] SLAMing on 28.971193817000003 meters Centerline goodness : 0.899757 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.51 [[ 0.99983132 0.01620327 -0.00864779 3.71614849] [-0.01630028 0.99980365 -0.01126761 -0.18317332] [ 0.00846352 0.01140667 0.99989912 -0.50658781] [ 0. 0. 0. 1. ]] SLAMing on 29.001193817000004 meters Centerline goodness : 0.902953 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.18, Z:-0.50 [[ 9.99751994e-01 1.97142534e-02 -1.03584624e-02 3.72289302e+00] [-1.97173769e-02 9.99805574e-01 -1.99490549e-04 -1.84159491e-01] [ 1.03525156e-02 4.03682781e-04 9.99946330e-01 -5.01687685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031193817000002 meters Centerline goodness : 0.905169 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99974986 0.02183269 -0.00485382 3.73618944] [-0.02186486 0.99973865 -0.00667562 -0.18257786] [ 0.0047068 0.00678008 0.99996594 -0.50553144] [ 0. 0. 0. 1. ]] SLAMing on 29.061193817000003 meters Centerline goodness : 0.906220 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99975253 0.02161632 -0.00525515 3.73736384] [-0.02165191 0.99974235 -0.00681338 -0.1827924 ] [ 0.00510651 0.00692548 0.99996298 -0.50588229] [ 0. 0. 0. 1. ]] SLAMing on 29.091193817000004 meters Centerline goodness : 0.904941 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.18, Z:-0.51 [[ 0.99975399 0.02147112 -0.00556319 3.73846182] [-0.02150858 0.99974579 -0.00676329 -0.18382284] [ 0.00541656 0.00688129 0.99996165 -0.50638617] [ 0. 0. 0. 1. ]] SLAMing on 29.121193817 meters Centerline goodness : 0.906317 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.99973656 0.02227214 -0.00554551 3.73816402] [-0.02230555 0.99973296 -0.00603849 -0.18580827] [ 0.00540954 0.0061606 0.99996639 -0.50609067] [ 0. 0. 0. 1. ]] SLAMing on 29.151193817000003 meters Centerline goodness : 0.901733 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.9997293 0.02256017 -0.0056884 3.73857942] [-0.0225939 0.99972709 -0.00593731 -0.18598229] [ 0.0055529 0.00606423 0.99996619 -0.50621396] [ 0. 0. 0. 1. ]] SLAMing on 29.181193817000004 meters Centerline goodness : 0.910216 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 9.99678035e-01 2.45789870e-02 -6.30082302e-03 3.74138867e+00] [-2.46026866e-02 9.99690417e-01 -3.71183583e-03 -1.87118704e-01] [ 6.20763923e-03 3.86565792e-03 9.99973261e-01 -5.07818661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211193817 meters Centerline goodness : 0.908032 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.19, Z:-0.51 [[ 0.99967182 0.02474495 -0.00662853 3.74258999] [-0.02477121 0.99968551 -0.00390841 -0.18635504] [ 0.00652973 0.00407132 0.99997039 -0.50856253] [ 0. 0. 0. 1. ]] SLAMing on 29.241193817000003 meters Centerline goodness : 0.903521 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 9.99568050e-01 2.84823499e-02 -7.24353006e-03 3.74506974e+00] [-2.84831736e-02 9.99594272e-01 -1.05502719e-05 -1.88027069e-01] [ 7.24029067e-03 2.16864439e-04 9.99973765e-01 -5.09960453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271193817000004 meters Centerline goodness : 0.902788 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 9.99579434e-01 2.79395295e-02 -7.76772136e-03 3.74720700e+00] [-2.79444033e-02 9.99609344e-01 -5.19602033e-04 -1.88207185e-01] [ 7.75016942e-03 7.36447845e-04 9.99969696e-01 -5.11301098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301193817 meters Centerline goodness : 0.901479 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99967166 0.02427399 -0.00820679 3.74845562] [-0.02431269 0.99969359 -0.00464967 -0.18770769] [ 0.00809141 0.00484767 0.99995551 -0.51224262] [ 0. 0. 0. 1. ]] SLAMing on 29.331193817000003 meters Centerline goodness : 0.904798 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99974138 0.02111027 -0.00845802 3.74880906] [-0.02117348 0.99974802 -0.00745575 -0.19136828] [ 0.00829849 0.00763291 0.99993643 -0.51235797] [ 0. 0. 0. 1. ]] SLAMing on 29.361193817000004 meters Centerline goodness : 0.903250 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99975448 0.02028332 -0.00892042 3.7507844 ] [-0.02035372 0.99976184 -0.00787351 -0.19282004] [ 0.00875859 0.00805314 0.99992921 -0.51351148] [ 0. 0. 0. 1. ]] SLAMing on 29.391193817 meters Centerline goodness : 0.902958 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.19, Z:-0.51 [[ 0.99975693 0.0200168 -0.00924215 3.75186976] [-0.02008874 0.9997681 -0.00775767 -0.19402113] [ 0.00908473 0.00794144 0.9999272 -0.51389155] [ 0. 0. 0. 1. ]] SLAMing on 29.421193817000002 meters Centerline goodness : 0.902420 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.20, Z:-0.51 [[ 0.99975631 0.01988961 -0.00957712 3.75270814] [-0.01996202 0.99977242 -0.00752537 -0.19519875] [ 0.00942526 0.00771471 0.99992582 -0.51394184] [ 0. 0. 0. 1. ]] SLAMing on 29.451193817000004 meters Centerline goodness : 0.904133 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.20, Z:-0.51 [[ 0.99976 0.01957754 -0.00983142 3.75350681] [-0.01964903 0.99978081 -0.00722864 -0.19725433] [ 0.00968774 0.00742009 0.99992554 -0.51408407] [ 0. 0. 0. 1. ]] SLAMing on 29.481193817 meters Centerline goodness : 0.906770 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.52 [[ 0.9997752 0.0184889 -0.01037787 3.75572298] [-0.01856686 0.99979974 -0.0074668 -0.19993812] [ 0.01023774 0.00765781 0.99991827 -0.51518361] [ 0. 0. 0. 1. ]] SLAMing on 29.511193817000002 meters Centerline goodness : 0.906197 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.51 [[ 0.99983828 0.01451102 -0.01062315 3.75606615] [-0.01461592 0.99984452 -0.00986484 -0.20556494] [ 0.01047835 0.01001851 0.99989491 -0.51476371] [ 0. 0. 0. 1. ]] SLAMing on 29.541193817000003 meters Centerline goodness : 0.904448 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.52 [[ 0.99985251 0.01305652 -0.01115715 3.75815607] [-0.01317024 0.99986144 -0.01018083 -0.20944659] [ 0.01102268 0.01032628 0.99988593 -0.51555747] [ 0. 0. 0. 1. ]] SLAMing on 29.571193817 meters Centerline goodness : 0.903068 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.21, Z:-0.52 [[ 0.99989262 0.00919974 -0.01140715 3.75876856] [-0.00935402 0.9998645 -0.01354538 -0.21188395] [ 0.01128099 0.01365062 0.99984319 -0.51570567] [ 0. 0. 0. 1. ]] SLAMing on 29.601193817000002 meters Centerline goodness : 0.905189 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99989455 0.00801481 -0.01211002 3.7610425 ] [-0.0081816 0.99987149 -0.0137865 -0.21579989] [ 0.01199796 0.01388412 0.99983163 -0.51639652] [ 0. 0. 0. 1. ]] SLAMing on 29.631193817000003 meters Centerline goodness : 0.905189 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99989455 0.00801481 -0.01211002 3.7610425 ] [-0.0081816 0.99987149 -0.0137865 -0.21579989] [ 0.01199796 0.01388412 0.99983163 -0.51639652] [ 0. 0. 0. 1. ]] SLAMing on 29.661193817 meters Centerline goodness : 0.903608 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.22, Z:-0.52 [[ 0.99988897 0.00804973 -0.01254022 3.762917 ] [-0.0082124 0.9998821 -0.01297433 -0.22068198] [ 0.0124343 0.01307587 0.99983719 -0.51751909] [ 0. 0. 0. 1. ]] SLAMing on 29.691193817000002 meters Centerline goodness : 0.906836 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.52 [[ 0.99985323 0.01100047 -0.01313461 3.7655659 ] [-0.01112827 0.99989106 -0.00969716 -0.22241884] [ 0.0130265 0.0098419 0.99986671 -0.51899965] [ 0. 0. 0. 1. ]] SLAMing on 29.721193817000003 meters Centerline goodness : 0.906646 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.22, Z:-0.52 [[ 0.99980391 0.0143188 -0.01367877 3.76794873] [-0.0144024 0.99987808 -0.00603309 -0.22350719] [ 0.01359072 0.00622891 0.99988824 -0.52022154] [ 0. 0. 0. 1. ]] SLAMing on 29.751193817000004 meters Centerline goodness : 0.899825 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.22, Z:-0.53 [[ 0.99977545 0.01904346 -0.00929539 3.78158158] [-0.0191563 0.999742 -0.01220519 -0.22233176] [ 0.00906056 0.01238052 0.99988231 -0.52524304] [ 0. 0. 0. 1. ]] SLAMing on 29.781193817000002 meters Centerline goodness : 0.905938 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.23, Z:-0.53 [[ 0.99970438 0.02218957 -0.00993851 3.78378991] [-0.02227255 0.99971733 -0.00831813 -0.22517164] [ 0.00975113 0.00853703 0.99991601 -0.52577783] [ 0. 0. 0. 1. ]] SLAMing on 29.811193817000003 meters Centerline goodness : 0.906712 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.23, Z:-0.53 [[ 0.99970364 0.02210821 -0.01019101 3.78460641] [-0.02219202 0.99972021 -0.00818587 -0.22665159] [ 0.01000718 0.0084096 0.99991456 -0.52605613] [ 0. 0. 0. 1. ]] SLAMing on 29.841193817000004 meters Centerline goodness : 0.903452 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.99971553 0.02135261 -0.01062691 3.7865515 ] [-0.02144418 0.99973323 -0.00857951 -0.22828402] [ 0.01044088 0.00880496 0.99990673 -0.52726265] [ 0. 0. 0. 1. ]] SLAMing on 29.871193817 meters Centerline goodness : 0.904134 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.9997828 0.01776816 -0.01089289 3.78758936] [-0.01789191 0.99977527 -0.01137039 -0.23265155] [ 0.01068841 0.01156281 0.99987602 -0.52801393] [ 0. 0. 0. 1. ]] SLAMing on 29.901193817000003 meters Centerline goodness : 0.901600 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.23, Z:-0.53 [[ 0.99983869 0.01408353 -0.01114644 3.78807129] [-0.01424587 0.99979161 -0.01462176 -0.23465152] [ 0.01093819 0.01477819 0.99983097 -0.52810008] [ 0. 0. 0. 1. ]] SLAMing on 29.931193817000004 meters Centerline goodness : 0.903343 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.24, Z:-0.53 [[ 0.99985288 0.01242568 -0.01182497 3.79095771] [-0.01260398 0.99980616 -0.01512531 -0.23801949] [ 0.01163473 0.01527212 0.99981568 -0.52950668] [ 0. 0. 0. 1. ]] SLAMing on 29.961193817 meters Centerline goodness : 0.903266 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.24, Z:-0.53 [[ 0.99986132 0.0109833 -0.01251843 3.79355098] [-0.0111753 0.99981939 -0.01537226 -0.24160112] [ 0.01234733 0.01551002 0.99980347 -0.53056005] [ 0. 0. 0. 1. ]] SLAMing on 29.991193817000003 meters Centerline goodness : 0.901739 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.25, Z:-0.53 [[ 0.99987147 0.00928628 -0.01306922 3.79610525] [-0.00949304 0.99982934 -0.01584853 -0.24507267] [ 0.01291981 0.01597056 0.99978899 -0.53182975] [ 0. 0. 0. 1. ]] SLAMing on 30.021193817000004 meters Centerline goodness : 0.903390 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.25, Z:-0.53 [[ 0.99987953 0.00756784 -0.0135516 3.79840517] [-0.00778987 0.99983506 -0.0164067 -0.2484794 ] [ 0.0134252 0.01651028 0.99977356 -0.53290434] [ 0. 0. 0. 1. ]] SLAMing on 30.051193817 meters Centerline goodness : 0.904205 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99903411e-01 3.48093005e-03 -1.34555516e-02 3.79799362e+00] [-3.73176203e-03 9.99818893e-01 -1.86615875e-02 -2.55237402e-01] [ 1.33881550e-02 1.87099979e-02 9.99735312e-01 -5.31970098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081193817000003 meters Centerline goodness : 0.904040 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99900386e-01 2.89994738e-03 -1.38133445e-02 3.79906027e+00] [-3.14888885e-03 9.99832410e-01 -1.80342855e-02 -2.60081177e-01] [ 1.37587310e-02 1.80759858e-02 9.99741945e-01 -5.31886671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111193817000004 meters Centerline goodness : 0.903573 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.26, Z:-0.53 [[ 9.99893697e-01 2.18727364e-03 -1.44156416e-02 3.80085808e+00] [-2.44350530e-03 9.99838920e-01 -1.77809795e-02 -2.63107950e-01] [ 1.43744277e-02 1.78143140e-02 9.99737979e-01 -5.32252375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141193817 meters Centerline goodness : 0.904426 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99892447e-01 8.08000713e-04 -1.46437965e-02 3.80245226e+00] [-1.06700571e-03 9.99842989e-01 -1.76878383e-02 -2.65740459e-01] [ 1.46272055e-02 1.77015609e-02 9.99736315e-01 -5.32940733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171193817000002 meters Centerline goodness : 0.903214 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99886341e-01 4.12335625e-05 -1.50765886e-02 3.80343857e+00] [-3.04731876e-04 9.99847246e-01 -1.74754371e-02 -2.67218043e-01] [ 1.50735650e-02 1.74780452e-02 9.99733617e-01 -5.32525054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201193817000004 meters Centerline goodness : 0.905624 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.27, Z:-0.53 [[ 9.99876875e-01 -9.55680516e-04 -1.56627196e-02 3.80469673e+00] [ 6.81155887e-04 9.99846224e-01 -1.75232362e-02 -2.68818433e-01] [ 1.56770577e-02 1.75104099e-02 9.99723770e-01 -5.32066574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231193817 meters Centerline goodness : 0.904840 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.53 [[ 9.99862716e-01 -2.29818883e-03 -1.64093805e-02 3.80703640e+00] [ 1.99997311e-03 9.99832969e-01 -1.81668292e-02 -2.69859716e-01] [ 1.64483905e-02 1.81315169e-02 9.99700304e-01 -5.32681890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261193817000002 meters Centerline goodness : 0.909905 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.53 [[ 0.99983759 -0.00448708 -0.01745457 3.81069766] [ 0.00413793 0.99979165 -0.01998832 -0.26844478] [ 0.01754062 0.01991284 0.99964784 -0.53427765] [ 0. 0. 0. 1. ]] SLAMing on 30.291193817000003 meters Centerline goodness : 0.904412 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.27, Z:-0.54 [[ 0.99982428 -0.00519518 -0.0180118 3.8125512 ] [ 0.00482039 0.99977227 -0.02078887 -0.2672606 ] [ 0.0181157 0.02069839 0.99962163 -0.53510785] [ 0. 0. 0. 1. ]] SLAMing on 30.321193817 meters Centerline goodness : 0.903175 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.27, Z:-0.54 [[ 9.99817951e-01 -3.26055529e-03 -1.87998538e-02 3.81568245e+00] [ 2.91539146e-03 9.99827224e-01 -1.83581871e-02 -2.67051614e-01] [ 1.88564636e-02 1.83000361e-02 9.99654712e-01 -5.36410897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351193817000002 meters Centerline goodness : 0.901379 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.27, Z:-0.54 [[ 9.99816187e-01 1.70671758e-04 -1.91719470e-02 3.81664925e+00] [-4.57203387e-04 9.99888258e-01 -1.49419701e-02 -2.65592104e-01] [ 1.91672545e-02 1.49479891e-02 9.99704543e-01 -5.36382614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381193817000003 meters Centerline goodness : 0.900618 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.26, Z:-0.54 [[ 0.99986493 0.00675802 -0.01498171 3.83292015] [-0.00702329 0.99981823 -0.01772504 -0.25537139] [ 0.0148592 0.01782787 0.99973065 -0.54049707] [ 0. 0. 0. 1. ]] SLAMing on 30.411193817000004 meters Centerline goodness : 0.898382 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.25, Z:-0.54 [[ 0.99982806 0.01031974 -0.01540654 3.83422896] [-0.01054804 0.99983467 -0.01481144 -0.25150218] [ 0.01525114 0.0149714 0.9997716 -0.54079047] [ 0. 0. 0. 1. ]] SLAMing on 30.441193817000002 meters Centerline goodness : 0.896514 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.25, Z:-0.54 [[ 0.99977754 0.01374334 -0.01599985 3.83603577] [-0.01393714 0.99983009 -0.01206458 -0.24803826] [ 0.01583132 0.01228488 0.99979921 -0.54133891] [ 0. 0. 0. 1. ]] SLAMing on 30.471193817000003 meters Centerline goodness : 0.894532 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.24, Z:-0.54 [[ 0.99971895 0.01700244 -0.01652094 3.83773758] [-0.01716216 0.99980687 -0.0095746 -0.24460609] [ 0.01635496 0.00985544 0.99981768 -0.54191956] [ 0. 0. 0. 1. ]] SLAMing on 30.501193817000004 meters Centerline goodness : 0.895097 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.24, Z:-0.55 [[ 0.99964148 0.02348053 -0.01286736 3.85388919] [-0.02365464 0.99962836 -0.0135501 -0.23538445] [ 0.01254442 0.01384962 0.9998254 -0.54554243] [ 0. 0. 0. 1. ]] SLAMing on 30.531193817000002 meters Centerline goodness : 0.893871 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.23, Z:-0.55 [[ 0.9995497 0.02693929 -0.01321626 3.85489473] [-0.02708094 0.99957642 -0.01065893 -0.23231675] [ 0.01292352 0.01101204 0.99985585 -0.54551765] [ 0. 0. 0. 1. ]] SLAMing on 30.561193817000003 meters Centerline goodness : 0.893206 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.23, Z:-0.55 [[ 0.99948912 0.03077991 -0.00860802 3.86987399] [-0.03091744 0.99938856 -0.01632852 -0.22784862] [ 0.00810017 0.01658631 0.99982963 -0.5498727 ] [ 0. 0. 0. 1. ]] SLAMing on 30.591193817000004 meters Centerline goodness : 0.891303 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.23, Z:-0.55 [[ 0.99938326 0.03391836 -0.00909089 3.87188023] [-0.03403824 0.99933106 -0.01337294 -0.22629295] [ 0.00863122 0.01367413 0.99986925 -0.550672 ] [ 0. 0. 0. 1. ]] SLAMing on 30.621193817 meters Centerline goodness : 0.891458 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.22, Z:-0.55 [[ 0.99922989 0.03810946 -0.00934335 3.87243783] [-0.03820208 0.99922056 -0.00994368 -0.22382681] [ 0.00895712 0.01029296 0.99990691 -0.55041442] [ 0. 0. 0. 1. ]] SLAMing on 30.651193817000003 meters Centerline goodness : 0.890022 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.9991555 0.04082027 -0.00468921 3.88751446] [-0.04089258 0.99902685 -0.01652751 -0.22046987] [ 0.00400999 0.01670531 0.99985242 -0.55525132] [ 0. 0. 0. 1. ]] SLAMing on 30.681193817000004 meters Centerline goodness : 0.888201 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99903916 0.04351267 -0.00523422 3.88994471] [-0.04357951 0.99895986 -0.01341723 -0.22022835] [ 0.00464496 0.01363244 0.99989629 -0.55627878] [ 0. 0. 0. 1. ]] SLAMing on 30.711193817 meters Centerline goodness : 0.889108 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99904894 0.04324599 -0.00556804 3.89074162] [-0.04331942 0.99896564 -0.01382287 -0.21967522] [ 0.0049645 0.01405092 0.99988896 -0.55638621] [ 0. 0. 0. 1. ]] SLAMing on 30.741193817000003 meters Centerline goodness : 0.887833 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.22, Z:-0.56 [[ 0.99906461 0.0428318 -0.00594466 3.89168538] [-0.04291067 0.998983 -0.01384353 -0.22122871] [ 0.00534567 0.01408567 0.9998865 -0.55645567] [ 0. 0. 0. 1. ]] SLAMing on 30.771193817000004 meters Centerline goodness : 0.891206 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99923045 0.03873461 -0.00617514 3.89106623] [-0.03883277 0.99910684 -0.01665972 -0.22584941] [ 0.00552431 0.0168867 0.99984215 -0.55509024] [ 0. 0. 0. 1. ]] SLAMing on 30.801193817 meters Centerline goodness : 0.892781 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99928445 0.03725112 -0.00655259 3.89249347] [-0.03735687 0.9991602 -0.01683322 -0.22836085] [ 0.00592003 0.01706595 0.99983684 -0.55542769] [ 0. 0. 0. 1. ]] SLAMing on 30.831193817000003 meters Centerline goodness : 0.892768 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.23, Z:-0.56 [[ 0.99934467 0.03551209 -0.00700846 3.89433826] [-0.0356282 0.99921703 -0.01720345 -0.23025126] [ 0.00639204 0.01744187 0.99982745 -0.5559282 ] [ 0. 0. 0. 1. ]] SLAMing on 30.861193817000004 meters Centerline goodness : 0.891467 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.24, Z:-0.56 [[ 9.99692673e-01 2.44854111e-02 -3.87604138e-03 3.89421996e+00] [-2.45191391e-02 9.99659677e-01 -8.90741672e-03 -2.35804890e-01] [ 3.65662052e-03 8.99971643e-03 9.99952816e-01 -5.55936003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891193817 meters Centerline goodness : 0.891577 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99978629 0.02021261 -0.00433944 3.89575574] [-0.02026718 0.99971107 -0.01292357 -0.2369316 ] [ 0.00407696 0.01300876 0.99990707 -0.55693591] [ 0. 0. 0. 1. ]] SLAMing on 30.921193817000002 meters Centerline goodness : 0.893772 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99981669 0.01846169 -0.00507451 3.89870196] [-0.01853059 0.99973191 -0.0138826 -0.23846344] [ 0.00481685 0.01397409 0.99989076 -0.55850997] [ 0. 0. 0. 1. ]] SLAMing on 30.951193817000004 meters Centerline goodness : 0.891738 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99984144 0.01687791 -0.00567732 3.90116885] [-0.01696044 0.99974639 -0.01481576 -0.23894861] [ 0.00542582 0.0149097 0.99987412 -0.55980696] [ 0. 0. 0. 1. ]] SLAMing on 30.981193817 meters Centerline goodness : 0.894458 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.24, Z:-0.56 [[ 0.99985867 0.01560011 -0.00626705 3.90293225] [-0.01569432 0.99976013 -0.01527654 -0.23966473] [ 0.00602723 0.01537273 0.99986367 -0.56020742] [ 0. 0. 0. 1. ]] SLAMing on 31.011193817000002 meters Centerline goodness : 0.895697 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99993043 0.00946253 -0.00704298 3.90527599] [-0.00960578 0.99974182 -0.02059194 -0.23939756] [ 0.00684631 0.02065816 0.99976316 -0.56092487] [ 0. 0. 0. 1. ]] SLAMing on 31.041193817000003 meters Centerline goodness : 0.894341 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994074 0.00769656 -0.00769962 3.90770444] [-0.00786135 0.99973564 -0.02160657 -0.23973486] [ 0.00753129 0.02166582 0.9997369 -0.5619379 ] [ 0. 0. 0. 1. ]] SLAMing on 31.071193817 meters Centerline goodness : 0.893191 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994541 0.00616796 -0.00843424 3.91002223] [-0.00635857 0.99972067 -0.02276286 -0.23841564] [ 0.00829148 0.02281525 0.99970531 -0.56269697] [ 0. 0. 0. 1. ]] SLAMing on 31.101193817000002 meters Centerline goodness : 0.896578 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.24, Z:-0.56 [[ 0.99994834 0.00519121 -0.00873908 3.91114326] [-0.00539725 0.99970407 -0.02371997 -0.23630823] [ 0.00861336 0.02376591 0.99968044 -0.56310927] [ 0. 0. 0. 1. ]] SLAMing on 31.131193817000003 meters Centerline goodness : 0.894466 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.23, Z:-0.56 [[ 9.99950561e-01 3.80502643e-03 -9.18684365e-03 3.91234572e+00] [-4.03928908e-03 9.99663661e-01 -2.56173651e-02 -2.30313790e-01] [ 9.08627901e-03 2.56532069e-02 9.99629608e-01 -5.63150342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161193817000004 meters Centerline goodness : 0.893545 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.23, Z:-0.56 [[ 0.9999353 0.00564392 -0.00987592 3.91523133] [-0.00587594 0.99970365 -0.02362397 -0.22741073] [ 0.00973966 0.02368047 0.99967213 -0.5645456 ] [ 0. 0. 0. 1. ]] SLAMing on 31.191193817000002 meters Centerline goodness : 0.891539 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.22, Z:-0.57 [[ 0.99991343 0.00776377 -0.01062313 3.91791649] [-0.00799143 0.99973565 -0.02155848 -0.22361235] [ 0.01045295 0.0216415 0.99971115 -0.56560491] [ 0. 0. 0. 1. ]] SLAMing on 31.221193817000003 meters Centerline goodness : 0.894007 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.22, Z:-0.57 [[ 0.9998879 0.01005449 -0.01109487 3.91966174] [-0.01026901 0.99975808 -0.01945059 -0.21997725] [ 0.01089662 0.01956235 0.99974926 -0.56615358] [ 0. 0. 0. 1. ]] SLAMing on 31.251193817000004 meters Centerline goodness : 0.891374 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.21, Z:-0.57 [[ 0.99985797 0.01190765 -0.01192691 3.92136284] [-0.01213138 0.99974843 -0.0188653 -0.21158224] [ 0.01169927 0.01900731 0.99975089 -0.56591356] [ 0. 0. 0. 1. ]] SLAMing on 31.281193817000002 meters Centerline goodness : 0.890104 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.21, Z:-0.57 [[ 0.99981718 0.01446692 -0.01250287 3.92310908] [-0.01467701 0.99974982 -0.01687844 -0.20713475] [ 0.01225556 0.01705886 0.99977937 -0.5662653 ] [ 0. 0. 0. 1. ]] SLAMing on 31.311193817000003 meters Centerline goodness : 0.889285 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.20, Z:-0.57 [[ 0.99976776 0.01727146 -0.01288898 3.92413532] [-0.01746378 0.99973555 -0.0149614 -0.20112154] [ 0.01262717 0.01518301 0.999805 -0.56615648] [ 0. 0. 0. 1. ]] SLAMing on 31.341193817000004 meters Centerline goodness : 0.888884 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.19, Z:-0.57 [[ 0.99970406 0.02235677 -0.00958969 3.94159211] [-0.02254081 0.99955509 -0.01953281 -0.18502351] [ 0.00914873 0.01974319 0.99976323 -0.56980972] [ 0. 0. 0. 1. ]] SLAMing on 31.371193817 meters Centerline goodness : 0.889655 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.18, Z:-0.57 [[ 0.99963043 0.02514681 -0.01032706 3.94409568] [-0.02532953 0.9995178 -0.01796077 -0.17818793] [ 0.00987043 0.01821571 0.99978536 -0.57077444] [ 0. 0. 0. 1. ]] SLAMing on 31.401193817000003 meters Centerline goodness : 0.883610 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.17, Z:-0.57 [[ 0.99955018 0.02792103 -0.0109478 3.94637874] [-0.02809959 0.99946878 -0.01651001 -0.17134295] [ 0.010481 0.01681021 0.99980376 -0.57178095] [ 0. 0. 0. 1. ]] SLAMing on 31.431193817000004 meters Centerline goodness : 0.888056 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.16, Z:-0.57 [[ 0.99945126 0.0311305 -0.01131721 3.94765646] [-0.03129313 0.99940524 -0.01448826 -0.16471127] [ 0.01085945 0.01483446 0.99983099 -0.57195116] [ 0. 0. 0. 1. ]] SLAMing on 31.461193817 meters Centerline goodness : 0.889130 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.16, Z:-0.57 [[ 0.9993551 0.03396731 -0.01164481 3.94888316] [-0.03411582 0.9993359 -0.01280149 -0.15790107] [ 0.01120224 0.01319051 0.99985025 -0.57206099] [ 0. 0. 0. 1. ]] SLAMing on 31.491193817000003 meters Centerline goodness : 0.884122 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99922833 0.03822224 -0.00904461 3.96797154] [-0.03837325 0.99911618 -0.01715693 -0.14416175] [ 0.00838084 0.01749076 0.9998119 -0.57493497] [ 0. 0. 0. 1. ]] SLAMing on 31.521193817000004 meters Centerline goodness : 0.884122 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99922833 0.03822224 -0.00904461 3.96797154] [-0.03837325 0.99911618 -0.01715693 -0.14416175] [ 0.00838084 0.01749076 0.9998119 -0.57493497] [ 0. 0. 0. 1. ]] SLAMing on 31.551193817 meters Centerline goodness : 0.885985 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.9991068 0.04118022 -0.00947608 3.96930279] [-0.04131816 0.99903563 -0.01485328 -0.14021042] [ 0.00885528 0.01523155 0.99984478 -0.57487035] [ 0. 0. 0. 1. ]] SLAMing on 31.581193817000003 meters Centerline goodness : 0.883644 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.14, Z:-0.57 [[ 0.99897427 0.04421786 -0.00975665 3.97027953] [-0.04433743 0.99893966 -0.0123998 -0.13660705] [ 0.00919801 0.01281967 0.99987552 -0.57469253] [ 0. 0. 0. 1. ]] SLAMing on 31.611193817000004 meters Centerline goodness : 0.885961 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.57 [[ 0.99884345 0.04703128 -0.00999086 3.97144863] [-0.04713221 0.99883741 -0.01011807 -0.13263465] [ 0.00950338 0.01057726 0.9998989 -0.57485322] [ 0. 0. 0. 1. ]] SLAMing on 31.641193817 meters Centerline goodness : 0.887076 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.58 [[ 0.99871035 0.04972007 -0.01027411 3.97305449] [-0.04980247 0.99872763 -0.0079266 -0.1284434 ] [ 0.00986693 0.00842805 0.9999158 -0.57545657] [ 0. 0. 0. 1. ]] SLAMing on 31.671193817000002 meters Centerline goodness : 0.884101 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.12, Z:-0.58 [[ 0.99857582 0.05236284 -0.01022079 3.97466923] [-0.05244443 0.99859272 -0.00788475 -0.11891708] [ 0.00979354 0.00840955 0.99991668 -0.57619757] [ 0. 0. 0. 1. ]] SLAMing on 31.701193817000004 meters Centerline goodness : 0.885066 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.58 [[ 0.99855812 0.052498 -0.01120889 3.97701425] [-0.05260852 0.99856708 -0.00980427 -0.11488013] [ 0.01067813 0.01037982 0.99988911 -0.57590587] [ 0. 0. 0. 1. ]] SLAMing on 31.731193817 meters Centerline goodness : 0.883894 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.58 [[ 0.99852384 0.0528945 -0.01234184 3.97951808] [-0.05303506 0.9985281 -0.01135405 -0.11187352] [ 0.01172311 0.01199184 0.99985937 -0.57554626] [ 0. 0. 0. 1. ]] SLAMing on 31.761193817000002 meters Centerline goodness : 0.885010 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99842911 0.05223306 -0.02027359 3.96906456] [-0.05257361 0.99847833 -0.01664468 -0.1047634 ] [ 0.01937334 0.01768439 0.99965591 -0.57252325] [ 0. 0. 0. 1. ]] SLAMing on 31.791193817000003 meters Centerline goodness : 0.883157 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99835432 0.05316764 -0.02149101 3.9717124 ] [-0.05356165 0.99839879 -0.01819361 -0.10112007] [ 0.02048929 0.01931476 0.99960349 -0.57185787] [ 0. 0. 0. 1. ]] SLAMing on 31.821193817000005 meters Centerline goodness : 0.879964 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.10, Z:-0.57 [[ 0.99800574 0.05893416 -0.02261201 3.97498545] [-0.05929202 0.9981204 -0.01549597 -0.0971209 ] [ 0.02165627 0.01680578 0.99962422 -0.5718173 ] [ 0. 0. 0. 1. ]] SLAMing on 31.851193817000002 meters Centerline goodness : 0.882386 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99772147 0.06355541 -0.02264001 3.97601312] [-0.06382152 0.99789813 -0.01123137 -0.09712318] [ 0.02187861 0.0126507 0.99968059 -0.57231016] [ 0. 0. 0. 1. ]] SLAMing on 31.881193817000003 meters Centerline goodness : 0.879783 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:-0.57 [[ 0.99764257 0.06443526 -0.02360948 3.97853305] [-0.06473031 0.99783121 -0.01195289 -0.09459011] [ 0.02278809 0.01345296 0.9996498 -0.5725379 ] [ 0. 0. 0. 1. ]] SLAMing on 31.911193817000004 meters Centerline goodness : 0.878434 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:-0.57 [[ 0.99756863 0.06528455 -0.02438775 3.98057068] [-0.06558878 0.9977759 -0.0118894 -0.09379439] [ 0.02355731 0.01346006 0.99963187 -0.57290498] [ 0. 0. 0. 1. ]] SLAMing on 31.941193817000002 meters Centerline goodness : 0.879634 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99750865 0.06588814 -0.02520393 3.98245261] [-0.0661728 0.99775154 -0.01063137 -0.09747923] [ 0.02444678 0.0122727 0.9996258 -0.573642 ] [ 0. 0. 0. 1. ]] SLAMing on 31.971193817000003 meters Centerline goodness : 0.881050 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.99751168 0.06566079 -0.02567332 3.98326233] [-0.06593196 0.99777538 -0.00986192 -0.10088679] [ 0.02496866 0.01153007 0.99962174 -0.57392789] [ 0. 0. 0. 1. ]] SLAMing on 32.001193817 meters Centerline goodness : 0.876727 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.10, Z:-0.57 [[ 0.9977045 0.06222292 -0.02672161 3.984374 ] [-0.06260712 0.99794298 -0.01378964 -0.10151555] [ 0.02580861 0.01543095 0.9995478 -0.57310423] [ 0. 0. 0. 1. ]] SLAMing on 32.031193817 meters Centerline goodness : 0.876554 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99776467 0.06170741 -0.02564861 3.98117713] [-0.06201028 0.99801284 -0.01118481 -0.10800202] [ 0.02490746 0.01275028 0.99960845 -0.57230961] [ 0. 0. 0. 1. ]] SLAMing on 32.061193816999996 meters Centerline goodness : 0.877897 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99793416 0.05852072 -0.02650906 3.98240208] [-0.05890897 0.99816365 -0.01410899 -0.10991002] [ 0.02563471 0.01564147 0.999549 -0.57241868] [ 0. 0. 0. 1. ]] SLAMing on 32.091193817 meters Centerline goodness : 0.878033 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.11, Z:-0.57 [[ 0.99800902 0.05693969 -0.02712707 3.98441994] [-0.05733427 0.99825692 -0.01399648 -0.1132821 ] [ 0.02628283 0.01552392 0.999534 -0.57416467] [ 0. 0. 0. 1. ]] SLAMing on 32.121193817 meters Centerline goodness : 0.878621 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99809873 0.05531568 -0.02718635 3.98373296] [-0.05573246 0.99833576 -0.0148192 -0.11556053] [ 0.02632137 0.01630618 0.99952053 -0.57378276] [ 0. 0. 0. 1. ]] SLAMing on 32.151193817 meters Centerline goodness : 0.879068 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99817004 0.0540572 -0.02709981 3.9832696 ] [-0.0544587 0.99841358 -0.01430284 -0.11879644] [ 0.02628364 0.01575248 0.9995304 -0.57397244] [ 0. 0. 0. 1. ]] SLAMing on 32.181193817 meters Centerline goodness : 0.876645 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.12, Z:-0.57 [[ 0.99821009 0.05346577 -0.02679612 3.98153259] [-0.05383072 0.9984643 -0.01308777 -0.12268758] [ 0.02605523 0.0145068 0.99955524 -0.57292637] [ 0. 0. 0. 1. ]] SLAMing on 32.211193817 meters Centerline goodness : 0.881099 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99842835 0.04943938 -0.02639287 3.97869614] [-0.0498646 0.99863253 -0.01570312 -0.12629118] [ 0.02558042 0.01699451 0.9995283 -0.57100339] [ 0. 0. 0. 1. ]] SLAMing on 32.241193817 meters Centerline goodness : 0.882286 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99847059 0.04841798 -0.02668665 3.97919814] [-0.04884321 0.99868588 -0.01551928 -0.12870734] [ 0.02590017 0.01679901 0.99952337 -0.57126755] [ 0. 0. 0. 1. ]] SLAMing on 32.271193817 meters Centerline goodness : 0.880488 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.13, Z:-0.57 [[ 0.99848768 0.0480687 -0.02667862 3.97873984] [-0.04846575 0.99872045 -0.01444072 -0.13211526] [ 0.02595034 0.01571188 0.99953975 -0.57116486] [ 0. 0. 0. 1. ]] SLAMing on 32.301193817 meters Centerline goodness : 0.883750 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99866956 0.04403766 -0.02682916 3.97804381] [-0.04450231 0.99886505 -0.01697501 -0.13630432] [ 0.02605117 0.01814639 0.9994959 -0.57090858] [ 0. 0. 0. 1. ]] SLAMing on 32.331193817 meters Centerline goodness : 0.878819 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99868253 0.04345735 -0.02728848 3.97905643] [-0.04392631 0.99889304 -0.01682763 -0.1379178 ] [ 0.02652699 0.01800414 0.99948595 -0.57094493] [ 0. 0. 0. 1. ]] SLAMing on 32.361193817 meters Centerline goodness : 0.879782 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99869775 0.04285634 -0.02767919 3.98003716] [-0.0433339 0.99891786 -0.01689003 -0.13832982] [ 0.02692539 0.01806749 0.99947416 -0.57105718] [ 0. 0. 0. 1. ]] SLAMing on 32.391193817 meters Centerline goodness : 0.882448 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99871168 0.04232881 -0.02798648 3.9810327 ] [-0.04281484 0.99893836 -0.01700141 -0.13835138] [ 0.02723711 0.01817774 0.99946371 -0.57141309] [ 0. 0. 0. 1. ]] SLAMing on 32.421193817 meters Centerline goodness : 0.885607 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.57 [[ 0.99879498 0.03971514 -0.02883231 3.98453738] [-0.04026835 0.99901076 -0.01886691 -0.13731426] [ 0.02805448 0.0200052 0.99940619 -0.57349167] [ 0. 0. 0. 1. ]] SLAMing on 32.451193817 meters Centerline goodness : 0.885231 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99883227 0.03818012 -0.02960379 3.98728391] [-0.03878317 0.99904605 -0.02007123 -0.13719833] [ 0.02880923 0.02119592 0.99936018 -0.57489806] [ 0. 0. 0. 1. ]] SLAMing on 32.481193817 meters Centerline goodness : 0.883584 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99884249 0.03755851 -0.03005068 3.98784948] [-0.03817755 0.99906479 -0.02029824 -0.13778541] [ 0.0292602 0.021422 0.99934225 -0.57441669] [ 0. 0. 0. 1. ]] SLAMing on 32.511193817 meters Centerline goodness : 0.886592 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99886379 0.0366703 -0.03043713 3.98840821] [-0.03731381 0.99908606 -0.02085027 -0.137523 ] [ 0.02964473 0.02196231 0.99931919 -0.57396315] [ 0. 0. 0. 1. ]] SLAMing on 32.541193817 meters Centerline goodness : 0.889871 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.14, Z:-0.57 [[ 0.99885509 0.03416064 -0.03348976 3.99352277] [-0.03483709 0.9991963 -0.01982773 -0.13639251] [ 0.03278551 0.02097172 0.99924236 -0.57047833] [ 0. 0. 0. 1. ]] SLAMing on 32.571193817 meters Centerline goodness : 0.890838 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.13, Z:-0.57 [[ 0.99888165 0.03297892 -0.03387994 3.99465052] [-0.03370059 0.99921226 -0.0209552 -0.13387876] [ 0.03316217 0.02207354 0.9992062 -0.57067613] [ 0. 0. 0. 1. ]] SLAMing on 32.601193817 meters Centerline goodness : 0.893553 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.13, Z:-0.57 [[ 0.99887135 0.0294948 -0.03723023 4.00461477] [-0.03028509 0.99932393 -0.02084452 -0.12635222] [ 0.03659025 0.02194852 0.99908929 -0.57116382] [ 0. 0. 0. 1. ]] SLAMing on 32.631193816999996 meters Centerline goodness : 0.892619 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.12, Z:-0.57 [[ 0.9988935 0.0280655 -0.0377374 4.00704105] [-0.0289306 0.99932643 -0.02257671 -0.1223875 ] [ 0.03707836 0.02364349 0.99903262 -0.57264702] [ 0. 0. 0. 1. ]] SLAMing on 32.661193817 meters Centerline goodness : 0.893353 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.12, Z:-0.57 [[ 0.99891044 0.02691009 -0.03812853 4.00875715] [-0.02784432 0.99931962 -0.02418662 -0.11843949] [ 0.03745172 0.02522193 0.99898009 -0.57360316] [ 0. 0. 0. 1. ]] SLAMing on 32.691193817 meters Centerline goodness : 0.891182 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.11, Z:-0.57 [[ 0.99892524 0.02589592 -0.03844183 4.01000177] [-0.02689535 0.9993075 -0.02571317 -0.11462767] [ 0.03774934 0.02671944 0.99892996 -0.57417169] [ 0. 0. 0. 1. ]] SLAMing on 32.721193817 meters Centerline goodness : 0.893819 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.57 [[ 0.99888122 0.02688055 -0.03890687 4.01146203] [-0.02790309 0.99927292 -0.0259817 -0.10467164] [ 0.03818018 0.02703825 0.998905 -0.5740343 ] [ 0. 0. 0. 1. ]] SLAMing on 32.751193817 meters Centerline goodness : 0.891778 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.10, Z:-0.57 [[ 0.99878811 0.0297975 -0.03917155 4.01251742] [-0.03075221 0.99923886 -0.02400012 -0.09848928] [ 0.0384266 0.02517565 0.99894423 -0.57402331] [ 0. 0. 0. 1. ]] SLAMing on 32.781193817 meters Centerline goodness : 0.892040 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.09, Z:-0.57 [[ 0.99868316 0.0327482 -0.0394906 4.01368517] [-0.03364137 0.99918807 -0.0221688 -0.0917392 ] [ 0.03873255 0.02346812 0.99897399 -0.57395187] [ 0. 0. 0. 1. ]] SLAMing on 32.811193816999996 meters Centerline goodness : 0.888019 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.09, Z:-0.57 [[ 0.9985744 0.03551596 -0.03984691 4.01508184] [-0.03635544 0.99912772 -0.02054443 -0.08545475] [ 0.0390825 0.02196379 0.99899457 -0.57407762] [ 0. 0. 0. 1. ]] SLAMing on 32.841193817 meters Centerline goodness : 0.889271 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.07, Z:-0.58 [[ 0.99858506 0.03915593 -0.03598188 4.03201558] [-0.04007188 0.99888156 -0.02509736 -0.07226568] [ 0.03495892 0.02650371 0.99903725 -0.57648674] [ 0. 0. 0. 1. ]] SLAMing on 32.871193817 meters Centerline goodness : 0.887606 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.07, Z:-0.58 [[ 0.9984591 0.04200346 -0.03626486 4.03344505] [-0.04289093 0.99879023 -0.02405071 -0.0662685 ] [ 0.03521077 0.02556908 0.99905276 -0.57622402] [ 0. 0. 0. 1. ]] SLAMing on 32.901193817 meters Centerline goodness : 0.886562 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.06, Z:-0.58 [[ 0.99832678 0.04488095 -0.03646021 4.0346579 ] [-0.04574259 0.99868494 -0.02315172 -0.05941698] [ 0.0353732 0.02478077 0.99906689 -0.57580938] [ 0. 0. 0. 1. ]] SLAMing on 32.931193817 meters Centerline goodness : 0.887280 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.05, Z:-0.58 [[ 0.9981981 0.04758277 -0.03655738 4.03578273] [-0.0484253 0.99857297 -0.02251718 -0.0518361 ] [ 0.03543378 0.02424691 0.99907784 -0.57537936] [ 0. 0. 0. 1. ]] SLAMing on 32.961193817 meters Centerline goodness : 0.884958 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.04, Z:-0.57 [[ 0.9979339 0.05285913 -0.03652178 4.0362805 ] [-0.05364703 0.99834037 -0.02094054 -0.03793673] [ 0.03535427 0.02285656 0.99911343 -0.57314957] [ 0. 0. 0. 1. ]] SLAMing on 32.991193817 meters Centerline goodness : 0.878247 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.03, Z:-0.57 [[ 0.99777302 0.05567371 -0.03673481 4.03725212] [-0.05642241 0.99821323 -0.01966866 -0.03228673] [ 0.03557415 0.02169753 0.99913147 -0.57248151] [ 0. 0. 0. 1. ]] SLAMing on 33.021193817 meters Centerline goodness : 0.875377 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.03, Z:-0.57 [[ 0.99762105 0.05826014 -0.03685093 4.03802289] [-0.05897362 0.99808663 -0.01857936 -0.02682727] [ 0.03569799 0.02070839 0.99914805 -0.57185654] [ 0. 0. 0. 1. ]] SLAMing on 33.051193817 meters Centerline goodness : 0.881165 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.02, Z:-0.57 [[ 0.99746421 0.06082646 -0.03694985 4.03883455] [-0.0614945 0.99795888 -0.01721936 -0.0216892 ] [ 0.03582704 0.01944791 0.99916876 -0.57140119] [ 0. 0. 0. 1. ]] SLAMing on 33.081193817 meters Centerline goodness : 0.878334 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.02, Z:-0.57 [[ 0.99733575 0.0629864 -0.03679836 4.03856005] [-0.06361403 0.99784404 -0.01614063 -0.01634811] [ 0.03570239 0.01843852 0.99919235 -0.5703445 ] [ 0. 0. 0. 1. ]] SLAMing on 33.111193817 meters Centerline goodness : 0.872033 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.00, Z:-0.57 [[ 0.99721796 0.06483732 -0.03677579 4.03929479] [-0.06547064 0.9977216 -0.01628524 -0.00465351] [ 0.0356361 0.01864767 0.99919084 -0.56963429] [ 0. 0. 0. 1. ]] SLAMing on 33.141193817 meters Centerline goodness : 0.874410 Centerline is valid? [False, False] Translation: X:4.04, Y:0.00, Z:-0.57 [[ 9.97105866e-01 6.63930002e-02 -3.70386489e-02 4.04125983e+00] [-6.70031335e-02 9.97632659e-01 -1.54809136e-02 1.10105238e-03] [ 3.59231415e-02 1.79178153e-02 9.99193915e-01 -5.70276290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171193817 meters Centerline goodness : 0.873077 Centerline is valid? [False, False] Translation: X:4.04, Y:0.01, Z:-0.57 [[ 0.99697033 0.06823502 -0.03733828 4.04315372] [-0.06881158 0.99752604 -0.01437933 0.00680563] [ 0.03626473 0.01690508 0.99919922 -0.57087737] [ 0. 0. 0. 1. ]] SLAMing on 33.201193817 meters Centerline goodness : 0.872293 Centerline is valid? [False, False] Translation: X:4.05, Y:0.01, Z:-0.57 [[ 0.99685443 0.06966383 -0.03779149 4.04563369] [-0.07021542 0.99744092 -0.01346868 0.01215336] [ 0.0367565 0.01607986 0.99919487 -0.57194211] [ 0. 0. 0. 1. ]] SLAMing on 33.231193817 meters Centerline goodness : 0.869728 Centerline is valid? [False, False] Translation: X:4.05, Y:0.02, Z:-0.57 [[ 0.99691284 0.06897027 -0.03752189 4.04544522] [-0.0695755 0.99746287 -0.01506911 0.02265801] [ 0.03638737 0.01763319 0.99918218 -0.57140392] [ 0. 0. 0. 1. ]] SLAMing on 33.261193817 meters Centerline goodness : 0.869528 Centerline is valid? [False, False] Translation: X:4.05, Y:0.03, Z:-0.57 [[ 0.99697088 0.0679584 -0.03782485 4.04627921] [-0.06863342 0.99749978 -0.01684157 0.02802376] [ 0.03658576 0.01938661 0.99914245 -0.57132869] [ 0. 0. 0. 1. ]] SLAMing on 33.291193817 meters Centerline goodness : 0.870226 Centerline is valid? [False, False] Translation: X:4.05, Y:0.03, Z:-0.57 [[ 0.99690359 0.06858914 -0.03845456 4.049399 ] [-0.06926535 0.99746122 -0.01653555 0.03339997] [ 0.03722278 0.01914792 0.99912353 -0.57278247] [ 0. 0. 0. 1. ]] SLAMing on 33.321193817 meters Centerline goodness : 0.869415 Centerline is valid? [False, False] Translation: X:4.05, Y:0.04, Z:-0.57 [[ 0.99675865 0.07039521 -0.03894495 4.0520008 ] [-0.07103455 0.99735678 -0.015282 0.03903761] [ 0.03776624 0.0179989 0.99912449 -0.57375755] [ 0. 0. 0. 1. ]] SLAMing on 33.351193817 meters Centerline goodness : 0.874599 Centerline is valid? [False, False] Translation: X:4.05, Y:0.05, Z:-0.57 [[ 0.99643919 0.07480738 -0.03889461 4.05430833] [-0.07534012 0.99708061 -0.01241472 0.05007366] [ 0.03785235 0.01530084 0.99916619 -0.57483821] [ 0. 0. 0. 1. ]] SLAMing on 33.381193816999996 meters Centerline goodness : 0.870692 Centerline is valid? [False, False] Translation: X:4.06, Y:0.05, Z:-0.58 [[ 0.99620294 0.07794371 -0.03878758 4.05503371] [-0.0783859 0.99687283 -0.01001078 0.05351534] [ 0.03788601 0.01301317 0.99919733 -0.57508389] [ 0. 0. 0. 1. ]] SLAMing on 33.411193817 meters Centerline goodness : 0.870692 Centerline is valid? [False, False] Translation: X:4.06, Y:0.05, Z:-0.58 [[ 0.99620334 0.07793987 -0.03878498 4.05503025] [-0.07838231 0.99687303 -0.01001852 0.0535346 ] [ 0.03788285 0.01302054 0.99919736 -0.57508563] [ 0. 0. 0. 1. ]] SLAMing on 33.441193817 meters Centerline goodness : 0.867595 Centerline is valid? [False, False] Translation: X:4.06, Y:0.06, Z:-0.58 [[ 0.99595989 0.08108916 -0.03858044 4.0553997 ] [-0.08143888 0.99664952 -0.00757849 0.05675658] [ 0.03783665 0.01068982 0.99922676 -0.57514651] [ 0. 0. 0. 1. ]] SLAMing on 33.471193817 meters Centerline goodness : 0.871595 Centerline is valid? [False, False] Translation: X:4.06, Y:0.06, Z:-0.57 [[ 0.99570329 0.08421455 -0.03850807 4.05585301] [-0.08447598 0.9964119 -0.00521005 0.06065409] [ 0.03793114 0.00844067 0.99924471 -0.57487089] [ 0. 0. 0. 1. ]] SLAMing on 33.501193817 meters Centerline goodness : 0.873745 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.57 [[ 9.95184030e-01 9.04017013e-02 -3.78982647e-02 4.05568084e+00] [-9.04892890e-02 9.95897249e-01 -5.98702402e-04 6.95930072e-02] [ 3.76886538e-02 4.02520609e-03 9.99281423e-01 -5.74022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531193817 meters Centerline goodness : 0.872926 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.57 [[ 9.94853792e-01 9.39862730e-02 -3.78485492e-02 4.05686029e+00] [-9.39688689e-02 9.95572611e-01 2.24245496e-03 7.28972137e-02] [ 3.78917389e-02 1.32567053e-03 9.99280971e-01 -5.74455409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters Centerline goodness : 0.878536 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 9.94483576e-01 9.78610411e-02 -3.77575622e-02 4.05816926e+00] [-9.77275295e-02 9.95198720e-01 5.37004482e-03 7.53064130e-02] [ 3.81017957e-02 -1.65046810e-03 9.99272500e-01 -5.75131375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591193817 meters Centerline goodness : 0.874604 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99403837 0.10232039 -0.03765969 4.05941723] [-0.1020513 0.99473838 0.00900474 0.0771401 ] [ 0.03838291 -0.00510783 0.99925005 -0.57573798] [ 0. 0. 0. 1. ]] SLAMing on 33.621193817 meters Centerline goodness : 0.877482 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.9931016 0.11134602 -0.0367597 4.05981301] [-0.11080547 0.99370621 0.01643492 0.0800306 ] [ 0.03835831 -0.01224837 0.99918898 -0.5758947 ] [ 0. 0. 0. 1. ]] SLAMing on 33.651193817 meters Centerline goodness : 0.875822 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99257712 0.11595583 -0.03667306 4.06096844] [-0.11526173 0.99312333 0.02051324 0.08065116] [ 0.0387995 -0.01613397 0.99911676 -0.57621294] [ 0. 0. 0. 1. ]] SLAMing on 33.681193817 meters Centerline goodness : 0.874419 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.9924729 0.11675623 -0.03695293 4.06187938] [-0.11606322 0.99303269 0.02038144 0.0827002 ] [ 0.03907513 -0.01593915 0.99910914 -0.57629028] [ 0. 0. 0. 1. ]] SLAMing on 33.711193817 meters Centerline goodness : 0.874323 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.58 [[ 0.99226306 0.11841346 -0.03731325 4.06409099] [-0.11767151 0.99281986 0.02149752 0.08298631] [ 0.03959094 -0.01694049 0.99907236 -0.57740596] [ 0. 0. 0. 1. ]] SLAMing on 33.741193817 meters Centerline goodness : 0.875500 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.99201701 0.12162867 -0.03329731 4.07302675] [-0.12121847 0.99252599 0.0140801 0.08221012] [ 0.03476099 -0.00993145 0.99934631 -0.57838845] [ 0. 0. 0. 1. ]] SLAMing on 33.771193817 meters Centerline goodness : 0.876278 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.9923565 0.11866436 -0.03387249 4.07325599] [-0.11836712 0.99291271 0.01065683 0.08232182] [ 0.03489701 -0.00656598 0.99936934 -0.57799896] [ 0. 0. 0. 1. ]] SLAMing on 33.801193817 meters Centerline goodness : 0.874612 Centerline is valid? [False, False] Translation: X:4.07, Y:0.08, Z:-0.58 [[ 0.99227353 0.11933232 -0.03395645 4.07350225] [-0.11899274 0.9928243 0.01185874 0.07904832] [ 0.03512792 -0.00772654 0.99935296 -0.57804857] [ 0. 0. 0. 1. ]] SLAMing on 33.831193817 meters Centerline goodness : 0.873928 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-0.58 [[ 0.99220371 0.11988847 -0.03403746 4.07347939] [-0.1194992 0.99274579 0.01325649 0.07453445] [ 0.03537985 -0.00908569 0.99933264 -0.57783528] [ 0. 0. 0. 1. ]] SLAMing on 33.861193817 meters Centerline goodness : 0.873561 Centerline is valid? [False, False] Translation: X:4.09, Y:0.07, Z:-0.58 [[ 0.99268488 0.11731959 -0.02851046 4.08731576] [-0.11687222 0.99300338 0.01688711 0.06716349] [ 0.03029217 -0.0134315 0.99945084 -0.58091684] [ 0. 0. 0. 1. ]] SLAMing on 33.891193817 meters Centerline goodness : 0.872637 Centerline is valid? [False, False] Translation: X:4.10, Y:0.06, Z:-0.58 [[ 0.99316689 0.11440605 -0.02303881 4.10006139] [-0.11391085 0.99325239 0.02177195 0.05970803] [ 0.02537419 -0.01899881 0.99949747 -0.58435711] [ 0. 0. 0. 1. ]] SLAMing on 33.921193817 meters Centerline goodness : 0.876574 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-0.59 [[ 0.99354471 0.11195733 -0.01828829 4.1146311 ] [-0.11144815 0.99340812 0.0268257 0.04893685] [ 0.02117106 -0.02461434 0.99947282 -0.58809714] [ 0. 0. 0. 1. ]] SLAMing on 33.951193817 meters Centerline goodness : 0.873722 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-0.59 [[ 0.99398712 0.1082015 -0.0167938 4.12699615] [-0.10760659 0.9936454 0.03300955 0.04442328] [ 0.02025877 -0.03100395 0.99931393 -0.59028568] [ 0. 0. 0. 1. ]] SLAMing on 33.981193817 meters Centerline goodness : 0.875365 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-0.59 [[ 0.99428726 0.10594642 -0.01296884 4.14153095] [-0.10537402 0.99367287 0.03886579 0.03710314] [ 0.01700448 -0.03727718 0.99916028 -0.59441771] [ 0. 0. 0. 1. ]] SLAMing on 34.011193817 meters Centerline goodness : 0.876030 Centerline is valid? [False, False] Translation: X:4.16, Y:0.03, Z:-0.60 [[ 0.99439397 0.10497445 -0.01268825 4.16197816] [-0.10441046 0.99376833 0.03902504 0.02566734] [ 0.01670581 -0.03748148 0.99915767 -0.59515285] [ 0. 0. 0. 1. ]] SLAMing on 34.041193817 meters Centerline goodness : 0.874567 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.60 [[ 0.99458721 0.1036957 -0.00659449 4.17368337] [-0.10329003 0.99360158 0.04568455 0.0183127 ] [ 0.01128958 -0.04475612 0.99893415 -0.59871055] [ 0. 0. 0. 1. ]] SLAMing on 34.071193817 meters Centerline goodness : 0.874517 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-0.60 [[ 0.9944297 0.10483069 -0.01095903 4.18109507] [-0.10426844 0.99361104 0.04318786 0.01358384] [ 0.01541643 -0.04180461 0.99900686 -0.59634873] [ 0. 0. 0. 1. ]] SLAMing on 34.101193817 meters Centerline goodness : 0.874956 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-0.60 [[ 0.99424084 0.10677918 -0.00912976 4.20069853] [-0.10621804 0.99316059 0.04847446 0.0054341 ] [ 0.01424338 -0.04722554 0.9987827 -0.59738461] [ 0. 0. 0. 1. ]] SLAMing on 34.131193816999996 meters Centerline goodness : 0.875144 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.60 [[ 9.94526494e-01 1.04046708e-01 -9.55695066e-03 4.20109281e+00] [-1.03511348e-01 9.93587529e-01 4.54887130e-02 3.75109339e-03] [ 1.42286178e-02 -4.42504774e-02 9.98919137e-01 -5.97547418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161193817 meters Centerline goodness : 0.878375 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.60 [[ 9.94832087e-01 1.01036487e-01 -1.00373124e-02 4.20182219e+00] [-1.00526943e-01 9.94029470e-01 4.24234076e-02 1.93219900e-03] [ 1.42636964e-02 -4.11951468e-02 9.99049302e-01 -5.97803517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191193817 meters Centerline goodness : 0.872855 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.99519166 0.0977348 -0.00643895 4.21674743] [-0.09690728 0.99205261 0.08025332 -0.01763683] [ 0.01423132 -0.07924346 0.9967537 -0.58814701] [ 0. 0. 0. 1. ]] SLAMing on 34.221193817 meters Centerline goodness : 0.872573 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.99552539 0.09422898 -0.0070779 4.21760751] [-0.09341302 0.99266733 0.07671749 -0.01864918] [ 0.01425501 -0.07571304 0.99702775 -0.58849253] [ 0. 0. 0. 1. ]] SLAMing on 34.251193817 meters Centerline goodness : 0.874430 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-0.59 [[ 0.9959312 0.08981234 -0.0074012 4.21715086] [-0.08875562 0.99179507 0.09200533 -0.02402406] [ 0.01560369 -0.09097409 0.99573101 -0.58717343] [ 0. 0. 0. 1. ]] SLAMing on 34.281193817 meters Centerline goodness : 0.871157 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99659058 0.08228512 -0.00603041 4.22293571] [-0.08162705 0.99397812 0.07310622 -0.0296019 ] [ 0.01200965 -0.07236473 0.99730593 -0.58615831] [ 0. 0. 0. 1. ]] SLAMing on 34.311193816999996 meters Centerline goodness : 0.873078 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99668327 0.08068333 -0.01061439 4.2229701 ] [-0.0799677 0.99521929 0.05606904 -0.03190017] [ 0.01508748 -0.05503427 0.99837047 -0.58561881] [ 0. 0. 0. 1. ]] SLAMing on 34.341193817 meters Centerline goodness : 0.871894 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99724939 0.07324636 -0.01134131 4.22330612] [-0.0726123 0.99616733 0.0487658 -0.03347376] [ 0.01486976 -0.04780815 0.99874585 -0.58570482] [ 0. 0. 0. 1. ]] SLAMing on 34.371193817 meters Centerline goodness : 0.874286 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.99774673 0.06600047 -0.0120582 4.22402734] [-0.06544961 0.99699413 0.04146142 -0.03422102] [ 0.01475842 -0.04057879 0.99906734 -0.58614291] [ 0. 0. 0. 1. ]] SLAMing on 34.401193817 meters Centerline goodness : 0.873527 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.59 [[ 0.9981866 0.05882831 -0.01275663 4.22484715] [-0.05836411 0.99771168 0.03413254 -0.03463323] [ 0.0147354 -0.03332611 0.9993359 -0.58656998] [ 0. 0. 0. 1. ]] SLAMing on 34.431193817 meters Centerline goodness : 0.876540 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99859988 0.0511916 -0.01333015 4.22536136] [-0.05081116 0.99833053 0.02746603 -0.03811938] [ 0.01471393 -0.02675025 0.99953385 -0.58716475] [ 0. 0. 0. 1. ]] SLAMing on 34.461193817 meters Centerline goodness : 0.875898 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99877477 0.04749011 -0.01391577 4.22633603] [-0.04715456 0.99861059 0.02352298 -0.03791433] [ 0.01501355 -0.02283797 0.99962644 -0.58734363] [ 0. 0. 0. 1. ]] SLAMing on 34.491193817 meters Centerline goodness : 0.879244 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99892809 0.04396863 -0.01447175 4.22726237] [-0.04368742 0.99886062 0.01920598 -0.03601902] [ 0.01529972 -0.01855316 0.99971081 -0.58735212] [ 0. 0. 0. 1. ]] SLAMing on 34.521193817 meters Centerline goodness : 0.882076 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:-0.59 [[ 0.99892943 0.04385885 -0.01471018 4.22765417] [-0.04358055 0.99887425 0.01873409 -0.03508062] [ 0.01551528 -0.01807295 0.99971628 -0.5870332 ] [ 0. 0. 0. 1. ]] SLAMing on 34.551193817 meters Centerline goodness : 0.882656 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.99892088 0.0440054 -0.01485258 4.22763444] [-0.04373393 0.99887864 0.01813312 -0.03363813] [ 0.01563388 -0.01746399 0.99972526 -0.58628078] [ 0. 0. 0. 1. ]] SLAMing on 34.581193817 meters Centerline goodness : 0.878066 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.58 [[ 0.99882896 0.04628052 -0.01410045 4.22426706] [-0.0460125 0.99876444 0.01877357 -0.03224667] [ 0.01495188 -0.01810279 0.99972433 -0.58278483] [ 0. 0. 0. 1. ]] SLAMing on 34.611193817 meters Centerline goodness : 0.880515 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:-0.58 [[ 0.99880733 0.04673875 -0.01412083 4.22392005] [-0.04647707 0.99875128 0.01832379 -0.03088947] [ 0.01495963 -0.01764564 0.99973238 -0.58190857] [ 0. 0. 0. 1. ]] SLAMing on 34.641193817 meters Centerline goodness : 0.880740 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99871544 0.04816548 -0.01573404 4.22615858] [-0.04788343 0.99869367 0.01783651 -0.02978792] [ 0.01657259 -0.0170602 0.99971711 -0.58033138] [ 0. 0. 0. 1. ]] SLAMing on 34.671193817 meters Centerline goodness : 0.880380 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99868527 0.04875212 -0.01584166 4.22641681] [-0.04847407 0.99867137 0.01748607 -0.02810263] [ 0.0166731 -0.01669518 0.9997216 -0.58004359] [ 0. 0. 0. 1. ]] SLAMing on 34.701193817 meters Centerline goodness : 0.882331 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.998471 0.05295975 -0.01584072 4.2281334 ] [-0.05261626 0.99838618 0.02136728 -0.02700647] [ 0.01694676 -0.02050113 0.99964619 -0.58178686] [ 0. 0. 0. 1. ]] SLAMing on 34.731193817 meters Centerline goodness : 0.881788 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.58 [[ 0.99849359 0.05235501 -0.01641642 4.23067806] [-0.0520073 0.9984272 0.02093711 -0.02700585] [ 0.01748676 -0.02005179 0.99964601 -0.58370504] [ 0. 0. 0. 1. ]] SLAMing on 34.761193817 meters Centerline goodness : 0.883111 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.9986663 0.04874679 -0.01701078 4.23249082] [-0.04845246 0.99867555 0.01730621 -0.02745831] [ 0.01783187 -0.01645891 0.99970552 -0.58512589] [ 0. 0. 0. 1. ]] SLAMing on 34.791193817 meters Centerline goodness : 0.885423 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.03, Z:-0.59 [[ 0.9988264 0.04511587 -0.01761779 4.23407288] [-0.04487277 0.99889519 0.01395817 -0.02929394] [ 0.01822806 -0.01315123 0.99974736 -0.5862342 ] [ 0. 0. 0. 1. ]] SLAMing on 34.821193817 meters Centerline goodness : 0.887740 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.03, Z:-0.59 [[ 0.99894906 0.0420676 -0.01819575 4.23606147] [-0.04185663 0.99905365 0.01182445 -0.03368443] [ 0.01867596 -0.01105041 0.99976452 -0.5881166 ] [ 0. 0. 0. 1. ]] SLAMing on 34.851193817 meters Centerline goodness : 0.888379 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.03, Z:-0.59 [[ 0.99891837 0.0425495 -0.01875187 4.23768047] [-0.04232103 0.9990269 0.01241722 -0.03488707] [ 0.01926197 -0.01161019 0.99974706 -0.58886158] [ 0. 0. 0. 1. ]] SLAMing on 34.881193816999996 meters Centerline goodness : 0.889277 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99886848 0.04344525 -0.01934615 4.2392061 ] [-0.04319474 0.99897968 0.013184 -0.03622764] [ 0.0198992 -0.01233343 0.99972592 -0.58930456] [ 0. 0. 0. 1. ]] SLAMing on 34.911193817 meters Centerline goodness : 0.887533 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99881593 0.04437526 -0.01993919 4.24073342] [-0.04410257 0.99893011 0.01391386 -0.03749 ] [ 0.02053529 -0.01301801 0.99970437 -0.58974177] [ 0. 0. 0. 1. ]] SLAMing on 34.941193817 meters Centerline goodness : 0.885577 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99873165 0.04599043 -0.02049341 4.24268405] [-0.04567432 0.99883402 0.01563493 -0.040331 ] [ 0.02118857 -0.01467908 0.99966773 -0.59089338] [ 0. 0. 0. 1. ]] SLAMing on 34.971193817 meters Centerline goodness : 0.887787 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99886085 0.04283176 -0.02103415 4.24398376] [-0.04258688 0.99902124 0.01195503 -0.03959672] [ 0.02152562 -0.01104563 0.99970728 -0.59152462] [ 0. 0. 0. 1. ]] SLAMing on 35.001193817 meters Centerline goodness : 0.889002 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99900712 0.03909625 -0.02136015 4.24428194] [-0.03892689 0.99920769 0.00828785 -0.04015534] [ 0.02166725 -0.00744814 0.99973749 -0.59150102] [ 0. 0. 0. 1. ]] SLAMing on 35.031193817 meters Centerline goodness : 0.886008 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.04, Z:-0.59 [[ 0.99914364 0.03525171 -0.02166365 4.24425477] [-0.03514769 0.99936879 0.00516353 -0.04296036] [ 0.021832 -0.00439768 0.99975198 -0.59117033] [ 0. 0. 0. 1. ]] SLAMing on 35.061193817 meters Centerline goodness : 0.890695 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 9.99379524e-01 2.78790432e-02 -2.15249900e-02 4.24255162e+00] [-2.78806859e-02 9.99611233e-01 2.23839649e-04 -5.08887740e-02] [ 2.15228623e-02 3.76430725e-04 9.99768286e-01 -5.90464141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091193817 meters Centerline goodness : 0.890977 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 9.99473857e-01 2.38505244e-02 -2.19809441e-02 4.24332076e+00] [-2.39175705e-02 9.99710034e-01 -2.79231856e-03 -5.34818506e-02] [ 2.19079722e-02 3.31658018e-03 9.99754490e-01 -5.90871507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121193817 meters Centerline goodness : 0.891435 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:-0.59 [[ 0.99955385 0.01994821 -0.02223005 4.24362973] [-0.0200903 0.99977903 -0.00618689 -0.05454489] [ 0.02210172 0.00663074 0.99973374 -0.59099156] [ 0. 0. 0. 1. ]] SLAMing on 35.151193817 meters Centerline goodness : 0.892503 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.06, Z:-0.59 [[ 0.99956951 0.01933053 -0.0220709 4.24341339] [-0.01945834 0.99979504 -0.00559082 -0.05643131] [ 0.02195831 0.00601787 0.99974078 -0.59148918] [ 0. 0. 0. 1. ]] SLAMing on 35.181193817 meters Centerline goodness : 0.889920 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.06, Z:-0.59 [[ 0.99963264 0.0154467 -0.02227055 4.24377589] [-0.01564704 0.99983841 -0.00884975 -0.05799114] [ 0.02213025 0.00919497 0.99971281 -0.59181575] [ 0. 0. 0. 1. ]] SLAMing on 35.211193817 meters Centerline goodness : 0.890124 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.06, Z:-0.59 [[ 9.99765910e-01 1.18466638e-02 -1.81047439e-02 4.25462748e+00] [-1.18995458e-02 9.99925233e-01 -2.81595798e-03 -6.06576937e-02] [ 1.80700305e-02 3.03073702e-03 9.99832130e-01 -5.94091156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193817 meters Centerline goodness : 0.892243 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.9998531 0.01191278 -0.01232346 4.26644299] [-0.01205561 0.99986025 -0.01158193 -0.06021273] [ 0.01218377 0.01172879 0.99985699 -0.59745605] [ 0. 0. 0. 1. ]] SLAMing on 35.271193817 meters Centerline goodness : 0.891617 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.99985316 0.01169001 -0.01253019 4.26661126] [-0.01183659 0.99986163 -0.01168849 -0.06055014] [ 0.01239181 0.01183509 0.99985318 -0.59710153] [ 0. 0. 0. 1. ]] SLAMing on 35.301193817 meters Centerline goodness : 0.891617 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.06, Z:-0.60 [[ 0.99985316 0.01169001 -0.01253019 4.26661126] [-0.01183659 0.99986163 -0.01168849 -0.06055014] [ 0.01239181 0.01183509 0.99985318 -0.59710153] [ 0. 0. 0. 1. ]] SLAMing on 35.331193817 meters Centerline goodness : 0.894556 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99993846 0.00981575 -0.00517047 4.2768704 ] [-0.00984719 0.99993297 -0.00609081 -0.06154356] [ 0.00511033 0.00614135 0.99996808 -0.60034315] [ 0. 0. 0. 1. ]] SLAMing on 35.361193817 meters Centerline goodness : 0.894945 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99994051 0.00945531 -0.00543877 4.27727018] [-0.00949133 0.99993294 -0.00663588 -0.06030649] [ 0.00537566 0.00668711 0.99996319 -0.60013498] [ 0. 0. 0. 1. ]] SLAMing on 35.391193817 meters Centerline goodness : 0.896250 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992949 0.01035888 -0.00580506 4.27974255] [-0.0103934 0.9999283 -0.00594703 -0.05803749] [ 0.00574304 0.00600694 0.99996547 -0.60214381] [ 0. 0. 0. 1. ]] SLAMing on 35.421193817 meters Centerline goodness : 0.894416 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992435 0.01066916 -0.0061213 4.28096328] [-0.01070523 0.99992535 -0.00589019 -0.05724286] [ 0.006058 0.00595527 0.99996392 -0.60288388] [ 0. 0. 0. 1. ]] SLAMing on 35.451193817 meters Centerline goodness : 0.894119 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:-0.60 [[ 0.99992019 0.01088579 -0.00641195 4.28189397] [-0.0109243 0.99992232 -0.0060016 -0.05671949] [ 0.00634612 0.00607116 0.99996143 -0.60333495] [ 0. 0. 0. 1. ]] SLAMing on 35.481193817 meters Centerline goodness : 0.895507 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-0.61 [[ 9.99885710e-01 1.50421983e-02 -1.51623350e-03 4.29374524e+00] [-1.50598695e-02 9.99809598e-01 -1.24084074e-02 -5.67388700e-02] [ 1.32929508e-03 1.24298235e-02 9.99921863e-01 -6.07625951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511193817 meters Centerline goodness : 0.896501 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99837199e-01 1.79246932e-02 -2.06890862e-03 4.29592437e+00] [-1.79431182e-02 9.99796127e-01 -9.26004915e-03 -5.73420126e-02] [ 1.90250329e-03 9.29566428e-03 9.99954985e-01 -6.08778089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541193817 meters Centerline goodness : 0.897388 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99777786e-01 2.09250175e-02 -2.55399752e-03 4.29803207e+00] [-2.09400093e-02 9.99762780e-01 -5.99158018e-03 -5.77311700e-02] [ 2.42801774e-03 6.04372949e-03 9.99978789e-01 -6.09999063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571193817 meters Centerline goodness : 0.893567 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99753570e-01 2.19680599e-02 -3.19444825e-03 4.30028405e+00] [-2.19842620e-02 9.99745163e-01 -5.12852194e-03 -5.78859299e-02] [ 3.08097051e-03 5.19748570e-03 9.99981747e-01 -6.11226375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601193817 meters Centerline goodness : 0.893375 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-0.61 [[ 9.99741319e-01 2.24066922e-02 -3.90316096e-03 4.30349130e+00] [-2.24243608e-02 9.99738219e-01 -4.54337129e-03 -5.99372845e-02] [ 3.80033726e-03 4.62972190e-03 9.99982061e-01 -6.13696720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631193816999996 meters Centerline goodness : 0.894297 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-0.61 [[ 9.99790430e-01 2.03749751e-02 -1.98921663e-03 4.32278056e+00] [-2.03942416e-02 9.99739982e-01 -1.02001357e-02 -5.93662838e-02] [ 1.78087188e-03 1.02385666e-02 9.99945999e-01 -6.14740595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661193817 meters Centerline goodness : 0.895152 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.06, Z:-0.62 [[ 9.99824495e-01 1.86843633e-02 1.36902218e-03 4.34096915e+00] [-1.86616517e-02 9.99712462e-01 -1.50577577e-02 -5.84191832e-02] [-1.64997314e-03 1.50295667e-02 9.99885688e-01 -6.15758953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691193817 meters Centerline goodness : 0.895472 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.9998325 0.01684186 0.0071641 4.35138428] [-0.01678727 0.9998301 -0.00761302 -0.06061403] [-0.0072911 0.00749148 0.99994536 -0.61878043] [ 0. 0. 0. 1. ]] SLAMing on 35.721193817 meters Centerline goodness : 0.894518 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.99983883 0.01661584 0.00679983 4.35194466] [-0.01656416 0.99983401 -0.00758817 -0.0611994 ] [-0.00692479 0.00747431 0.99994809 -0.61854614] [ 0. 0. 0. 1. ]] SLAMing on 35.751193817 meters Centerline goodness : 0.896550 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:-0.62 [[ 0.9998811 0.01420697 0.00599536 4.35446434] [-0.01414561 0.99984838 -0.01015475 -0.0621965 ] [-0.00613872 0.01006873 0.99993047 -0.61992255] [ 0. 0. 0. 1. ]] SLAMing on 35.781193817 meters Centerline goodness : 0.896587 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.99991176 0.0122656 0.00510193 4.37683936] [-0.01218885 0.999816 -0.0148118 -0.06166958] [-0.00528267 0.0147483 0.99987728 -0.62161094] [ 0. 0. 0. 1. ]] SLAMing on 35.811193817 meters Centerline goodness : 0.896854 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.9999225 0.01149927 0.00477125 4.37781853] [-0.01142549 0.99981899 -0.01521317 -0.06214031] [-0.00494532 0.01515748 0.99987289 -0.62198915] [ 0. 0. 0. 1. ]] SLAMing on 35.841193817 meters Centerline goodness : 0.899242 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 0.99993163 0.01078842 0.0045102 4.37827079] [-0.01071779 0.99982395 -0.01540131 -0.06293401] [-0.00467556 0.01535191 0.99987122 -0.62183695] [ 0. 0. 0. 1. ]] SLAMing on 35.871193817 meters Centerline goodness : 0.899310 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-0.62 [[ 9.99971589e-01 6.18562095e-03 4.30809318e-03 4.37846558e+00] [-6.10126022e-03 9.99794595e-01 -1.93272340e-02 -6.45378000e-02] [-4.42675922e-03 1.93004001e-02 9.99803930e-01 -6.21613446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901193817 meters Centerline goodness : 0.899789 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.07, Z:-0.62 [[ 9.99983040e-01 4.57349606e-03 3.60581733e-03 4.38119289e+00] [-4.49910108e-03 9.99782246e-01 -2.03769018e-02 -6.57219971e-02] [-3.69822583e-03 2.03603333e-02 9.99785867e-01 -6.23280124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931193817 meters Centerline goodness : 0.901784 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.07, Z:-0.62 [[ 9.99990079e-01 3.44126304e-03 2.82818991e-03 4.38384247e+00] [-3.38083753e-03 9.99771665e-01 -2.10994664e-02 -6.59847862e-02] [-2.90015295e-03 2.10896954e-02 9.99773381e-01 -6.24678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961193817 meters Centerline goodness : 0.905218 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99993077e-01 2.85109127e-03 2.39113791e-03 4.38544882e+00] [-2.79908222e-03 9.99765379e-01 -2.14791034e-02 -6.57498092e-02] [-2.45181578e-03 2.14722617e-02 9.99766438e-01 -6.25625143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991193817 meters Centerline goodness : 0.901779 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99995212e-01 2.49325742e-03 1.83314297e-03 4.38684542e+00] [-2.45288264e-03 9.99761372e-01 -2.17067403e-02 -6.56381348e-02] [-1.88682602e-03 2.17021398e-02 9.99762700e-01 -6.25951068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021193817 meters Centerline goodness : 0.902597 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99995836e-01 2.45629820e-03 1.51461163e-03 4.38769712e+00] [-2.42304644e-03 9.99764225e-01 -2.15782821e-02 -6.63909395e-02] [-1.56725722e-03 2.15745223e-02 9.99766014e-01 -6.26209943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051193817 meters Centerline goodness : 0.904457 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99985357e-01 5.26536474e-03 1.24955328e-03 4.38823719e+00] [-5.24214150e-03 9.99825813e-01 -1.79126717e-02 -6.89707292e-02] [-1.34365237e-03 1.79058591e-02 9.99838774e-01 -6.26073418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081193817 meters Centerline goodness : 0.904726 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99985999e-01 5.21839468e-03 8.77033939e-04 4.38945338e+00] [-5.20190651e-03 9.99827072e-01 -1.78540288e-02 -6.90823578e-02] [-9.70051643e-04 1.78492165e-02 9.99840219e-01 -6.26673853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111193817 meters Centerline goodness : 0.905655 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99987496e-01 4.99097420e-03 3.14163998e-04 4.39116902e+00] [-4.98455192e-03 9.99827383e-01 -1.78985493e-02 -6.92894763e-02] [-4.03440966e-04 1.78967595e-02 9.99839759e-01 -6.27482609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141193817 meters Centerline goodness : 0.905498 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99989035e-01 4.68010977e-03 -1.64316531e-04 4.39283397e+00] [-4.68230201e-03 9.99828646e-01 -1.79096423e-02 -7.01296665e-02] [ 8.04692824e-05 1.79102153e-02 9.99839596e-01 -6.28435635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171193817 meters Centerline goodness : 0.905864 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99988665e-01 4.73432450e-03 -5.05216028e-04 4.39367812e+00] [-4.74245263e-03 9.99835146e-01 -1.75268624e-02 -7.13826521e-02] [ 4.22154887e-04 1.75290597e-02 9.99846265e-01 -6.28670124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201193817 meters Centerline goodness : 0.903297 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99965793e-01 8.23735625e-03 -7.48162882e-04 4.39400896e+00] [-8.24679337e-03 9.99873037e-01 -1.36345377e-02 -7.20395930e-02] [ 6.35755348e-04 1.36402412e-02 9.99906765e-01 -6.28240644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231193817 meters Centerline goodness : 0.906238 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-0.63 [[ 9.99927170e-01 1.20176710e-02 -1.10879135e-03 4.39487128e+00] [-1.20280223e-02 9.99879084e-01 -9.85617633e-03 -7.17514065e-02] [ 9.90208993e-04 9.86879508e-03 9.99950812e-01 -6.28257194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261193817 meters Centerline goodness : 0.904965 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.63 [[ 9.99870689e-01 1.60078136e-02 -1.53452142e-03 4.39606166e+00] [-1.60167531e-02 9.99853709e-01 -6.00203298e-03 -7.14887943e-02] [ 1.43821751e-03 6.02583490e-03 9.99980810e-01 -6.28552803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291193817 meters Centerline goodness : 0.904545 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-0.63 [[ 9.99800205e-01 1.99079079e-02 -1.79607147e-03 4.39728311e+00] [-1.99120247e-02 9.99799081e-01 -2.30412535e-03 -7.07022364e-02] [ 1.74984029e-03 2.33942841e-03 9.99995733e-01 -6.29270745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321193817 meters Centerline goodness : 0.905181 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.07, Z:-0.63 [[ 9.99768974e-01 2.12877654e-02 2.97154608e-03 4.40992271e+00] [-2.12517646e-02 9.99706134e-01 -1.16622165e-02 -6.56014822e-02] [-3.21893538e-03 1.15963716e-02 9.99927579e-01 -6.33612157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351193817 meters Centerline goodness : 0.906618 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.06, Z:-0.63 [[ 0.99977159 0.02012187 0.00720308 4.42636104] [-0.02000291 0.99966831 -0.0162223 -0.06297157] [-0.00752711 0.01607451 0.99984246 -0.63308238] [ 0. 0. 0. 1. ]] SLAMing on 36.381193816999996 meters Centerline goodness : 0.907229 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.06, Z:-0.63 [[ 0.99978988 0.0193382 0.00679917 4.42648707] [-0.01922423 0.99967993 -0.01644575 -0.06410781] [-0.00711502 0.01631159 0.99984164 -0.63209819] [ 0. 0. 0. 1. ]] SLAMing on 36.411193817 meters Centerline goodness : 0.910190 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.63 [[ 0.99984047 0.01478985 0.01001428 4.43513795] [-0.01468709 0.99983952 -0.01025766 -0.06585069] [-0.01016438 0.01010894 0.99989724 -0.63202246] [ 0. 0. 0. 1. ]] SLAMing on 36.441193817 meters Centerline goodness : 0.909659 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99990574 0.00956711 0.00984776 4.43537813] [-0.00941353 0.99983517 -0.01552485 -0.06356063] [-0.00999466 0.01543068 0.99983099 -0.63190112] [ 0. 0. 0. 1. ]] SLAMing on 36.471193817 meters Centerline goodness : 0.909211 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99992685 0.00782469 0.00922327 4.43752257] [-0.00766833 0.99982833 -0.01686754 -0.06326853] [-0.00935367 0.01679558 0.99981519 -0.63305571] [ 0. 0. 0. 1. ]] SLAMing on 36.501193817 meters Centerline goodness : 0.911287 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.63 [[ 0.99994412 0.00616883 0.00858481 4.43991183] [-0.00601348 0.99981979 -0.0180063 -0.06379087] [-0.00869434 0.01795367 0.99980102 -0.63447 ] [ 0. 0. 0. 1. ]] SLAMing on 36.531193817 meters Centerline goodness : 0.909065 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:-0.64 [[ 0.99995353 0.00512679 0.00816417 4.44181528] [-0.00497379 0.99981366 -0.01865231 -0.06495704] [-0.00825827 0.01861084 0.9997927 -0.63582927] [ 0. 0. 0. 1. ]] SLAMing on 36.561193817 meters Centerline goodness : 0.909961 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.64 [[ 0.99995685 0.00490448 0.00788963 4.44244934] [-0.00475692 0.99981542 -0.01861436 -0.06608758] [-0.00797946 0.01857603 0.99979561 -0.63593701] [ 0. 0. 0. 1. ]] SLAMing on 36.591193817 meters Centerline goodness : 0.911152 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:-0.64 [[ 0.99995918 0.00488107 0.00760348 4.44329623] [-0.00473762 0.99981259 -0.01877065 -0.06568282] [-0.00769367 0.01873386 0.9997949 -0.63631474] [ 0. 0. 0. 1. ]] SLAMing on 36.621193817 meters Centerline goodness : 0.910770 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 0.99996827 0.00515488 0.00607384 4.46640313] [-0.00503136 0.99978374 -0.02017794 -0.06499373] [-0.00617654 0.02014674 0.99977795 -0.63817405] [ 0. 0. 0. 1. ]] SLAMing on 36.651193817 meters Centerline goodness : 0.911101 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 0.99997215 0.00494388 0.00558995 4.46800386] [-0.00482896 0.99978049 -0.02038735 -0.06444004] [-0.00568951 0.02035979 0.99977653 -0.63903905] [ 0. 0. 0. 1. ]] SLAMing on 36.681193817 meters Centerline goodness : 0.909660 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-0.64 [[ 9.99978603e-01 4.28557772e-03 4.94235894e-03 4.47047987e+00] [-4.18173522e-03 9.99774223e-01 -2.08330462e-02 -6.44431990e-02] [-5.03052471e-03 2.08119328e-02 9.99770752e-01 -6.40596138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711193817 meters Centerline goodness : 0.910174 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.07, Z:-0.64 [[ 9.99990322e-01 -7.69073439e-04 4.33189896e-03 4.47346896e+00] [ 8.78963587e-04 9.99676393e-01 -2.54231504e-02 -6.51694637e-02] [-4.31094486e-03 2.54267120e-02 9.99667394e-01 -6.42921281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193817 meters Centerline goodness : 0.908725 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.64 [[ 9.99990422e-01 -2.23772758e-03 3.76137948e-03 4.47610633e+00] [ 2.33528240e-03 9.99655700e-01 -2.61348018e-02 -6.63678754e-02] [-3.70160188e-03 2.61433354e-02 9.99651351e-01 -6.44776791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771193817 meters Centerline goodness : 0.909697 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.65 [[ 9.99988713e-01 -3.61497776e-03 3.08311838e-03 4.47886287e+00] [ 3.69725090e-03 9.99625606e-01 -2.71104880e-02 -6.62052519e-02] [-2.98396027e-03 2.71215811e-02 9.99627689e-01 -6.46519423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801193817 meters Centerline goodness : 0.909589 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-0.65 [[ 9.99988980e-01 -3.73522464e-03 2.84410746e-03 4.47979161e+00] [ 3.81136191e-03 9.99621309e-01 -2.72527576e-02 -6.54284248e-02] [-2.74123525e-03 2.72632971e-02 9.99624529e-01 -6.47034566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831193817 meters Centerline goodness : 0.909683 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.06, Z:-0.65 [[ 9.99996686e-01 -6.77659542e-04 2.48361300e-03 4.48047780e+00] [ 7.36790113e-04 9.99714436e-01 -2.38852204e-02 -6.49247379e-02] [-2.46671772e-03 2.38869712e-02 9.99711622e-01 -6.46835559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861193817 meters Centerline goodness : 0.913277 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.06, Z:-0.65 [[ 0.99996708 0.00536849 0.0060841 4.49736405] [-0.00523276 0.99974188 -0.02210863 -0.06036927] [-0.00620122 0.02207607 0.99973706 -0.64617781] [ 0. 0. 0. 1. ]] SLAMing on 36.891193817 meters Centerline goodness : 0.915092 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.06, Z:-0.65 [[ 0.99993757 0.00961475 0.00569253 4.49810559] [-0.0095092 0.99978755 -0.01828766 -0.05918633] [-0.00586715 0.01823239 0.99981656 -0.64597153] [ 0. 0. 0. 1. ]] SLAMing on 36.921193817 meters Centerline goodness : 0.915290 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.06, Z:-0.65 [[ 0.9999112 0.01172103 0.00634071 4.5196975 ] [-0.01158458 0.99970932 -0.02114405 -0.0553379 ] [-0.00658669 0.02106872 0.99975633 -0.64807335] [ 0. 0. 0. 1. ]] SLAMing on 36.951193817 meters Centerline goodness : 0.913336 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99843004e-01 1.72249957e-02 4.15541482e-03 4.54855186e+00] [-1.71071869e-02 9.99491976e-01 -2.68911558e-02 -5.21948792e-02] [-4.61650381e-03 2.68158465e-02 9.99629731e-01 -6.47969194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981193817 meters Centerline goodness : 0.911261 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99762136e-01 2.13992944e-02 4.21199399e-03 4.54889692e+00] [-2.12952586e-02 9.99500210e-01 -2.33632746e-02 -5.00122756e-02] [-4.70984647e-03 2.32680219e-02 9.99718169e-01 -6.48103113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011193817 meters Centerline goodness : 0.910469 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.05, Z:-0.65 [[ 9.99670286e-01 2.53755004e-02 3.92461281e-03 4.55050422e+00] [-2.52897970e-02 9.99469316e-01 -2.05307867e-02 -4.59325340e-02] [-4.44350907e-03 2.04247648e-02 9.99781518e-01 -6.48878004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041193817 meters Centerline goodness : 0.909463 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.65 [[ 9.99672899e-01 2.53406297e-02 3.45646356e-03 4.55184361e+00] [-2.52620526e-02 9.99457218e-01 -2.11447038e-02 -4.40698411e-02] [-3.99040757e-03 2.10504700e-02 9.99770451e-01 -6.49184518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071193817 meters Centerline goodness : 0.909264 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.65 [[ 9.99679691e-01 2.50953257e-02 3.27712561e-03 4.55180492e+00] [-2.50183544e-02 9.99450848e-01 -2.17275191e-02 -4.28921780e-02] [-3.82058514e-03 2.16385713e-02 9.99758559e-01 -6.48335842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101193817 meters Centerline goodness : 0.912916 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 0.99973132 0.02266906 0.00483766 4.55114979] [-0.02259905 0.99964566 -0.01406554 -0.04379034] [-0.0051548 0.01395244 0.99988937 -0.63991841] [ 0. 0. 0. 1. ]] SLAMing on 37.131193816999996 meters Centerline goodness : 0.912563 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99743766e-01 2.21837737e-02 4.50366007e-03 4.55135321e+00] [-2.21142356e-02 9.99643758e-01 -1.49437935e-02 -4.22439414e-02] [-4.83356541e-03 1.48403694e-02 9.99878193e-01 -6.39026739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161193817 meters Centerline goodness : 0.914874 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99753441e-01 2.18355332e-02 4.03315579e-03 4.55257803e+00] [-2.17697296e-02 9.99639787e-01 -1.56963233e-02 -4.04106695e-02] [-4.37444059e-03 1.56046525e-02 9.99868671e-01 -6.39176816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191193817 meters Centerline goodness : 0.910557 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99754406e-01 2.18658270e-02 3.60744490e-03 4.55395563e+00] [-2.18042975e-02 9.99629458e-01 -1.62947370e-02 -3.82727181e-02] [-3.96240609e-03 1.62120773e-02 9.99860724e-01 -6.39703263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221193817 meters Centerline goodness : 0.910557 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:-0.64 [[ 9.99754406e-01 2.18658270e-02 3.60744490e-03 4.55395563e+00] [-2.18042975e-02 9.99629458e-01 -1.62947370e-02 -3.82727181e-02] [-3.96240609e-03 1.62120773e-02 9.99860724e-01 -6.39703263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251193817 meters Centerline goodness : 0.909110 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99677433e-01 2.52405025e-02 2.81895619e-03 4.55746228e+00] [-2.52015517e-02 9.99596685e-01 -1.30900064e-02 -3.59615466e-02] [-3.14821761e-03 1.30147419e-02 9.99910349e-01 -6.42158067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281193817 meters Centerline goodness : 0.910705 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99671932e-01 2.55141769e-02 2.24837186e-03 4.55943044e+00] [-2.54823079e-02 9.99587908e-01 -1.32160950e-02 -3.49891798e-02] [-2.58464311e-03 1.31544655e-02 9.99910136e-01 -6.43145146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311193817 meters Centerline goodness : 0.908023 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99660767e-01 2.59650264e-02 2.04151535e-03 4.55976156e+00] [-2.59360256e-02 9.99577260e-01 -1.31386165e-02 -3.44303881e-02] [-2.38179684e-03 1.30812106e-02 9.99911601e-01 -6.42868928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341193817 meters Centerline goodness : 0.908967 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99651972e-01 2.63210472e-02 1.77100384e-03 4.56016155e+00] [-2.62955771e-02 9.99567997e-01 -1.31286670e-02 -3.39158343e-02] [-2.11579902e-03 1.30775283e-02 9.99912247e-01 -6.42459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371193817 meters Centerline goodness : 0.907791 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99651097e-01 2.63856200e-02 1.21811197e-03 4.56121166e+00] [-2.63665894e-02 9.99559398e-01 -1.36313289e-02 -3.32181308e-02] [-1.57724633e-03 1.35944554e-02 9.99906347e-01 -6.42135010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401193817 meters Centerline goodness : 0.909438 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99536444e-01 3.04187054e-02 1.26443289e-03 4.56130259e+00] [-3.04055758e-02 9.99493868e-01 -9.35466614e-03 -3.43023394e-02] [-1.54834976e-03 9.31188392e-03 9.99955445e-01 -6.42123693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431193817 meters Centerline goodness : 0.909232 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99536294e-01 3.04337837e-02 9.90930404e-04 4.56183689e+00] [-3.04226271e-02 9.99489055e-01 -9.80268981e-03 -3.31717240e-02] [-1.28875703e-03 9.76799754e-03 9.99951461e-01 -6.41829788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461193817 meters Centerline goodness : 0.908732 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99539934e-01 3.03200393e-02 7.84078171e-04 4.56184909e+00] [-3.03107752e-02 9.99491231e-01 -9.92652049e-03 -3.30586381e-02] [-1.08465175e-03 9.89818762e-03 9.99950423e-01 -6.41165101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491193817 meters Centerline goodness : 0.908956 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:-0.64 [[ 9.99547711e-01 3.00651530e-02 6.78668499e-04 4.56182604e+00] [-3.00570807e-02 9.99500266e-01 -9.78721611e-03 -3.42277442e-02] [-9.72583496e-04 9.76239066e-03 9.99951874e-01 -6.40828829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521193817 meters Centerline goodness : 0.908655 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99557084e-01 2.97541432e-02 5.71166278e-04 4.56207199e+00] [-2.97481883e-02 9.99520951e-01 -8.53893204e-03 -3.91429465e-02] [-8.24961268e-04 8.51815885e-03 9.99963380e-01 -6.41399133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551193817 meters Centerline goodness : 0.910445 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.04, Z:-0.64 [[ 9.99554504e-01 2.98443426e-02 3.29520331e-04 4.56304183e+00] [-2.98409031e-02 9.99524724e-01 -7.73602213e-03 -4.12832529e-02] [-5.60240213e-04 7.72274258e-03 9.99970022e-01 -6.42276299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581193817 meters Centerline goodness : 0.908040 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.04, Z:-0.64 [[ 9.99571243e-01 2.92774959e-02 -3.96915931e-04 4.56611012e+00] [-2.92796874e-02 9.99541502e-01 -7.71272298e-03 -4.25688683e-02] [ 1.70924731e-04 7.72103767e-03 9.99970178e-01 -6.44663027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611193817 meters Centerline goodness : 0.907302 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99547685e-01 3.00596699e-02 -9.16943064e-04 4.56828414e+00] [-3.00645896e-02 9.99530363e-01 -5.93075669e-03 -4.59713533e-02] [ 7.38235845e-04 5.95564163e-03 9.99981993e-01 -6.46523545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193817 meters Centerline goodness : 0.907803 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99601327e-01 2.81701106e-02 -1.90550801e-03 4.57109789e+00] [-2.81842314e-02 9.99571990e-01 -7.84130773e-03 -4.96891296e-02] [ 1.68380193e-03 7.89188690e-03 9.99967441e-01 -6.48180408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671193817 meters Centerline goodness : 0.907937 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99659453e-01 2.59513971e-02 -2.73928731e-03 4.57264948e+00] [-2.59807339e-02 9.99598793e-01 -1.12806743e-02 -4.95204361e-02] [ 2.44543903e-03 1.13480013e-02 9.99932619e-01 -6.48005384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters Centerline goodness : 0.907615 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99628528e-01 2.70556745e-02 -3.28589684e-03 4.57348959e+00] [-2.70880949e-02 9.99580405e-01 -1.02590984e-02 -5.11920025e-02] [ 3.00695127e-03 1.03442961e-02 9.99941975e-01 -6.47525726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731193817 meters Centerline goodness : 0.905813 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:-0.65 [[ 9.99600569e-01 2.80165777e-02 -3.71136086e-03 4.57410705e+00] [-2.80517921e-02 9.99558404e-01 -9.80277826e-03 -5.18495974e-02] [ 3.43508164e-03 9.90297305e-03 9.99945064e-01 -6.46945536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761193817 meters Centerline goodness : 0.906329 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-0.65 [[ 9.99569998e-01 2.90116633e-02 -4.25935580e-03 4.57507911e+00] [-2.90502764e-02 9.99534667e-01 -9.30223164e-03 -5.24160058e-02] [ 3.98750057e-03 9.42196713e-03 9.99947662e-01 -6.46543375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791193817 meters Centerline goodness : 0.903685 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.06, Z:-0.65 [[ 9.99519268e-01 3.06399385e-02 -4.73578943e-03 4.57522221e+00] [-3.06759217e-02 9.99499554e-01 -7.72202346e-03 -5.50455679e-02] [ 4.49681710e-03 7.86358594e-03 9.99958970e-01 -6.45383273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821193817 meters Centerline goodness : 0.909076 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.06, Z:-0.64 [[ 0.99951743 0.03065586 -0.00501303 4.57491375] [-0.03068986 0.99950547 -0.00685163 -0.05819101] [ 0.0048005 0.00700217 0.99996396 -0.64427125] [ 0. 0. 0. 1. ]] SLAMing on 37.851193817 meters Centerline goodness : 0.907160 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.06, Z:-0.64 [[ 0.99959266 0.02806647 -0.0051764 4.57360674] [-0.02811198 0.9995648 -0.00894029 -0.06186244] [ 0.00492322 0.00908217 0.99994664 -0.64244919] [ 0. 0. 0. 1. ]] SLAMing on 37.881193816999996 meters Centerline goodness : 0.906226 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.07, Z:-0.64 [[ 0.99967756 0.02474591 -0.00569272 4.57363117] [-0.02480858 0.99962931 -0.01121485 -0.06636969] [ 0.00541309 0.01135246 0.99992091 -0.64163597] [ 0. 0. 0. 1. ]] SLAMing on 37.911193817 meters Centerline goodness : 0.907305 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-0.64 [[ 0.99982292 0.01793616 -0.00569394 4.57307029] [-0.01802191 0.99971924 -0.01538329 -0.0752116 ] [ 0.00541642 0.01548318 0.99986546 -0.64223113] [ 0. 0. 0. 1. ]] SLAMing on 37.941193817 meters Centerline goodness : 0.908044 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-0.64 [[ 0.99986678 0.01513536 -0.00611011 4.57534688] [-0.01523984 0.99973193 -0.01743019 -0.07880272] [ 0.00584466 0.01752098 0.99982941 -0.64410573] [ 0. 0. 0. 1. ]] SLAMing on 37.971193817 meters Centerline goodness : 0.908696 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-0.65 [[ 0.99987558 0.01420171 -0.00686512 4.57815488] [-0.0143178 0.99975009 -0.01716861 -0.08261346] [ 0.00661958 0.01726476 0.99982904 -0.64572624] [ 0. 0. 0. 1. ]] SLAMing on 38.001193817 meters Centerline goodness : 0.905167 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-0.65 [[ 0.99990127 0.01216934 -0.00702542 4.57819929] [-0.0122914 0.99976955 -0.01760011 -0.09165269] [ 0.00680962 0.01768473 0.99982042 -0.64556007] [ 0. 0. 0. 1. ]] SLAMing on 38.031193817 meters Centerline goodness : 0.908540 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.10, Z:-0.65 [[ 9.99960428e-01 7.95619575e-03 -3.98010270e-03 4.58822716e+00] [-8.00084188e-03 9.99903803e-01 -1.13300794e-02 -9.80224208e-02] [ 3.88957550e-03 1.13614752e-02 9.99927891e-01 -6.46718224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193817 meters Centerline goodness : 0.905137 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.10, Z:-0.65 [[ 9.99975363e-01 5.42634967e-03 -4.45281031e-03 4.58994091e+00] [-5.48449354e-03 9.99898478e-01 -1.31511635e-02 -1.02858085e-01] [ 4.38099544e-03 1.31752609e-02 9.99903605e-01 -6.47719695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091193817 meters Centerline goodness : 0.907117 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.11, Z:-0.65 [[ 9.99977605e-01 4.37182992e-03 -5.06725504e-03 4.59274362e+00] [-4.43817413e-03 9.99903603e-01 -1.31562839e-02 -1.07306855e-01] [ 5.00924954e-03 1.31784786e-02 9.99900613e-01 -6.49597523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters Centerline goodness : 0.905395 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-0.65 [[ 9.99978915e-01 3.04326896e-03 -5.73660710e-03 4.59578792e+00] [-3.12098426e-03 9.99902817e-01 -1.35873420e-02 -1.10514210e-01] [ 5.69469966e-03 1.36049594e-02 9.99891232e-01 -6.51617211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151193817 meters Centerline goodness : 0.907857 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.12, Z:-0.65 [[ 9.99983597e-01 -4.35443993e-05 -5.72753500e-03 4.59494539e+00] [-4.41770710e-05 9.99882722e-01 -1.53147277e-02 -1.15785863e-01] [ 5.72753015e-03 1.53147295e-02 9.99866318e-01 -6.50430908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181193817 meters Centerline goodness : 0.907268 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-0.65 [[ 9.99997603e-01 -2.18865176e-03 6.72313651e-05 4.60633042e+00] [ 2.18913973e-03 9.99962248e-01 -8.40897663e-03 -1.21332284e-01] [-4.88245054e-05 8.40910365e-03 9.99964642e-01 -6.53589448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211193817 meters Centerline goodness : 0.908963 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997715e-01 -2.10468927e-03 -3.74826577e-04 4.60703032e+00] [ 2.10194641e-03 9.99972060e-01 -7.17360216e-03 -1.25885335e-01] [ 3.89914308e-04 7.17279790e-03 9.99974199e-01 -6.53101510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193817 meters Centerline goodness : 0.906119 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997277e-01 -2.20611341e-03 -7.60407479e-04 4.60781520e+00] [ 2.20140687e-03 9.99978753e-01 -6.13573536e-03 -1.30096788e-01] [ 7.73927450e-04 6.13404469e-03 9.99980887e-01 -6.52876857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271193817 meters Centerline goodness : 0.909257 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99997035e-01 -2.14420466e-03 -1.15468037e-03 4.60859897e+00] [ 2.13811451e-03 9.99983933e-01 -5.24997291e-03 -1.32914820e-01] [ 1.16591884e-03 5.24748850e-03 9.99985552e-01 -6.52708243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters Centerline goodness : 0.908606 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99996792e-01 -2.03266754e-03 -1.51168194e-03 4.60962266e+00] [ 2.02526263e-03 9.99986023e-01 -4.88396137e-03 -1.33645925e-01] [ 1.52158828e-03 4.88088415e-03 9.99986931e-01 -6.53057188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331193817 meters Centerline goodness : 0.905569 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99996678e-01 1.74124035e-03 -1.90075143e-03 4.61071215e+00] [-1.74247620e-03 9.99998271e-01 -6.48725132e-04 -1.34957029e-01] [ 1.89961856e-03 6.52034991e-04 9.99997983e-01 -6.53351883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361193817 meters Centerline goodness : 0.906387 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-0.65 [[ 9.99994965e-01 2.26777649e-03 -2.21973551e-03 4.61159594e+00] [-2.26932755e-03 9.99997183e-01 -6.96493862e-04 -1.33602422e-01] [ 2.21814976e-03 7.01527662e-04 9.99997294e-01 -6.53735167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391193817 meters Centerline goodness : 0.902636 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.13, Z:-0.66 [[ 9.99975151e-01 6.81005194e-03 1.82245079e-03 4.62347339e+00] [-6.79538470e-03 9.99945414e-01 -7.93676701e-03 -1.29964349e-01] [-1.87640110e-03 7.92418553e-03 9.99966843e-01 -6.57549114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421193817 meters Centerline goodness : 0.906514 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.13, Z:-0.66 [[ 9.99976939e-01 6.63712106e-03 1.43904226e-03 4.62435520e+00] [-6.62499026e-03 9.99943801e-01 -8.27674152e-03 -1.29208529e-01] [-1.49389512e-03 8.26701701e-03 9.99964712e-01 -6.57673913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451193817 meters Centerline goodness : 0.904718 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99979888e-01 6.27291692e-03 9.35282967e-04 4.62541498e+00] [-6.26456596e-03 9.99942711e-01 -8.67928664e-03 -1.28727570e-01] [-9.89673830e-04 8.67325293e-03 9.99961897e-01 -6.57682375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters Centerline goodness : 0.904862 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99982456e-01 5.89110902e-03 6.18951739e-04 4.62613593e+00] [-5.88524445e-03 9.99941418e-01 -9.08425539e-03 -1.28203741e-01] [-6.72431818e-04 9.08045333e-03 9.99958546e-01 -6.57677421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511193817 meters Centerline goodness : 0.902993 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99981751e-01 6.04137876e-03 -8.06757313e-06 4.62754678e+00] [-6.04118753e-03 9.99937540e-01 -9.40317358e-03 -1.26795788e-01] [-4.87410639e-05 9.40305071e-03 9.99955789e-01 -6.58061326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541193817 meters Centerline goodness : 0.900839 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.13, Z:-0.66 [[ 9.99976239e-01 6.80666083e-03 -1.09096278e-03 4.63246034e+00] [-6.81590403e-03 9.99938878e-01 -8.70542057e-03 -1.26183816e-01] [ 1.03164125e-03 8.71264962e-03 9.99961512e-01 -6.61451166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571193817 meters Centerline goodness : 0.898693 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.66 [[ 9.99971338e-01 7.27047436e-03 -2.11253892e-03 4.63717058e+00] [-7.28794078e-03 9.99938317e-01 -8.38138446e-03 -1.25317176e-01] [ 2.05147197e-03 8.39654029e-03 9.99962644e-01 -6.64747997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193817 meters Centerline goodness : 0.894789 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.12, Z:-0.67 [[ 9.99970085e-01 7.29979375e-03 -2.55764985e-03 4.63879898e+00] [-7.32139876e-03 9.99936712e-01 -8.54220919e-03 -1.24431419e-01] [ 2.49513162e-03 8.56067922e-03 9.99960244e-01 -6.65753055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631193817 meters Centerline goodness : 0.891158 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99970637e-01 7.00864627e-03 -3.09888846e-03 4.63997329e+00] [-7.03379517e-03 9.99941801e-01 -8.18043668e-03 -1.26895666e-01] [ 3.04137433e-03 8.20199343e-03 9.99961738e-01 -6.65792163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters Centerline goodness : 0.891152 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99972522e-01 6.56275444e-03 -3.44749938e-03 4.64107635e+00] [-6.59060553e-03 9.99945229e-01 -8.13037057e-03 -1.28571924e-01] [ 3.39395293e-03 8.15286827e-03 9.99961005e-01 -6.66200506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691193817 meters Centerline goodness : 0.890163 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99973849e-01 6.14936973e-03 -3.80620779e-03 4.64208864e+00] [-6.18069130e-03 9.99946679e-01 -8.27275642e-03 -1.29221551e-01] [ 3.75513260e-03 8.29606507e-03 9.99958536e-01 -6.66498770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721193817 meters Centerline goodness : 0.889167 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99971176e-01 6.35369004e-03 -4.15674868e-03 4.64272803e+00] [-6.38693214e-03 9.99947335e-01 -8.03335221e-03 -1.29175072e-01] [ 4.10548833e-03 8.05966953e-03 9.99959093e-01 -6.66354795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751193817 meters Centerline goodness : 0.888079 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 9.99969751e-01 6.32292355e-03 -4.52974777e-03 4.64357325e+00] [-6.35937374e-03 9.99947150e-01 -8.07815326e-03 -1.29139998e-01] [ 4.47843082e-03 8.10671526e-03 9.99957111e-01 -6.66400787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193817 meters Centerline goodness : 0.886706 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 0.99996653 0.00665499 -0.00475877 4.6435129 ] [-0.00668857 0.99995259 -0.00707644 -0.13229048] [ 0.00471145 0.00710803 0.99996364 -0.6655412 ] [ 0. 0. 0. 1. ]] SLAMing on 38.811193817 meters Centerline goodness : 0.884852 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.13, Z:-0.67 [[ 0.99996646 0.00647501 -0.00501548 4.64403826] [-0.00650866 0.99995623 -0.0067214 -0.13439453] [ 0.00497174 0.00675381 0.99996483 -0.66540933] [ 0. 0. 0. 1. ]] SLAMing on 38.841193817 meters Centerline goodness : 0.885994 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.14, Z:-0.67 [[ 0.99996799 0.00608608 -0.00519439 4.64433769] [-0.00612039 0.9999594 -0.00661418 -0.13599924] [ 0.00515392 0.00664576 0.99996463 -0.6651252 ] [ 0. 0. 0. 1. ]] SLAMing on 38.871193817 meters Centerline goodness : 0.885821 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.66 [[ 0.99996803 0.00569079 -0.00561688 4.64518031] [-0.00572733 0.99996241 -0.00650979 -0.13742501] [ 0.00557962 0.00654175 0.99996304 -0.66497857] [ 0. 0. 0. 1. ]] SLAMing on 38.901193817 meters Centerline goodness : 0.880202 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99996663 0.00550187 -0.00603864 4.64623484] [-0.00553991 0.9999648 -0.00630113 -0.13880238] [ 0.00600376 0.00633437 0.99996191 -0.6651912 ] [ 0. 0. 0. 1. ]] SLAMing on 38.931193817 meters Centerline goodness : 0.882022 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99995812 0.00612605 -0.00679915 4.64968212] [-0.00616426 0.99996524 -0.00561395 -0.13929851] [ 0.00676452 0.00565563 0.99996113 -0.66752813] [ 0. 0. 0. 1. ]] SLAMing on 38.961193817 meters Centerline goodness : 0.878950 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.99995072 0.00644266 -0.00755371 4.6532574 ] [-0.00648243 0.9999652 -0.00525155 -0.1398372 ] [ 0.00751961 0.00530026 0.99995768 -0.67002227] [ 0. 0. 0. 1. ]] SLAMing on 38.991193817 meters Centerline goodness : 0.877555 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-0.67 [[ 0.9999463 0.0065018 -0.00807023 4.65463684] [-0.0065426 0.9999659 -0.00503941 -0.14099447] [ 0.00803719 0.00509193 0.99995474 -0.67045321] [ 0. 0. 0. 1. ]] SLAMing on 39.021193817 meters Centerline goodness : 0.875816 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-0.67 [[ 0.99994325 0.00659625 -0.00836526 4.65534061] [-0.00663552 0.99996706 -0.00467522 -0.14270801] [ 0.00833414 0.00473047 0.99995408 -0.67055836] [ 0. 0. 0. 1. ]] SLAMing on 39.051193817 meters Centerline goodness : 0.877565 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99940557e-01 6.84987528e-03 -8.48303326e-03 4.65560034e+00] [-6.88096593e-03 9.99969696e-01 -3.64129144e-03 -1.46444455e-01] [ 8.45783380e-03 3.69944645e-03 9.99957389e-01 -6.70405429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081193817 meters Centerline goodness : 0.875676 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99939332e-01 6.70568511e-03 -8.73882540e-03 4.65603032e+00] [-6.73437603e-03 9.99972017e-01 -3.25787569e-03 -1.48087976e-01] [ 8.71673457e-03 3.31652858e-03 9.99956509e-01 -6.70132047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111193817 meters Centerline goodness : 0.875676 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-0.67 [[ 9.99939332e-01 6.70568511e-03 -8.73882540e-03 4.65603032e+00] [-6.73437603e-03 9.99972017e-01 -3.25787569e-03 -1.48087976e-01] [ 8.71673457e-03 3.31652858e-03 9.99956509e-01 -6.70132047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193817 meters Centerline goodness : 0.876639 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99970857e-01 7.40171701e-03 -1.87084360e-03 4.66839070e+00] [-7.41957071e-03 9.99925199e-01 -9.72348982e-03 -1.48369295e-01] [ 1.79873314e-03 9.73708731e-03 9.99950976e-01 -6.73715849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171193817 meters Centerline goodness : 0.877249 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99970268e-01 7.39278071e-03 -2.19310816e-03 4.66887164e+00] [-7.41261664e-03 9.99930399e-01 -9.17879265e-03 -1.50754749e-01] [ 2.12509872e-03 9.19477641e-03 9.99955469e-01 -6.73359400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters Centerline goodness : 0.875425 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.15, Z:-0.67 [[ 9.99967394e-01 7.68500236e-03 -2.48023522e-03 4.66922504e+00] [-7.70522861e-03 9.99936272e-01 -8.25114054e-03 -1.54450717e-01] [ 2.41666713e-03 8.26998229e-03 9.99962883e-01 -6.72950137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231193817 meters Centerline goodness : 0.875901 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99965447e-01 7.80620129e-03 -2.85782485e-03 4.66985757e+00] [-7.82860017e-03 9.99938052e-01 -7.91229803e-03 -1.55832141e-01] [ 2.79588282e-03 7.93439741e-03 9.99964614e-01 -6.72709205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters Centerline goodness : 0.871007 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99963370e-01 7.93144889e-03 -3.21720684e-03 4.67061336e+00] [-7.95515666e-03 9.99940795e-01 -7.42443750e-03 -1.57725131e-01] [ 3.15812981e-03 7.44975893e-03 9.99967263e-01 -6.72653952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291193817 meters Centerline goodness : 0.868988 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-0.67 [[ 9.99972774e-01 6.28839146e-03 -3.86111450e-03 4.67308705e+00] [-6.32148806e-03 9.99942863e-01 -8.62025292e-03 -1.62113238e-01] [ 3.80668637e-03 8.64442621e-03 9.99955391e-01 -6.74189280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193817 meters Centerline goodness : 0.866907 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.16, Z:-0.68 [[ 9.99975265e-01 5.45432877e-03 -4.44061490e-03 4.67573516e+00] [-5.49302168e-03 9.99946645e-01 -8.74834886e-03 -1.64969109e-01] [ 4.39266160e-03 8.77252487e-03 9.99951873e-01 -6.75933786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351193817 meters Centerline goodness : 0.871121 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99979815e-01 3.85335721e-03 -5.05178287e-03 4.67888331e+00] [-3.90226698e-03 9.99945264e-01 -9.70784570e-03 -1.68390702e-01] [ 5.01409855e-03 9.72736316e-03 9.99940117e-01 -6.78255046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193817 meters Centerline goodness : 0.869878 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99981730e-01 2.42724212e-03 -5.53601229e-03 4.68200627e+00] [-2.48404230e-03 9.99944111e-01 -1.02764319e-02 -1.71857693e-01] [ 5.51075949e-03 1.02899959e-02 9.99931871e-01 -6.80766441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411193817 meters Centerline goodness : 0.866835 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.17, Z:-0.68 [[ 9.99981181e-01 1.28793230e-03 -5.99831913e-03 4.68456771e+00] [-1.35070979e-03 9.99944238e-01 -1.04735819e-02 -1.74899389e-01] [ 5.98449538e-03 1.04814867e-02 9.99927159e-01 -6.82562332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441193817 meters Centerline goodness : 0.866305 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99980427e-01 1.02544725e-03 -6.17202470e-03 4.68525813e+00] [-1.08613390e-03 9.99951023e-01 -9.83722789e-03 -1.77478003e-01] [ 6.16163486e-03 9.84373900e-03 9.99932565e-01 -6.82766828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471193817 meters Centerline goodness : 0.865091 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99976582e-01 -2.69521889e-03 -6.29052433e-03 4.68531303e+00] [ 2.61389781e-03 9.99913373e-01 -1.29001654e-02 -1.80032790e-01] [ 6.32474817e-03 1.28834205e-02 9.99897002e-01 -6.82280466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501193817 meters Centerline goodness : 0.866842 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.18, Z:-0.68 [[ 9.99974611e-01 -2.67299968e-03 -6.60547832e-03 4.68569583e+00] [ 2.59172359e-03 9.99921209e-01 -1.22824233e-02 -1.82665954e-01] [ 6.63778878e-03 1.22649919e-02 9.99902750e-01 -6.81672634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531193817 meters Centerline goodness : 0.867342 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.19, Z:-0.68 [[ 9.99973682e-01 -2.51900713e-03 -6.80362705e-03 4.68583662e+00] [ 2.44015624e-03 9.99930052e-01 -1.15730781e-02 -1.85281581e-01] [ 6.83230382e-03 1.15561717e-02 9.99909883e-01 -6.81135399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561193817 meters Centerline goodness : 0.868592 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99989279e-01 -4.47406572e-03 -1.19338063e-03 4.69615561e+00] [ 4.46834961e-03 9.99978734e-01 -4.75026089e-03 -1.88559146e-01] [ 1.21460823e-03 4.74487752e-03 9.99988005e-01 -6.84232231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591193817 meters Centerline goodness : 0.864232 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99984855e-01 -5.41164465e-03 -1.00180523e-03 4.69573052e+00] [ 5.40712176e-03 9.99975419e-01 -4.46369499e-03 -1.90450258e-01] [ 1.02593654e-03 4.45821051e-03 9.99989536e-01 -6.83507940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621193817 meters Centerline goodness : 0.860377 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99980345e-01 -6.13253811e-03 -1.30482057e-03 4.69674290e+00] [ 6.12623537e-03 9.99969806e-01 -4.78072488e-03 -1.90319078e-01] [ 1.33409915e-03 4.77263728e-03 9.99987721e-01 -6.83872391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651193817 meters Centerline goodness : 0.857826 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.68 [[ 9.99974610e-01 -6.94583275e-03 -1.59232842e-03 4.69795566e+00] [ 6.93759954e-03 9.99962832e-01 -5.11903804e-03 -1.90413598e-01] [ 1.62782522e-03 5.10786113e-03 9.99985630e-01 -6.84531993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681193817 meters Centerline goodness : 0.858372 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99961796e-01 -8.49245806e-03 -2.06992736e-03 4.70027464e+00] [ 8.47958216e-03 9.99945124e-01 -6.15182391e-03 -1.90686772e-01] [ 2.12205788e-03 6.13403677e-03 9.99978935e-01 -6.86037218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711193817 meters Centerline goodness : 0.858297 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99902525e-01 -1.37902282e-02 -2.18392043e-03 4.70129167e+00] [ 1.37642213e-02 9.99839061e-01 -1.15064531e-02 -1.88145589e-01] [ 2.34224557e-03 1.14752716e-02 9.99931414e-01 -6.86830116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741193817 meters Centerline goodness : 0.856815 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99895180e-01 -1.42924673e-02 -2.31377255e-03 4.70170472e+00] [ 1.42634595e-02 9.99825028e-01 -1.21023435e-02 -1.86913303e-01] [ 2.48634005e-03 1.20680725e-02 9.99924087e-01 -6.86870228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771193817 meters Centerline goodness : 0.857766 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-0.69 [[ 9.99892046e-01 -1.44697600e-02 -2.55398898e-03 4.70210570e+00] [ 1.44363065e-02 9.99815591e-01 -1.26639717e-02 -1.85172662e-01] [ 2.73676263e-03 1.26257344e-02 9.99916547e-01 -6.86671785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801193817 meters Centerline goodness : 0.854962 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-0.69 [[ 9.99930243e-01 -1.14412100e-02 -2.93401031e-03 4.70292887e+00] [ 1.14123409e-02 9.99888076e-01 -9.67434988e-03 -1.83995736e-01] [ 3.04436819e-03 9.64019110e-03 9.99948898e-01 -6.86663807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831193817 meters Centerline goodness : 0.873348 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-0.69 [[ 9.99964590e-01 -7.80064257e-03 -3.15733615e-03 4.70350826e+00] [ 7.78025570e-03 9.99949134e-01 -6.41856783e-03 -1.81525882e-01] [ 3.20724450e-03 6.39377566e-03 9.99974416e-01 -6.86831290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861193817 meters Centerline goodness : 0.858905 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.18, Z:-0.69 [[ 9.99993896e-01 -3.21659281e-03 1.36447864e-03 4.71915940e+00] [ 3.23162336e-03 9.99932500e-01 -1.11602615e-02 -1.76407655e-01] [-1.32848852e-03 1.11646028e-02 9.99936791e-01 -6.92814817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891193817 meters Centerline goodness : 0.864338 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.17, Z:-0.69 [[ 9.99995281e-01 2.93054996e-03 9.22060606e-04 4.72069390e+00] [-2.92481166e-03 9.99976723e-01 -6.16434084e-03 -1.68910787e-01] [-9.40104052e-04 6.16161490e-03 9.99980575e-01 -6.93497645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921193817 meters Centerline goodness : 0.860591 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.17, Z:-0.69 [[ 9.99980517e-01 6.19785419e-03 7.43178199e-04 4.72142488e+00] [-6.19527989e-03 9.99974969e-01 -3.41757557e-03 -1.65894859e-01] [-7.64341232e-04 3.41290479e-03 9.99993884e-01 -6.93810976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951193817 meters Centerline goodness : 0.864444 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.16, Z:-0.70 [[ 0.9999508 0.00867046 0.00481956 4.73661352] [-0.00862162 0.99991219 -0.01006346 -0.16003807] [-0.00490639 0.01002141 0.99993775 -0.69786177] [ 0. 0. 0. 1. ]] SLAMing on 39.981193817 meters Centerline goodness : 0.863842 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99869837e-01 1.54273356e-02 4.72302824e-03 4.73714713e+00] [-1.54059260e-02 9.99871031e-01 -4.53632250e-03 -1.53728420e-01] [-4.79240249e-03 4.46296941e-03 9.99978557e-01 -6.97781450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011193817 meters Centerline goodness : 0.861738 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99867755e-01 1.56446928e-02 4.44038078e-03 4.73799309e+00] [-1.56197368e-02 9.99862321e-01 -5.60034520e-03 -1.49234400e-01] [-4.52738511e-03 5.53024700e-03 9.99974459e-01 -6.98122966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041193817 meters Centerline goodness : 0.862178 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.15, Z:-0.70 [[ 9.99869030e-01 1.56139369e-02 4.25777676e-03 4.73870295e+00] [-1.55854538e-02 9.99856473e-01 -6.64276053e-03 -1.45432246e-01] [-4.36088530e-03 6.57553115e-03 9.99968872e-01 -6.98598392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071193817 meters Centerline goodness : 0.861005 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.14, Z:-0.70 [[ 9.99874016e-01 1.53457408e-02 4.05715156e-03 4.73946890e+00] [-1.53148299e-02 9.99854267e-01 -7.54321340e-03 -1.42683283e-01] [-4.17231650e-03 7.48012849e-03 9.99963319e-01 -6.99051746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101193817 meters Centerline goodness : 0.870011 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.14, Z:-0.70 [[ 9.99883020e-01 1.48001078e-02 3.86045379e-03 4.74027562e+00] [-1.47670176e-02 9.99855140e-01 -8.46368785e-03 -1.40390391e-01] [-3.98515806e-03 8.40569038e-03 9.99956731e-01 -6.99518667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131193817 meters Centerline goodness : 0.866617 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99893614e-01 1.41019112e-02 3.72781856e-03 4.74120837e+00] [-1.40634134e-02 9.99849495e-01 -1.01591685e-02 -1.34090102e-01] [-3.87052119e-03 1.01056618e-02 9.99941446e-01 -7.00267188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161193817 meters Centerline goodness : 0.868126 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99860650e-01 1.63763738e-02 3.23961265e-03 4.74334011e+00] [-1.63501372e-02 9.99834596e-01 -7.96583132e-03 -1.31701514e-01] [-3.36952824e-03 7.91175317e-03 9.99963025e-01 -7.01466406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191193817 meters Centerline goodness : 0.870137 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.13, Z:-0.70 [[ 9.99862170e-01 1.63503935e-02 2.88192318e-03 4.74428063e+00] [-1.63242527e-02 9.99827388e-01 -8.87202470e-03 -1.28484684e-01] [-3.02648682e-03 8.82375663e-03 9.99956490e-01 -7.01814103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221193817 meters Centerline goodness : 0.870646 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.13, Z:-0.70 [[ 9.99861448e-01 1.64500925e-02 2.54558684e-03 4.74521391e+00] [-1.64254552e-02 9.99820772e-01 -9.41425079e-03 -1.26410274e-01] [-2.69999590e-03 9.37113400e-03 9.99952445e-01 -7.02094297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251193817 meters Centerline goodness : 0.870020 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99864572e-01 1.62828777e-02 2.38882371e-03 4.74590890e+00] [-1.62563309e-02 9.99810168e-01 -1.07405585e-02 -1.22803853e-01] [-2.56325744e-03 1.07002705e-02 9.99939465e-01 -7.02695818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193817 meters Centerline goodness : 0.867737 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99874775e-01 1.56700602e-02 2.21009592e-03 4.74690460e+00] [-1.56429373e-02 9.99808039e-01 -1.17975910e-02 -1.20331082e-01] [-2.39454063e-03 1.17615413e-02 9.99927964e-01 -7.03480620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311193817 meters Centerline goodness : 0.870791 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99885033e-01 1.50264426e-02 2.03134912e-03 4.74781222e+00] [-1.49993132e-02 9.99805969e-01 -1.27689322e-02 -1.18015382e-01] [-2.22282660e-03 1.27369954e-02 9.99916411e-01 -7.04129676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters Centerline goodness : 0.869458 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.12, Z:-0.70 [[ 9.99893886e-01 1.44580948e-02 1.78316017e-03 4.74872721e+00] [-1.44323300e-02 9.99801961e-01 -1.37020671e-02 -1.15525262e-01] [-1.98091282e-03 1.36748780e-02 9.99904532e-01 -7.04589002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371193817 meters Centerline goodness : 0.871254 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99890069e-01 1.47788123e-02 1.19855733e-03 4.75197166e+00] [-1.47609906e-02 9.99796928e-01 -1.37191755e-02 -1.12641908e-01] [-1.40106706e-03 1.36999755e-02 9.99905169e-01 -7.07026304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401193817 meters Centerline goodness : 0.871332 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99893112e-01 1.45973119e-02 8.26980448e-04 4.75336031e+00] [-1.45841141e-02 9.99792960e-01 -1.41894535e-02 -1.11304971e-01] [-1.03393711e-03 1.41758761e-02 9.99898983e-01 -7.07848571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431193817 meters Centerline goodness : 0.870388 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-0.71 [[ 9.99895461e-01 1.44517173e-02 4.63701411e-04 4.75462207e+00] [-1.44433993e-02 9.99788879e-01 -1.46145897e-02 -1.09980249e-01] [-6.74809434e-04 1.46063645e-02 9.99893094e-01 -7.08525611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461193817 meters Centerline goodness : 0.872309 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99899637e-01 1.41652767e-02 2.46995445e-04 4.75521148e+00] [-1.41599387e-02 9.99785910e-01 -1.50873921e-02 -1.08908244e-01] [-4.60659650e-04 1.50823805e-02 9.99886148e-01 -7.08686383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491193817 meters Centerline goodness : 0.873578 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99911046e-01 1.33378020e-02 4.66364710e-05 4.75516111e+00] [-1.33354228e-02 9.99787621e-01 -1.57124248e-02 -1.08449841e-01] [-2.56195777e-04 1.57104052e-02 9.99876551e-01 -7.07957338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521193817 meters Centerline goodness : 0.874194 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99920035e-01 1.26420002e-02 -3.20546707e-04 4.75593266e+00] [-1.26455296e-02 9.99789459e-01 -1.61594789e-02 -1.08475734e-01] [ 1.16191082e-04 1.61622402e-02 9.99869376e-01 -7.07963197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551193817 meters Centerline goodness : 0.873379 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99925578e-01 1.21909872e-02 -4.67680276e-04 4.75603571e+00] [-1.21969609e-02 9.99794597e-01 -1.61863265e-02 -1.08926981e-01] [ 2.70256915e-04 1.61908261e-02 9.99868883e-01 -7.07607370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581193817 meters Centerline goodness : 0.874023 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99969151e-01 7.82012672e-03 -7.36830453e-04 4.75647912e+00] [-7.83354867e-03 9.99760632e-01 -2.04282812e-02 -1.08536808e-01] [ 5.76902331e-04 2.04334230e-02 9.99791049e-01 -7.07583996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611193817 meters Centerline goodness : 0.875733 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99976500e-01 6.73867562e-03 -1.26089497e-03 4.75852553e+00] [-6.76381737e-03 9.99753880e-01 -2.11288969e-02 -1.08793661e-01] [ 1.11820386e-03 2.11369289e-02 9.99775965e-01 -7.08806295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641193817 meters Centerline goodness : 0.876264 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99978739e-01 6.34004804e-03 -1.52477541e-03 4.75940996e+00] [-6.37111598e-03 9.99752494e-01 -2.13157192e-02 -1.08820163e-01] [ 1.38925533e-03 2.13249805e-02 9.99771632e-01 -7.09280651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671193817 meters Centerline goodness : 0.880046 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99979727e-01 6.11343499e-03 -1.78085588e-03 4.76007666e+00] [-6.15044185e-03 9.99748329e-01 -2.15743173e-02 -1.07732535e-01] [ 1.64851450e-03 2.15848330e-02 9.99765661e-01 -7.09432510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701193817 meters Centerline goodness : 0.875678 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-0.71 [[ 9.99963301e-01 8.21502740e-03 -2.43095644e-03 4.76225163e+00] [-8.25995225e-03 9.99783716e-01 -1.90865240e-02 -1.06562788e-01] [ 2.27363435e-03 1.91059031e-02 9.99814880e-01 -7.10351158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731193817 meters Centerline goodness : 0.874049 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99923956e-01 1.20811672e-02 -2.47548894e-03 4.76177025e+00] [-1.21195718e-02 9.99796361e-01 -1.61354641e-02 -1.02772554e-01] [ 2.28004960e-03 1.61642390e-02 9.99866750e-01 -7.09129456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761193817 meters Centerline goodness : 0.872512 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99871545e-01 1.57999510e-02 -2.69347029e-03 4.76216392e+00] [-1.58329333e-02 9.99794012e-01 -1.26985144e-02 -1.01674211e-01] [ 2.49227956e-03 1.27395288e-02 9.99915743e-01 -7.08797201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791193817 meters Centerline goodness : 0.876911 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99803382e-01 1.96130549e-02 -2.91999511e-03 4.76268031e+00] [-1.96397504e-02 9.99762809e-01 -9.41303080e-03 -9.98641006e-02] [ 2.73468423e-03 9.46852800e-03 9.99951433e-01 -7.08556247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821193817 meters Centerline goodness : 0.876119 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.10, Z:-0.71 [[ 9.99721277e-01 2.33997044e-02 -3.13400591e-03 4.76356829e+00] [-2.34187999e-02 9.99706507e-01 -6.20156509e-03 -9.76468508e-02] [ 2.98797131e-03 6.27323123e-03 9.99975859e-01 -7.08866543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851193817 meters Centerline goodness : 0.876101 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99560725e-01 2.96370026e-02 -7.69654815e-05 4.78060279e+00] [-2.96362935e-02 9.99510882e-01 -9.98435878e-03 -9.09257528e-02] [-2.18978630e-04 9.98225387e-03 9.99950152e-01 -7.14628155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193817 meters Centerline goodness : 0.876799 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99541190e-01 3.02765042e-02 -8.62240797e-04 4.78239948e+00] [-3.02841784e-02 9.99480499e-01 -1.10272812e-02 -8.80027189e-02] [ 5.27925336e-04 1.10483341e-02 9.99938826e-01 -7.14443717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911193817 meters Centerline goodness : 0.877644 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.71 [[ 9.99529131e-01 3.06462710e-02 -1.52418394e-03 4.78346867e+00] [-3.06620955e-02 9.99460704e-01 -1.17531688e-02 -8.59137475e-02] [ 1.16317116e-03 1.17943693e-02 9.99929767e-01 -7.13768282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters Centerline goodness : 0.876368 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.08, Z:-0.71 [[ 9.99522430e-01 3.08321860e-02 -2.07094731e-03 4.78436939e+00] [-3.08557108e-02 9.99445736e-01 -1.24958387e-02 -8.41570180e-02] [ 1.68452543e-03 1.25537716e-02 9.99919779e-01 -7.13202251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971193817 meters Centerline goodness : 0.884172 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.71 [[ 9.99498661e-01 3.15425873e-02 -2.73703494e-03 4.78628343e+00] [-3.15757101e-02 9.99416222e-01 -1.30457119e-02 -8.23744834e-02] [ 2.32394161e-03 1.31255954e-02 9.99911155e-01 -7.13740079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193817 meters Centerline goodness : 0.878260 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99417026e-01 3.39791320e-02 -3.32062934e-03 4.78880428e+00] [-3.40115310e-02 9.99368947e-01 -1.02432008e-02 -8.33294648e-02] [ 2.97047877e-03 1.03501690e-02 9.99942023e-01 -7.15419185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031193817 meters Centerline goodness : 0.879993 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99402775e-01 3.43507238e-02 -3.75785703e-03 4.78959279e+00] [-3.43885421e-02 9.99353272e-01 -1.05102808e-02 -8.29028052e-02] [ 3.39439096e-03 1.06332311e-02 9.99937704e-01 -7.15096383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193817 meters Centerline goodness : 0.879993 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-0.72 [[ 9.99402775e-01 3.43507238e-02 -3.75785703e-03 4.78959279e+00] [-3.43885421e-02 9.99353272e-01 -1.05102808e-02 -8.29028052e-02] [ 3.39439096e-03 1.06332311e-02 9.99937704e-01 -7.15096383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091193817 meters Centerline goodness : 0.879457 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99352321e-01 3.58111834e-02 -3.53509184e-03 4.78730822e+00] [-3.58392687e-02 9.99323681e-01 -8.22971075e-03 -8.72846185e-02] [ 3.23798531e-03 8.35107565e-03 9.99959887e-01 -7.12689240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters Centerline goodness : 0.886904 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99372598e-01 3.52434904e-02 -3.50808107e-03 4.78711613e+00] [-3.52682410e-02 9.99351490e-01 -7.26291648e-03 -9.11751928e-02] [ 3.24983552e-03 7.38208356e-03 9.99967471e-01 -7.12963381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151193817 meters Centerline goodness : 0.879842 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-0.71 [[ 9.99489410e-01 3.17262117e-02 -3.79036398e-03 4.78717083e+00] [-3.17625190e-02 9.99446047e-01 -9.93692565e-03 -9.40157616e-02] [ 3.47300329e-03 1.00522435e-02 9.99943444e-01 -7.12980030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181193817 meters Centerline goodness : 0.880239 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.10, Z:-0.71 [[ 9.99597084e-01 2.80876618e-02 -4.09298731e-03 4.78773515e+00] [-2.81350632e-02 9.99531806e-01 -1.20244225e-02 -9.82963579e-02] [ 3.75333308e-03 1.21347341e-02 9.99919327e-01 -7.13959991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211193817 meters Centerline goodness : 0.881747 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.11, Z:-0.71 [[ 9.99854010e-01 1.64453916e-02 -4.63763844e-03 4.77989362e+00] [-1.64543510e-02 9.99862812e-01 -1.90041079e-03 -1.11228407e-01] [ 4.60574921e-03 1.97644268e-03 9.99987440e-01 -7.13602061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241193817 meters Centerline goodness : 0.882298 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.11, Z:-0.71 [[ 0.99991228 0.01228367 -0.00495417 4.78051474] [-0.01231005 0.99991002 -0.00533002 -0.11391203] [ 0.00488825 0.00539054 0.99997352 -0.71371931] [ 0. 0. 0. 1. ]] SLAMing on 41.271193817 meters Centerline goodness : 0.884069 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99991882 0.01161381 -0.00524187 4.78116178] [-0.01163978 0.99991999 -0.00495192 -0.11668039] [ 0.00518394 0.00501253 0.999974 -0.71374883] [ 0. 0. 0. 1. ]] SLAMing on 41.301193817 meters Centerline goodness : 0.889497 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 9.99920652e-01 1.13163772e-02 -5.53436420e-03 4.78173335e+00] [-1.13425858e-02 9.99924496e-01 -4.72736184e-03 -1.18362296e-01] [ 5.48044973e-03 4.78976073e-03 9.99973511e-01 -7.13671810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331193817 meters Centerline goodness : 0.885569 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99994897 0.00845051 -0.00553557 4.78167337] [-0.00849525 0.99993103 -0.00811004 -0.11753632] [ 0.00546665 0.00815666 0.99995179 -0.71363235] [ 0. 0. 0. 1. ]] SLAMing on 41.361193817 meters Centerline goodness : 0.885011 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 0.99994426 0.00880354 -0.00582895 4.78248548] [-0.00884927 0.99992989 -0.00786758 -0.11804845] [ 0.00575928 0.00791872 0.99995206 -0.71392529] [ 0. 0. 0. 1. ]] SLAMing on 41.391193817 meters Centerline goodness : 0.884724 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-0.71 [[ 9.99894112e-01 1.32251653e-02 -6.07116410e-03 4.78270948e+00] [-1.32484774e-02 9.99904954e-01 -3.81578046e-03 -1.17895846e-01] [ 6.02012274e-03 3.89581010e-03 9.99974290e-01 -7.13389993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193817 meters Centerline goodness : 0.885775 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99866177e-01 1.63521653e-02 4.83677214e-04 4.79321317e+00] [-1.63464172e-02 9.99814885e-01 -1.01483780e-02 -1.15169884e-01] [-6.49535633e-04 1.01391136e-02 9.99948387e-01 -7.16563190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451193817 meters Centerline goodness : 0.885495 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99795020e-01 2.02414212e-02 4.50331868e-04 4.79313128e+00] [-2.02382558e-02 9.99776102e-01 -6.17724063e-03 -1.15338913e-01] [-5.75267169e-04 6.16686049e-03 9.99980819e-01 -7.16052265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481193817 meters Centerline goodness : 0.891248 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99703462e-01 2.43476434e-02 4.24569851e-04 4.79328681e+00] [-2.43467411e-02 9.99701544e-01 -2.01449453e-03 -1.16042721e-01] [-4.73491330e-04 2.00356026e-03 9.99997881e-01 -7.15823859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511193817 meters Centerline goodness : 0.888787 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99567905e-01 2.93924399e-02 2.97797712e-04 4.79397628e+00] [-2.93931243e-02 9.99564446e-01 2.63883933e-03 -1.17673077e-01] [-2.20106079e-04 -2.64645230e-03 9.99996474e-01 -7.16118183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541193817 meters Centerline goodness : 0.891747 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-0.72 [[ 9.99529408e-01 3.06629344e-02 -8.64442012e-04 4.79668322e+00] [-3.06601268e-02 9.99525082e-01 3.09293965e-03 -1.18591787e-01] [ 9.58870080e-04 -3.06498024e-03 9.99994843e-01 -7.16612236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571193817 meters Centerline goodness : 0.892292 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-0.72 [[ 9.99488134e-01 3.19292201e-02 -1.99885902e-03 4.79931283e+00] [-3.19217238e-02 9.99483611e-01 3.67613869e-03 -1.19895354e-01] [ 2.11520308e-03 -3.61044998e-03 9.99991245e-01 -7.17094863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193817 meters Centerline goodness : 0.889367 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99353954e-01 3.44230614e-02 -1.03309466e-02 4.78938245e+00] [-3.43901114e-02 9.99402869e-01 3.35037714e-03 -1.21774107e-01] [ 1.04401079e-02 -2.99293024e-03 9.99941022e-01 -7.16094254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631193817 meters Centerline goodness : 0.890752 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-0.72 [[ 9.99308391e-01 3.54969168e-02 -1.10773809e-02 4.79138133e+00] [-3.54487449e-02 9.99361296e-01 4.51519237e-03 -1.23940384e-01] [ 1.12305812e-02 -4.11939037e-03 9.99928450e-01 -7.16959080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661193817 meters Centerline goodness : 0.888914 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-0.72 [[ 0.99926068 0.03657926 -0.01183418 4.79338934] [-0.03651256 0.99931634 0.0058036 -0.12657837] [ 0.01203838 -0.00536721 0.99991313 -0.71786127] [ 0. 0. 0. 1. ]] SLAMing on 41.691193817 meters Centerline goodness : 0.887510 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-0.72 [[ 0.99920974 0.03771851 -0.01253823 4.79509536] [-0.03762453 0.99926267 0.00764877 -0.13078272] [ 0.01281748 -0.00717099 0.99989214 -0.71862543] [ 0. 0. 0. 1. ]] SLAMing on 41.721193817 meters Centerline goodness : 0.889871 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-0.72 [[ 9.99281843e-01 3.53176796e-02 -1.37280373e-02 4.79708474e+00] [-3.52500248e-02 9.99365310e-01 5.13941335e-03 -1.34545956e-01] [ 1.39008364e-02 -4.65180879e-03 9.99892558e-01 -7.18626228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751193817 meters Centerline goodness : 0.888029 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.15, Z:-0.72 [[ 9.99467511e-01 2.97400330e-02 -1.34247746e-02 4.79454368e+00] [-2.97293830e-02 9.99557492e-01 9.92223866e-04 -1.46923432e-01] [ 1.34483428e-02 -5.92585251e-04 9.99909391e-01 -7.17028351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781193817 meters Centerline goodness : 0.886134 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.15, Z:-0.72 [[ 0.99967698 0.02388941 -0.00867419 4.80411926] [-0.02384551 0.99970249 0.00513004 -0.15382189] [ 0.00879417 -0.00492154 0.99994922 -0.71884605] [ 0. 0. 0. 1. ]] SLAMing on 41.811193817 meters Centerline goodness : 0.889220 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.16, Z:-0.72 [[ 9.99822408e-01 1.66345055e-02 -8.85697052e-03 4.80410718e+00] [-1.66499393e-02 9.99859983e-01 -1.67167898e-03 -1.56834709e-01] [ 8.82792284e-03 1.81885013e-03 9.99959379e-01 -7.18811506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters Centerline goodness : 0.890451 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.16, Z:-0.72 [[ 9.99879067e-01 1.26944743e-02 -8.98342746e-03 4.80432305e+00] [-1.27337563e-02 9.99909551e-01 -4.32911094e-03 -1.62091053e-01] [ 8.92765913e-03 4.44298018e-03 9.99950277e-01 -7.18769799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871193817 meters Centerline goodness : 0.892178 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.17, Z:-0.72 [[ 0.99994465 0.00585372 -0.00874279 4.80324064] [-0.00592667 0.99994764 -0.00834205 -0.17302955] [ 0.0086935 0.0083934 0.99992698 -0.71762627] [ 0. 0. 0. 1. ]] SLAMing on 41.901193817 meters Centerline goodness : 0.891917 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-0.72 [[ 9.99987611e-01 5.71323454e-04 -4.94484868e-03 4.81250834e+00] [-5.87506553e-04 9.99994475e-01 -3.27188518e-03 -1.78936309e-01] [ 4.94295206e-03 3.27474978e-03 9.99982421e-01 -7.18924393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931193817 meters Centerline goodness : 0.893633 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-0.72 [[ 9.99981723e-01 -3.19317414e-03 -5.13384696e-03 4.81317119e+00] [ 3.16124024e-03 9.99975681e-01 -6.21639622e-03 -1.82504027e-01] [ 5.15357215e-03 6.20005329e-03 9.99967499e-01 -7.19202401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961193817 meters Centerline goodness : 0.896156 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-0.72 [[ 0.99996084 -0.00709463 -0.00529045 4.81391041] [ 0.007045 0.99993155 -0.00934182 -0.18555405] [ 0.00535636 0.00930418 0.99994237 -0.71964628] [ 0. 0. 0. 1. ]] SLAMing on 41.991193817 meters Centerline goodness : 0.897435 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.19, Z:-0.72 [[ 0.99986894 -0.01526671 -0.0053884 4.81430133] [ 0.015178 0.99975461 -0.0161355 -0.19061067] [ 0.00563342 0.0160516 0.99985529 -0.7194741 ] [ 0. 0. 0. 1. ]] SLAMing on 42.021193817 meters Centerline goodness : 0.894811 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.19, Z:-0.72 [[ 0.99985618 -0.01597067 -0.00570545 4.8152069 ] [ 0.01587927 0.99975032 -0.01572068 -0.19423999] [ 0.00595509 0.01562782 0.99986014 -0.71946171] [ 0. 0. 0. 1. ]] SLAMing on 42.051193817 meters Centerline goodness : 0.897607 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985208 -0.01614553 -0.00592731 4.81546204] [ 0.01605397 0.99975584 -0.01518331 -0.19685473] [ 0.00617101 0.01508591 0.99986716 -0.71901538] [ 0. 0. 0. 1. ]] SLAMing on 42.081193817 meters Centerline goodness : 0.900457 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985101 -0.01611064 -0.00619753 4.81575377] [ 0.01601816 0.99976373 -0.01469341 -0.19880542] [ 0.00643278 0.01459195 0.99987284 -0.71856719] [ 0. 0. 0. 1. ]] SLAMing on 42.111193817 meters Centerline goodness : 0.898312 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99985526 -0.01576278 -0.00640331 4.81627909] [ 0.0156701 0.99977532 -0.01427431 -0.19981831] [ 0.00662688 0.0141719 0.99987761 -0.71867412] [ 0. 0. 0. 1. ]] SLAMing on 42.141193817 meters Centerline goodness : 0.900786 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99990632 -0.01185617 -0.00683967 4.81747363] [ 0.01178746 0.99988051 -0.01000116 -0.20088736] [ 0.00695743 0.0099196 0.9999266 -0.71913048] [ 0. 0. 0. 1. ]] SLAMing on 42.171193817 meters Centerline goodness : 0.893950 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 0.99993463 -0.00869748 -0.00742226 4.82024793] [ 0.00864832 0.99994062 -0.00662984 -0.20116447] [ 0.00747948 0.00656522 0.99995048 -0.72110499] [ 0. 0. 0. 1. ]] SLAMing on 42.201193817000004 meters Centerline goodness : 0.893553 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.20, Z:-0.72 [[ 9.99950173e-01 -5.87115022e-03 -8.07343398e-03 4.82306409e+00] [ 5.84231493e-03 9.99976487e-01 -3.59058468e-03 -2.01890063e-01] [ 8.09432501e-03 3.54323823e-03 9.99960963e-01 -7.22912569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231193817 meters Centerline goodness : 0.890634 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.20, Z:-0.72 [[ 9.99954433e-01 -3.86705987e-03 -8.72802268e-03 4.82568374e+00] [ 3.85219113e-03 9.99991102e-01 -1.71973138e-03 -2.02808655e-01] [ 8.73459532e-03 1.68603101e-03 9.99960431e-01 -7.24543974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261193817 meters Centerline goodness : 0.892236 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99986313e-01 1.65129233e-03 -4.96460785e-03 4.83810712e+00] [-1.69110174e-03 9.99966368e-01 -8.02516487e-03 -2.01267390e-01] [ 4.95118898e-03 8.03345069e-03 9.99955474e-01 -7.29008482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291193817 meters Centerline goodness : 0.891828 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99978454e-01 3.45270015e-03 -5.58309882e-03 4.84092803e+00] [-3.48745651e-03 9.99974527e-01 -6.22757553e-03 -2.02080855e-01] [ 5.56145465e-03 6.24691216e-03 9.99965023e-01 -7.30906831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193817 meters Centerline goodness : 0.891361 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-0.73 [[ 9.99976482e-01 3.52944100e-03 -5.88041151e-03 4.84201258e+00] [-3.56485965e-03 9.99975504e-01 -6.02360255e-03 -2.02980048e-01] [ 5.85900751e-03 6.04442373e-03 9.99964568e-01 -7.31501618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351193817 meters Centerline goodness : 0.890659 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99977540e-01 3.27291471e-03 -5.84866365e-03 4.84244214e+00] [-3.30462036e-03 9.99979854e-01 -5.41959212e-03 -2.05815606e-01] [ 5.83080796e-03 5.43879801e-03 9.99968210e-01 -7.31916552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193817 meters Centerline goodness : 0.892856 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99977217e-01 2.88085148e-03 -6.10459872e-03 4.84288502e+00] [-2.91311306e-03 9.99981804e-01 -5.28251568e-03 -2.07109630e-01] [ 6.08926950e-03 5.30017872e-03 9.99967414e-01 -7.31677503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411193817 meters Centerline goodness : 0.894704 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-0.73 [[ 9.99976167e-01 2.68445640e-03 -6.36082011e-03 4.84314695e+00] [-2.71698640e-03 9.99983248e-01 -5.11101109e-03 -2.08435353e-01] [ 6.34699326e-03 5.12817154e-03 9.99966708e-01 -7.31201439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters Centerline goodness : 0.901373 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.21, Z:-0.73 [[ 9.99991702e-01 4.06006611e-03 -3.33259593e-04 4.85517454e+00] [-4.06392467e-03 9.99913178e-01 -1.25347962e-02 -2.08234032e-01] [ 2.82338557e-04 1.25360465e-02 9.99921381e-01 -7.34596380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471193817 meters Centerline goodness : 0.902732 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99983786e-01 5.69359066e-03 -1.02044614e-04 4.85241767e+00] [-5.69438473e-03 9.99918580e-01 -1.14196028e-02 -2.08188519e-01] [ 3.70177619e-05 1.14199987e-02 9.99934789e-01 -7.31559309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193817 meters Centerline goodness : 0.899353 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99956541e-01 9.32132362e-03 -1.71052738e-04 4.85240871e+00] [-9.32236814e-03 9.99926614e-01 -7.73694573e-03 -2.07603052e-01] [ 9.89216101e-05 7.73820410e-03 9.99970055e-01 -7.31018358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531193817 meters Centerline goodness : 0.901975 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-0.73 [[ 9.99915012e-01 1.30332322e-02 -3.22375271e-04 4.85269376e+00] [-1.30344621e-02 9.99906379e-01 -4.16357443e-03 -2.06336885e-01] [ 2.68080258e-04 4.16742256e-03 9.99991280e-01 -7.30719875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561193817 meters Centerline goodness : 0.904584 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.20, Z:-0.74 [[ 9.99865055e-01 1.58156698e-02 4.44251750e-03 4.86723038e+00] [-1.57662406e-02 9.99815752e-01 -1.09493574e-02 -2.01830591e-01] [-4.61487040e-03 1.08778380e-02 9.99930185e-01 -7.35283937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591193817 meters Centerline goodness : 0.902158 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.20, Z:-0.74 [[ 0.99977355 0.01981105 0.00777003 4.88399924] [-0.01967256 0.99965308 -0.0175129 -0.19542353] [-0.00811428 0.01735608 0.99981645 -0.74150016] [ 0. 0. 0. 1. ]] SLAMing on 42.621193817 meters Centerline goodness : 0.901819 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.74 [[ 0.99975183 0.02112327 0.00707648 4.88796628] [-0.02100475 0.99964446 -0.01642421 -0.19467297] [-0.0074209 0.01627149 0.99984007 -0.74463472] [ 0. 0. 0. 1. ]] SLAMing on 42.651193817 meters Centerline goodness : 0.901534 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.75 [[ 0.99975542 0.02104914 0.00678524 4.88942519] [-0.02093313 0.99964077 -0.01673701 -0.19409075] [-0.0071351 0.01659088 0.9998369 -0.74583317] [ 0. 0. 0. 1. ]] SLAMing on 42.681193817 meters Centerline goodness : 0.900770 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-0.75 [[ 0.99977611 0.02015582 0.00643953 4.89128223] [-0.02004045 0.99964591 -0.01750509 -0.1941932 ] [-0.00679008 0.01737212 0.99982604 -0.74732352] [ 0. 0. 0. 1. ]] SLAMing on 42.711193817 meters Centerline goodness : 0.897359 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.20, Z:-0.75 [[ 0.99979884 0.01918058 0.00586301 4.89312292] [-0.01907294 0.99965794 -0.01789488 -0.19552364] [-0.00620424 0.01777945 0.99982268 -0.74815472] [ 0. 0. 0. 1. ]] SLAMing on 42.741193817 meters Centerline goodness : 0.900602 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 0.9998268 0.01789035 0.00512794 4.89556142] [-0.01779314 0.99967211 -0.01841416 -0.19746565] [-0.00545569 0.01831973 0.99981729 -0.74932937] [ 0. 0. 0. 1. ]] SLAMing on 42.771193817 meters Centerline goodness : 0.895659 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 9.99845548e-01 1.69960153e-02 4.47398693e-03 4.89791084e+00] [-1.69101401e-02 9.99684382e-01 -1.85791369e-02 -1.99692377e-01] [-4.78834616e-03 1.85006116e-02 9.99817383e-01 -7.50686615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801193817 meters Centerline goodness : 0.896068 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-0.75 [[ 9.99862871e-01 1.61216963e-02 3.78563964e-03 4.90075126e+00] [-1.60480901e-02 9.99695789e-01 -1.87293425e-02 -2.02435999e-01] [-4.08643678e-03 1.86660218e-02 9.99817424e-01 -7.52549702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831193817 meters Centerline goodness : 0.894644 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.21, Z:-0.75 [[ 9.99860678e-01 1.63315413e-02 3.45037071e-03 4.90209645e+00] [-1.62681501e-02 9.99711621e-01 -1.76641758e-02 -2.06092832e-01] [-3.73785891e-03 1.76055837e-02 9.99838023e-01 -7.53405552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861193817 meters Centerline goodness : 0.894168 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.21, Z:-0.76 [[ 9.99856421e-01 1.67143631e-02 2.78686538e-03 4.90587837e+00] [-1.66678699e-02 9.99733920e-01 -1.59458642e-02 -2.12187860e-01] [-3.05264882e-03 1.58971236e-02 9.99868973e-01 -7.56519234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891193817 meters Centerline goodness : 0.895325 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99849113e-01 1.71791251e-02 2.57483916e-03 4.90639894e+00] [-1.71392475e-02 9.99743827e-01 -1.47826134e-02 -2.15182339e-01] [-2.82813192e-03 1.47362521e-02 9.99887416e-01 -7.56598731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193817 meters Centerline goodness : 0.897886 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99845727e-01 1.74160169e-02 2.28130631e-03 4.90678653e+00] [-1.73831541e-02 9.99754905e-01 -1.37096699e-02 -2.18841859e-01] [-2.51951502e-03 1.36678985e-02 9.99903416e-01 -7.56248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951193817000004 meters Centerline goodness : 0.897886 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99845727e-01 1.74160169e-02 2.28130631e-03 4.90678653e+00] [-1.73831541e-02 9.99754905e-01 -1.37096699e-02 -2.18841859e-01] [-2.51951502e-03 1.36678985e-02 9.99903416e-01 -7.56248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters Centerline goodness : 0.899578 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.22, Z:-0.76 [[ 9.99841513e-01 1.76577769e-02 2.26964736e-03 4.90632441e+00] [-1.76280016e-02 9.99766098e-01 -1.25301024e-02 -2.22548225e-01] [-2.49037024e-03 1.24881071e-02 9.99918919e-01 -7.55426449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011193817 meters Centerline goodness : 0.902405 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99853056e-01 1.70202070e-02 2.04445898e-03 4.90673039e+00] [-1.69956909e-02 9.99789846e-01 -1.14634648e-02 -2.28260445e-01] [-2.23913987e-03 1.14270333e-02 9.99932202e-01 -7.54976136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041193817 meters Centerline goodness : 0.902219 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99862856e-01 1.64815889e-02 1.62038983e-03 4.90787615e+00] [-1.64621689e-02 9.99800123e-01 -1.13450894e-02 -2.30109334e-01] [-1.80705105e-03 1.13168583e-02 9.99934329e-01 -7.55218869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071193817 meters Centerline goodness : 0.904540 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99870837e-01 1.60230942e-02 1.25284098e-03 4.90854989e+00] [-1.60082100e-02 9.99810208e-01 -1.11034170e-02 -2.32249948e-01] [-1.43051430e-03 1.10819271e-02 9.99937570e-01 -7.54954810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193817 meters Centerline goodness : 0.907062 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99908643e-01 1.34406636e-02 1.43290871e-03 4.90638130e+00] [-1.34197222e-02 9.99815545e-01 -1.37399864e-02 -2.33314718e-01] [-1.61731894e-03 1.37195019e-02 9.99904575e-01 -7.52774002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131193817 meters Centerline goodness : 0.911127 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.24, Z:-0.75 [[ 9.99899624e-01 1.40512465e-02 1.81806464e-03 4.90349237e+00] [-1.40276652e-02 9.99824827e-01 -1.23911319e-02 -2.36081224e-01] [-1.99185702e-03 1.23643849e-02 9.99921574e-01 -7.49497272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters Centerline goodness : 0.912817 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.23, Z:-0.75 [[ 9.99905538e-01 1.36453037e-02 1.64953280e-03 4.90415379e+00] [-1.36225012e-02 9.99821082e-01 -1.31237043e-02 -2.34253204e-01] [-1.82831460e-03 1.30999938e-02 9.99912520e-01 -7.49888894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191193817 meters Centerline goodness : 0.912778 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.75 [[ 9.99883927e-01 1.51964088e-02 1.09600822e-03 4.90741463e+00] [-1.51829021e-02 9.99819426e-01 -1.14277911e-02 -2.33001067e-01] [-1.26947169e-03 1.14098240e-02 9.99934100e-01 -7.52336545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221193817 meters Centerline goodness : 0.909602 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99853029e-01 1.71359890e-02 5.28377731e-04 4.91114463e+00] [-1.71299541e-02 9.99804720e-01 -9.85321821e-03 -2.29711733e-01] [-6.97119188e-04 9.84271898e-03 9.99951316e-01 -7.55528143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251193817 meters Centerline goodness : 0.909647 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99854329e-01 1.70645522e-02 3.49701172e-04 4.91166511e+00] [-1.70600555e-02 9.99801585e-01 -1.02831989e-02 -2.28629414e-01] [-5.25109971e-04 1.02757350e-02 9.99947065e-01 -7.55724144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193817 meters Centerline goodness : 0.907427 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99855907e-01 1.69750202e-02 1.13894685e-04 4.91188173e+00] [-1.69728386e-02 9.99799005e-01 -1.06710776e-02 -2.27949613e-01] [-2.95013550e-04 1.06676068e-02 9.99943056e-01 -7.55345540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311193817 meters Centerline goodness : 0.905256 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99859742e-01 1.67480463e-02 9.02180446e-06 4.91194412e+00] [-1.67469114e-02 9.99797980e-01 -1.11148883e-02 -2.27249520e-01] [-1.95172646e-04 1.11131783e-02 9.99938228e-01 -7.55065481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341193817 meters Centerline goodness : 0.910244 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-0.76 [[ 9.99865684e-01 1.63886126e-02 -1.66992526e-04 4.91235372e+00] [-1.63894479e-02 9.99798833e-01 -1.15619671e-02 -2.26531404e-01] [-2.25256673e-05 1.15631511e-02 9.99933144e-01 -7.55050557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371193817 meters Centerline goodness : 0.909851 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99884506e-01 1.51824141e-02 -6.85322325e-04 4.91501502e+00] [-1.51898232e-02 9.99805829e-01 -1.25528139e-02 -2.25627358e-01] [ 4.94607236e-04 1.25617740e-02 9.99920975e-01 -7.57165130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401193817 meters Centerline goodness : 0.904999 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99904619e-01 1.37436590e-02 -1.36555570e-03 4.91806180e+00] [-1.37608146e-02 9.99814612e-01 -1.34677917e-02 -2.26413032e-01] [ 1.18020581e-03 1.34852983e-02 9.99908373e-01 -7.59305408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431193817 meters Centerline goodness : 0.903815 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99927630e-01 1.18695018e-02 -1.96210759e-03 4.92100242e+00] [-1.18966027e-02 9.99825087e-01 -1.44314294e-02 -2.28479967e-01] [ 1.79047052e-03 1.44537274e-02 9.99893936e-01 -7.61357523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193817 meters Centerline goodness : 0.903472 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99968719e-01 7.57684357e-03 -2.26985069e-03 4.92237498e+00] [-7.61723250e-03 9.99802655e-01 -1.83474216e-02 -2.29598968e-01] [ 2.13038721e-03 1.83641377e-02 9.99829095e-01 -7.62468602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491193817 meters Centerline goodness : 0.905187 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.23, Z:-0.76 [[ 9.99981205e-01 -2.85674325e-03 -5.42488938e-03 4.92180003e+00] [ 2.80221755e-03 9.99945750e-01 -1.00321662e-02 -2.34303135e-01] [ 5.45325440e-03 1.00167759e-02 9.99934961e-01 -7.61249563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521193817 meters Centerline goodness : 0.902971 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-0.76 [[ 9.99976511e-01 -3.73331433e-03 -5.74807496e-03 4.92276696e+00] [ 3.67471078e-03 9.99941508e-01 -1.01723625e-02 -2.35894485e-01] [ 5.78571537e-03 1.01510011e-02 9.99931739e-01 -7.61385348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551193817 meters Centerline goodness : 0.904985 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-0.76 [[ 9.99973383e-01 -4.12249584e-03 -6.01977081e-03 4.92322934e+00] [ 4.06055228e-03 9.99939056e-01 -1.02662382e-02 -2.36120051e-01] [ 6.06172646e-03 1.02415213e-02 9.99929181e-01 -7.61103022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581193817 meters Centerline goodness : 0.906032 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-0.76 [[ 9.99977464e-01 -1.87016497e-03 -6.44778953e-03 4.92508662e+00] [ 1.82129304e-03 9.99969634e-01 -7.57719999e-03 -2.36247931e-01] [ 6.46176435e-03 7.56528592e-03 9.99950505e-01 -7.61973578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611193817 meters Centerline goodness : 0.904966 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.76 [[ 9.99998225e-01 1.63122585e-03 -9.43364021e-04 4.93755119e+00] [-1.64373177e-03 9.99908711e-01 -1.34114843e-02 -2.28799243e-01] [ 9.21400743e-04 1.34130111e-02 9.99909617e-01 -7.64847815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641193817 meters Centerline goodness : 0.903697 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.23, Z:-0.76 [[ 9.99988283e-01 4.68174021e-03 -1.23119047e-03 4.93835298e+00] [-4.69459271e-03 9.99932245e-01 -1.06520479e-02 -2.25830316e-01] [ 1.18123693e-03 1.06577030e-02 9.99942507e-01 -7.64933011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671193817 meters Centerline goodness : 0.907728 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.22, Z:-0.76 [[ 9.99968730e-01 7.77595118e-03 -1.44028390e-03 4.93895526e+00] [-7.78736835e-03 9.99936882e-01 -8.09872368e-03 -2.22078237e-01] [ 1.37721771e-03 8.10968645e-03 9.99966168e-01 -7.64960465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701193817000004 meters Centerline goodness : 0.901139 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-0.77 [[ 9.99917670e-01 1.23945306e-02 3.32111352e-03 4.95306459e+00] [-1.23493366e-02 9.99835295e-01 -1.32995253e-02 -2.10787118e-01] [-3.48540789e-03 1.32574168e-02 9.99906042e-01 -7.67601044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731193817 meters Centerline goodness : 0.904592 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-0.77 [[ 9.99869730e-01 1.58273633e-02 3.16515939e-03 4.95306113e+00] [-1.57929026e-02 9.99818764e-01 -1.06312371e-02 -2.07310715e-01] [-3.33285020e-03 1.05798652e-02 9.99938477e-01 -7.66787582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761193817 meters Centerline goodness : 0.899435 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-0.77 [[ 0.99979991 0.01870442 0.00709091 4.96897811] [-0.01858836 0.99969768 -0.01609444 -0.20113688] [-0.0073898 0.01595942 0.99984533 -0.76936042] [ 0. 0. 0. 1. ]] SLAMing on 43.791193817 meters Centerline goodness : 0.900815 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.19, Z:-0.77 [[ 0.99970902 0.02183867 0.01024455 4.98637754] [-0.02162163 0.99954903 -0.02083833 -0.19474489] [-0.01069501 0.02061076 0.99973037 -0.77206284] [ 0. 0. 0. 1. ]] SLAMing on 43.821193817 meters Centerline goodness : 0.899237 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.18, Z:-0.77 [[ 0.99943422 0.03286253 0.00716157 5.01615028] [-0.03264728 0.99906494 -0.02834445 -0.18476803] [-0.00808634 0.02809461 0.99957256 -0.773397 ] [ 0. 0. 0. 1. ]] SLAMing on 43.851193817 meters Centerline goodness : 0.895521 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.18, Z:-0.78 [[ 0.99927167 0.03728877 0.00810422 5.0375407 ] [-0.03702633 0.99885106 -0.03042378 -0.18052461] [-0.00922937 0.03010155 0.99950423 -0.7773482 ] [ 0. 0. 0. 1. ]] SLAMing on 43.881193817 meters Centerline goodness : 0.890931 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.18, Z:-0.78 [[ 0.99906751 0.04250026 0.00760559 5.04104293] [-0.04229458 0.99878173 -0.02542084 -0.17897444] [-0.00867671 0.02507546 0.99964791 -0.77992418] [ 0. 0. 0. 1. ]] SLAMing on 43.911193817 meters Centerline goodness : 0.888866 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99892977 0.04533006 0.00919224 5.06063024] [-0.04504397 0.9985567 -0.02924985 -0.17607296] [-0.01050487 0.0288045 0.99952986 -0.78322461] [ 0. 0. 0. 1. ]] SLAMing on 43.941193817 meters Centerline goodness : 0.890780 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99872334 0.04975831 0.00870691 5.06181486] [-0.04953218 0.99847196 -0.02450138 -0.17884549] [-0.00991275 0.02403882 0.99966188 -0.78330695] [ 0. 0. 0. 1. ]] SLAMing on 43.971193817 meters Centerline goodness : 0.887427 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.18, Z:-0.78 [[ 0.99860315 0.05231281 0.00742407 5.06377093] [-0.05213355 0.99838495 -0.02257379 -0.18379103] [-0.00859297 0.02215522 0.99971761 -0.78257908] [ 0. 0. 0. 1. ]] SLAMing on 44.001193817 meters Centerline goodness : 0.887449 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98594304e-01 5.28192835e-02 4.42043268e-03 5.07092020e+00] [-5.27379250e-02 9.98466236e-01 -1.68489528e-02 -1.87413370e-01] [-5.30360240e-03 1.65921439e-02 9.99848275e-01 -7.80695047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031193817 meters Centerline goodness : 0.888180 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98560356e-01 5.34655110e-02 4.31913163e-03 5.07132329e+00] [-5.33928921e-02 9.98453752e-01 -1.54694660e-02 -1.89509261e-01] [-5.13953608e-03 1.52165845e-02 9.99871012e-01 -7.81309427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061193817 meters Centerline goodness : 0.884895 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.19, Z:-0.78 [[ 9.98535622e-01 5.39316658e-02 4.24107823e-03 5.07172129e+00] [-5.38694383e-02 9.98455014e-01 -1.36260263e-02 -1.92780809e-01] [-4.96940012e-03 1.33776081e-02 9.99898167e-01 -7.82316090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091193817 meters Centerline goodness : 0.882484 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.20, Z:-0.78 [[ 9.98953209e-01 4.55300641e-02 -4.41585378e-03 5.06931356e+00] [-4.55566752e-02 9.98942975e-01 -6.12545679e-03 -2.01501491e-01] [ 4.13229367e-03 6.32021633e-03 9.99971489e-01 -7.78146830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121193817 meters Centerline goodness : 0.886183 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.21, Z:-0.78 [[ 9.99148475e-01 4.09310976e-02 -5.19322438e-03 5.07188673e+00] [-4.09815404e-02 9.99109760e-01 -1.00100755e-02 -2.05134744e-01] [ 4.77887779e-03 1.02143780e-02 9.99936412e-01 -7.80010967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151193817 meters Centerline goodness : 0.884191 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.21, Z:-0.78 [[ 0.9993296 0.03611427 -0.00600887 5.07444869] [-0.03619457 0.99924894 -0.01383897 -0.20913627] [ 0.00550457 0.01404718 0.99988618 -0.78168264] [ 0. 0. 0. 1. ]] SLAMing on 44.181193817 meters Centerline goodness : 0.881501 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.21, Z:-0.78 [[ 0.99949008 0.03122665 -0.00666904 5.07641142] [-0.03133961 0.99935443 -0.01756577 -0.21314448] [ 0.00611622 0.01776582 0.99982347 -0.78287136] [ 0. 0. 0. 1. ]] SLAMing on 44.211193817 meters Centerline goodness : 0.880838 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99988224 0.01428637 -0.00560346 5.08615786] [-0.01433432 0.99986016 -0.00861303 -0.22144766] [ 0.00547962 0.00869234 0.99994721 -0.78321113] [ 0. 0. 0. 1. ]] SLAMing on 44.241193817 meters Centerline goodness : 0.882041 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99994202 0.00916215 -0.00565765 5.08679326] [-0.00923366 0.99987615 -0.01274432 -0.22312232] [ 0.00554019 0.01279582 0.99990278 -0.78372064] [ 0. 0. 0. 1. ]] SLAMing on 44.271193817 meters Centerline goodness : 0.879696 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 9.99973245e-01 4.13482315e-03 -6.03420670e-03 5.08786456e+00] [-4.23701246e-03 9.99846144e-01 -1.70216442e-02 -2.24233176e-01] [ 5.96289682e-03 1.70467558e-02 9.99836913e-01 -7.84064449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301193817 meters Centerline goodness : 0.881705 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99996404 -0.00549315 -0.00646135 5.08820935] [ 0.00532456 0.99965228 -0.02582559 -0.22473931] [ 0.00660097 0.02579026 0.99964558 -0.78297987] [ 0. 0. 0. 1. ]] SLAMing on 44.331193817 meters Centerline goodness : 0.885717 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99995772 -0.00641223 -0.00659154 5.08791041] [ 0.00623685 0.99963485 -0.02629206 -0.22467945] [ 0.00675772 0.02624984 0.99963257 -0.78188401] [ 0. 0. 0. 1. ]] SLAMing on 44.361193817 meters Centerline goodness : 0.881843 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 0.99995415 -0.00689339 -0.00664732 5.08730207] [ 0.00671142 0.9996124 -0.0270188 -0.22236596] [ 0.00683099 0.02697295 0.99961282 -0.78075866] [ 0. 0. 0. 1. ]] SLAMing on 44.391193817 meters Centerline goodness : 0.883950 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.22, Z:-0.78 [[ 9.99966384e-01 -4.20034925e-03 -7.04187227e-03 5.08796526e+00] [ 4.02876850e-03 9.99698888e-01 -2.42054096e-02 -2.20486357e-01] [ 7.14142305e-03 2.41762258e-02 9.99682205e-01 -7.80295361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421193817 meters Centerline goodness : 0.877381 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99971176e-01 -1.14348665e-03 -7.50594694e-03 5.08840984e+00] [ 9.77048902e-04 9.99754393e-01 -2.21404519e-02 -2.14432745e-01] [ 7.52942074e-03 2.21324800e-02 9.99726693e-01 -7.79472459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451193817000004 meters Centerline goodness : 0.874180 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99968008e-01 2.36797982e-03 -7.64034013e-03 5.08861848e+00] [-2.51098467e-03 9.99820823e-01 -1.87620974e-02 -2.12802525e-01] [ 7.59454289e-03 1.87806820e-02 9.99794783e-01 -7.79170511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481193817 meters Centerline goodness : 0.874106 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 9.99955558e-01 5.00817173e-03 -7.98749573e-03 5.09007923e+00] [-5.13867526e-03 9.99852265e-01 -1.64025180e-02 -2.10255508e-01] [ 7.90416907e-03 1.64428341e-02 9.99833565e-01 -7.79884695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511193817 meters Centerline goodness : 0.876037 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.21, Z:-0.78 [[ 0.99993494 0.00784524 -0.00828099 5.09140762] [-0.0079599 0.99987163 -0.01390552 -0.20751678] [ 0.00817084 0.01397053 0.99986902 -0.78060258] [ 0. 0. 0. 1. ]] SLAMing on 44.541193817 meters Centerline goodness : 0.868154 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.20, Z:-0.78 [[ 0.99987755 0.01304945 -0.0086374 5.09360617] [-0.01312941 0.99987087 -0.00926588 -0.20119682] [ 0.00851537 0.00937815 0.99991977 -0.78193532] [ 0. 0. 0. 1. ]] SLAMing on 44.571193817 meters Centerline goodness : 0.867364 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.20, Z:-0.78 [[ 0.99982847 0.01625057 -0.00888545 5.09460666] [-0.01630701 0.99984708 -0.00631681 -0.1989916 ] [ 0.00878144 0.00646062 0.99994057 -0.78226283] [ 0. 0. 0. 1. ]] SLAMing on 44.601193817 meters Centerline goodness : 0.870716 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.20, Z:-0.78 [[ 0.99982618 0.01611401 -0.00937833 5.09560486] [-0.01618355 0.99984175 -0.00738732 -0.19534362] [ 0.00925781 0.00753781 0.99992873 -0.78232775] [ 0. 0. 0. 1. ]] SLAMing on 44.631193817 meters Centerline goodness : 0.868363 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.78 [[ 9.99771598e-01 1.89063235e-02 -9.96502776e-03 5.09779391e+00] [-1.89555812e-02 9.99808456e-01 -4.87199417e-03 -1.93431101e-01] [ 9.87100752e-03 5.05977429e-03 9.99938479e-01 -7.83272417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661193817 meters Centerline goodness : 0.872897 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.78 [[ 0.99976194 0.01913766 -0.01047964 5.09945598] [-0.01920028 0.9997982 -0.00590775 -0.18897208] [ 0.01036447 0.00610755 0.99992764 -0.7841911 ] [ 0. 0. 0. 1. ]] SLAMing on 44.691193817 meters Centerline goodness : 0.871124 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.19, Z:-0.79 [[ 9.99696269e-01 2.20251699e-02 -1.10571746e-02 5.10211438e+00] [-2.20667474e-02 9.99749828e-01 -3.65239576e-03 -1.85577481e-01] [ 1.09739638e-02 3.89528229e-03 9.99932197e-01 -7.85826569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721193817 meters Centerline goodness : 0.865466 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.18, Z:-0.79 [[ 0.99957996 0.02761354 -0.00879771 5.12113869] [-0.02768162 0.99958703 -0.00771331 -0.17580839] [ 0.00858108 0.00795361 0.99993155 -0.79144395] [ 0. 0. 0. 1. ]] SLAMing on 44.751193817 meters Centerline goodness : 0.858750 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.17, Z:-0.79 [[ 9.99477026e-01 3.10636427e-02 -8.98470757e-03 5.12194489e+00] [-3.11085271e-02 9.99504003e-01 -4.89976697e-03 -1.72424093e-01] [ 8.82804657e-03 5.17670554e-03 9.99947632e-01 -7.91520830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781193817 meters Centerline goodness : 0.861847 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99414239e-01 3.39352798e-02 -4.42436785e-03 5.13614581e+00] [-3.39845459e-02 9.99355257e-01 -1.15810530e-02 -1.63419733e-01] [ 4.02850900e-03 1.17246294e-02 9.99923149e-01 -7.93930842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811193817 meters Centerline goodness : 0.858806 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99418243e-01 3.37842446e-02 -4.66901244e-03 5.13660434e+00] [-3.38406880e-02 9.99347928e-01 -1.25906997e-02 -1.60117919e-01] [ 4.24060063e-03 1.27413776e-02 9.99909833e-01 -7.93732573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841193817 meters Centerline goodness : 0.858806 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99418243e-01 3.37842446e-02 -4.66901244e-03 5.13660434e+00] [-3.38406880e-02 9.99347928e-01 -1.25906997e-02 -1.60117919e-01] [ 4.24060063e-03 1.27413776e-02 9.99909833e-01 -7.93732573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871193817 meters Centerline goodness : 0.860732 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.16, Z:-0.79 [[ 9.99434254e-01 3.32661004e-02 -4.95362703e-03 5.13753985e+00] [-3.33323297e-02 9.99346986e-01 -1.39483575e-02 -1.56410751e-01] [ 4.48638479e-03 1.41055822e-02 9.99890446e-01 -7.94121545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901193817 meters Centerline goodness : 0.862643 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.80 [[ 9.99401416e-01 3.41777976e-02 -5.35606488e-03 5.14050121e+00] [-3.42465603e-02 9.99324640e-01 -1.33205130e-02 -1.53658475e-01] [ 4.89718182e-03 1.34959663e-02 9.99896933e-01 -7.96412455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931193817 meters Centerline goodness : 0.859417 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.15, Z:-0.80 [[ 0.99933685 0.0359556 -0.00574999 5.14298499] [-0.03602432 0.99927483 -0.0123314 -0.14748663] [ 0.00530244 0.01253036 0.99990743 -0.79793871] [ 0. 0. 0. 1. ]] SLAMing on 44.961193817 meters Centerline goodness : 0.860756 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.15, Z:-0.80 [[ 0.99926857 0.03774265 -0.00614929 5.14545385] [-0.03780732 0.99922707 -0.01076399 -0.14531349] [ 0.00573828 0.01098861 0.99992316 -0.79948484] [ 0. 0. 0. 1. ]] SLAMing on 44.991193817 meters Centerline goodness : 0.857475 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99250775e-01 3.86013650e-02 -2.79702091e-03 5.16308436e+00] [-3.86411793e-02 9.99125887e-01 -1.59474570e-02 -1.41567164e-01] [ 2.17898239e-03 1.60435890e-02 9.99868919e-01 -8.01528335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021193817 meters Centerline goodness : 0.858798 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99107818e-01 4.21298147e-02 -2.94049387e-03 5.16389354e+00] [-4.21638080e-02 9.99030532e-01 -1.26573998e-02 -1.40301425e-01] [ 2.40438925e-03 1.27700895e-02 9.99915568e-01 -8.01631619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051193817 meters Centerline goodness : 0.861823 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99074527e-01 4.28312148e-02 -3.94664246e-03 5.16600231e+00] [-4.28832830e-02 9.98978907e-01 -1.42185385e-02 -1.37065988e-01] [ 3.33361530e-03 1.43746246e-02 9.99891123e-01 -8.00946672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081193817 meters Centerline goodness : 0.858193 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99020624e-01 4.39986952e-02 -4.68065983e-03 5.16643373e+00] [-4.40653598e-02 9.98912297e-01 -1.52468923e-02 -1.35016004e-01] [ 4.00472530e-03 1.54382148e-02 9.99872804e-01 -7.98532275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111193817 meters Centerline goodness : 0.855067 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99024776e-01 4.38908955e-02 -4.80489291e-03 5.16602804e+00] [-4.39605325e-02 9.98913027e-01 -1.54995681e-02 -1.35120368e-01] [ 4.11938019e-03 1.56956782e-02 9.99868330e-01 -7.97449499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141193817 meters Centerline goodness : 0.857605 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.80 [[ 9.99048923e-01 4.33525798e-02 -4.66939036e-03 5.16542702e+00] [-4.34201165e-02 9.98936796e-01 -1.54909822e-02 -1.36151643e-01] [ 3.99285181e-03 1.56789945e-02 9.99869105e-01 -7.97069917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171193817 meters Centerline goodness : 0.856865 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99252641e-01 3.84413242e-02 -4.05273707e-03 5.16376626e+00] [-3.85077484e-02 9.99099153e-01 -1.78335735e-02 -1.39596291e-01] [ 3.36353999e-03 1.79763072e-02 9.99832756e-01 -7.97656815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201193817000004 meters Centerline goodness : 0.855681 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.14, Z:-0.80 [[ 9.99400293e-01 3.43458943e-02 -4.40622008e-03 5.16466491e+00] [-3.44320730e-02 9.99180966e-01 -2.12563016e-02 -1.41437452e-01] [ 3.67254455e-03 2.13952693e-02 9.99764350e-01 -7.98371408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231193817 meters Centerline goodness : 0.853847 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99651215e-01 2.61319332e-02 -3.81721196e-03 5.16265451e+00] [-2.61715964e-02 9.99599780e-01 -1.07390979e-02 -1.46357462e-01] [ 3.53505085e-03 1.08352547e-02 9.99935048e-01 -7.97461546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261193817 meters Centerline goodness : 0.853522 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99757906e-01 2.16083136e-02 -4.14846931e-03 5.16348491e+00] [-2.16655481e-02 9.99663193e-01 -1.42865319e-02 -1.49395135e-01] [ 3.83836421e-03 1.43729521e-02 9.99889336e-01 -7.97931686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291193817 meters Centerline goodness : 0.853737 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.15, Z:-0.80 [[ 9.99840139e-01 1.73251986e-02 -4.41966927e-03 5.16407708e+00] [-1.74004912e-02 9.99693548e-01 -1.76077267e-02 -1.52500567e-01] [ 4.11325750e-03 1.76818164e-02 9.99835204e-01 -7.98228453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321193817 meters Centerline goodness : 0.852749 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.16, Z:-0.80 [[ 9.99962807e-01 7.82984426e-03 -3.61627046e-03 5.16374094e+00] [-7.85848736e-03 9.99937316e-01 -7.97551721e-03 -1.57244141e-01] [ 3.55359672e-03 8.00363899e-03 9.99961656e-01 -7.98672357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351193817 meters Centerline goodness : 0.857996 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.16, Z:-0.80 [[ 9.99966507e-01 7.20239244e-03 -3.88709157e-03 5.16561789e+00] [-7.23590138e-03 9.99936178e-01 -8.67647515e-03 -1.55934549e-01] [ 3.82435211e-03 8.70431116e-03 9.99954804e-01 -8.00330338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381193817 meters Centerline goodness : 0.853334 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.80 [[ 9.99949805e-01 9.00392400e-03 -4.39518997e-03 5.16872213e+00] [-9.03421836e-03 9.99935231e-01 -6.92212568e-03 -1.54450091e-01] [ 4.33257901e-03 6.96148533e-03 9.99966383e-01 -8.02794315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411193817 meters Centerline goodness : 0.855363 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.81 [[ 9.99868978e-01 1.54028210e-02 -4.97794325e-03 5.17211560e+00] [-1.54100710e-02 9.99880248e-01 -1.42138129e-03 -1.50381458e-01] [ 4.95545385e-03 1.49790551e-03 9.99986600e-01 -8.05352033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441193817 meters Centerline goodness : 0.855920 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.81 [[ 9.99805696e-01 1.90218928e-02 -5.17079810e-03 5.17319450e+00] [-1.90148690e-02 9.99818215e-01 1.40414567e-03 -1.47241164e-01] [ 5.19656763e-03 -1.30555079e-03 9.99985646e-01 -8.05982702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471193817 meters Centerline goodness : 0.856963 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.14, Z:-0.81 [[ 9.99727834e-01 2.27089946e-02 -5.34411665e-03 5.17394928e+00] [-2.26866968e-02 9.99733815e-01 4.19668234e-03 -1.43754451e-01] [ 5.43799657e-03 -4.07429979e-03 9.99976914e-01 -8.06240008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193817 meters Centerline goodness : 0.856995 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.14, Z:-0.81 [[ 9.99669815e-01 2.56921152e-02 -4.18757061e-04 5.18488878e+00] [-2.56937143e-02 9.99660126e-01 -4.41192683e-03 -1.38281181e-01] [ 3.05263005e-04 4.42122951e-03 9.99990180e-01 -8.09713212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531193817 meters Centerline goodness : 0.857787 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.13, Z:-0.81 [[ 0.99952341 0.03038418 0.0054546 5.19617291] [-0.0303241 0.999482 -0.01077878 -0.1306108 ] [-0.00577928 0.01060824 0.99992703 -0.81305333] [ 0. 0. 0. 1. ]] SLAMing on 45.561193817 meters Centerline goodness : 0.858193 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.13, Z:-0.81 [[ 0.99941456 0.03376464 0.00552163 5.19636997] [-0.03372192 0.99940194 -0.00765494 -0.12859904] [-0.00577679 0.00746426 0.99995546 -0.81297661] [ 0. 0. 0. 1. ]] SLAMing on 45.591193817 meters Centerline goodness : 0.858274 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 0.99940635 0.03404011 0.0053125 5.19671693] [-0.03398673 0.99937389 -0.0098348 -0.12342477] [-0.00564395 0.00964841 0.99993753 -0.81169161] [ 0. 0. 0. 1. ]] SLAMing on 45.621193817 meters Centerline goodness : 0.856235 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99396344e-01 3.43589437e-02 5.13906267e-03 5.19687678e+00] [-3.42970067e-02 9.99343310e-01 -1.16903381e-02 -1.18855827e-01] [-5.53735557e-03 1.15070267e-02 9.99918460e-01 -8.10333783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651193817 meters Centerline goodness : 0.849753 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99235400e-01 3.87684430e-02 5.06184646e-03 5.19622970e+00] [-3.87242833e-02 9.99213366e-01 -8.54860154e-03 -1.17984634e-01] [-5.38928061e-03 8.34604891e-03 9.99950648e-01 -8.08085678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681193817 meters Centerline goodness : 0.851781 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99197163e-01 3.98194457e-02 4.40929169e-03 5.19718068e+00] [-3.97827751e-02 9.99175411e-01 -8.11353989e-03 -1.19241272e-01] [-4.72873250e-03 7.93161217e-03 9.99957363e-01 -8.07494324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711193817 meters Centerline goodness : 0.852063 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.12, Z:-0.81 [[ 9.99169633e-01 4.05609960e-02 3.85361371e-03 5.19853403e+00] [-4.05321301e-02 9.99151607e-01 -7.29466036e-03 -1.21410466e-01] [-4.14622302e-03 7.13240794e-03 9.99965968e-01 -8.07995119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741193817 meters Centerline goodness : 0.856509 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99327394e-01 3.66465980e-02 -1.33663096e-03 5.19228689e+00] [-3.66460682e-02 9.99328220e-01 4.18746788e-04 -1.26905674e-01] [ 1.35107868e-03 -3.69482867e-04 9.99999019e-01 -8.07675876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771193817000004 meters Centerline goodness : 0.855103 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99336548e-01 3.63915442e-02 -1.45602132e-03 5.19298374e+00] [-3.63891572e-02 9.99336360e-01 1.63361795e-03 -1.29992189e-01] [ 1.51450493e-03 -1.57955074e-03 9.99997606e-01 -8.08963099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801193817 meters Centerline goodness : 0.858343 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.13, Z:-0.81 [[ 9.99453218e-01 3.30037500e-02 -2.00427858e-03 5.19384336e+00] [-3.30063746e-02 9.99454308e-01 -1.29080275e-03 -1.32044129e-01] [ 1.96058353e-03 1.35625093e-03 9.99997158e-01 -8.09314437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831193817 meters Centerline goodness : 0.856611 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.14, Z:-0.81 [[ 9.99565302e-01 2.93986322e-02 -2.21969976e-03 5.19390752e+00] [-2.94077963e-02 9.99558609e-01 -4.21539662e-03 -1.35235522e-01] [ 2.09479311e-03 4.27884067e-03 9.99988652e-01 -8.09204124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861193817 meters Centerline goodness : 0.859180 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.14, Z:-0.81 [[ 9.99749123e-01 2.23001213e-02 -2.09669561e-03 5.19265373e+00] [-2.23179006e-02 9.99711508e-01 -8.87760287e-03 -1.44969913e-01] [ 1.89811911e-03 8.92216952e-03 9.99958395e-01 -8.08171973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891193817 meters Centerline goodness : 0.859494 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.15, Z:-0.81 [[ 9.99826988e-01 1.84516506e-02 -2.35165531e-03 5.19342337e+00] [-1.84781017e-02 9.99759963e-01 -1.17718124e-02 -1.48891780e-01] [ 2.13388146e-03 1.18132298e-02 9.99927944e-01 -8.08774870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921193817 meters Centerline goodness : 0.858893 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.15, Z:-0.81 [[ 9.99877281e-01 1.54682030e-02 -2.48157075e-03 5.19501481e+00] [-1.55014211e-02 9.99782147e-01 -1.39772491e-02 -1.52408512e-01] [ 2.26482720e-03 1.40140017e-02 9.99899234e-01 -8.10559903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951193817000004 meters Centerline goodness : 0.859570 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99914965e-01 1.27269846e-02 -2.84376117e-03 5.19732500e+00] [-1.27708599e-02 9.99790695e-01 -1.59834535e-02 -1.55474772e-01] [ 2.63974479e-03 1.60184116e-02 9.99868212e-01 -8.12605787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981193817 meters Centerline goodness : 0.858615 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99980893e-01 5.40295906e-03 -3.00365433e-03 5.19844374e+00] [-5.46848284e-03 9.99737433e-01 -2.22522057e-02 -1.59161955e-01] [ 2.88263792e-03 2.22682059e-02 9.99747877e-01 -8.13634213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011193817 meters Centerline goodness : 0.858043 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99985105e-01 4.44700238e-03 -3.16440004e-03 5.19883318e+00] [-4.51640882e-03 9.99741673e-01 -2.22752983e-02 -1.61100405e-01] [ 3.06452429e-03 2.22892583e-02 9.99746867e-01 -8.13527091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041193817 meters Centerline goodness : 0.863501 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.81 [[ 9.99988217e-01 3.42950586e-03 -3.43560707e-03 5.19964045e+00] [-3.50673117e-03 9.99735491e-01 -2.27299346e-02 -1.61624871e-01] [ 3.35674588e-03 2.27417145e-02 9.99735738e-01 -8.13745619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071193817 meters Centerline goodness : 0.860531 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.82 [[ 9.99990115e-01 1.96957422e-03 -3.98619492e-03 5.20176937e+00] [-2.06439123e-03 9.99711656e-01 -2.39236957e-02 -1.61132741e-01] [ 3.93792603e-03 2.39316883e-02 9.99705840e-01 -8.15018193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101193817 meters Centerline goodness : 0.862548 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.16, Z:-0.82 [[ 9.99989255e-01 4.55337759e-04 -4.61324723e-03 5.20474800e+00] [-5.72062069e-04 9.99678921e-01 -2.53323434e-02 -1.60349847e-01] [ 4.60023124e-03 2.53347103e-02 9.99668440e-01 -8.17131367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131193817 meters Centerline goodness : 0.861132 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.16, Z:-0.82 [[ 9.99984206e-01 -1.87721684e-03 -5.29752337e-03 5.20866289e+00] [ 1.72833014e-03 9.99607243e-01 -2.79709400e-02 -1.56943575e-01] [ 5.34795025e-03 2.79613424e-02 9.99594699e-01 -8.20313611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161193817 meters Centerline goodness : 0.863326 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 9.99983637e-01 1.54576947e-04 -5.71851307e-03 5.21069882e+00] [-3.01663416e-04 9.99668904e-01 -2.57291905e-02 -1.54950840e-01] [ 5.71264256e-03 2.57304946e-02 9.99652593e-01 -8.21640914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191193817 meters Centerline goodness : 0.864312 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 9.99978258e-01 2.83025870e-03 -5.95592995e-03 5.21171020e+00] [-2.96671666e-03 9.99730406e-01 -2.30285585e-02 -1.52579655e-01] [ 5.88914748e-03 2.30457273e-02 9.99717066e-01 -8.22076592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221193817 meters Centerline goodness : 0.862034 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 0.99996533 0.00562098 -0.00614304 5.21217296] [-0.00574723 0.99976858 -0.02073075 -0.14825463] [ 0.00602509 0.02076533 0.99976622 -0.82188448] [ 0. 0. 0. 1. ]] SLAMing on 46.251193817 meters Centerline goodness : 0.860329 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.15, Z:-0.82 [[ 0.99994906 0.00761245 -0.00662808 5.2143936 ] [-0.00773347 0.99980025 -0.0184296 -0.14775935] [ 0.00648646 0.01847992 0.99980819 -0.82327552] [ 0. 0. 0. 1. ]] SLAMing on 46.281193817 meters Centerline goodness : 0.863995 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.15, Z:-0.82 [[ 0.99995092 0.00722135 -0.00678302 5.21511773] [-0.00734998 0.9997899 -0.01913439 -0.14566635] [ 0.00664342 0.01918331 0.99979391 -0.82378839] [ 0. 0. 0. 1. ]] SLAMing on 46.311193817 meters Centerline goodness : 0.864082 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99993782 0.008503 -0.00721495 5.217718 ] [-0.00862849 0.99980885 -0.01754468 -0.14439133] [ 0.00706439 0.01760585 0.99982005 -0.82571259] [ 0. 0. 0. 1. ]] SLAMing on 46.341193817 meters Centerline goodness : 0.865734 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99993942 0.008107 -0.00744493 5.21852044] [-0.00824155 0.99979997 -0.01822335 -0.14223804] [ 0.00729571 0.0182836 0.99980622 -0.82612291] [ 0. 0. 0. 1. ]] SLAMing on 46.371193817 meters Centerline goodness : 0.863416 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.14, Z:-0.83 [[ 0.99994456 0.00740914 -0.00748197 5.21842087] [-0.00755454 0.99977943 -0.01959631 -0.13771882] [ 0.00733513 0.01965175 0.99977998 -0.82568576] [ 0. 0. 0. 1. ]] SLAMing on 46.401193817 meters Centerline goodness : 0.866880 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.14, Z:-0.83 [[ 9.99982588e-01 5.49568999e-03 -2.14964437e-03 5.22748415e+00] [-5.52143524e-03 9.99910823e-01 -1.21597791e-02 -1.37550715e-01] [ 2.08262629e-03 1.21714365e-02 9.99923756e-01 -8.27461950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431193817 meters Centerline goodness : 0.863136 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.13, Z:-0.83 [[ 9.99985512e-01 4.90398862e-03 -2.21958975e-03 5.22771399e+00] [-4.93279453e-03 9.99901181e-01 -1.31641675e-02 -1.34880942e-01] [ 2.15481349e-03 1.31749255e-02 9.99910885e-01 -8.27475513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461193817 meters Centerline goodness : 0.864936 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.13, Z:-0.83 [[ 9.99992023e-01 3.19510166e-03 -2.39700157e-03 5.22885695e+00] [-3.23290811e-03 9.99867757e-01 -1.59379111e-02 -1.27502300e-01] [ 2.34576133e-03 1.59455333e-02 9.99870110e-01 -8.28188363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491193817 meters Centerline goodness : 0.859455 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.12, Z:-0.83 [[ 9.99989443e-01 3.62551911e-03 -2.82287766e-03 5.23182573e+00] [-3.66978989e-03 9.99867822e-01 -1.58388923e-02 -1.23427466e-01] [ 2.76508033e-03 1.58490845e-02 9.99870572e-01 -8.30614154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521193817000004 meters Centerline goodness : 0.867064 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.12, Z:-0.83 [[ 9.99982531e-01 4.85032952e-03 -3.37818295e-03 5.23492646e+00] [-4.90013962e-03 9.99877044e-01 -1.48958418e-02 -1.18830208e-01] [ 3.30551784e-03 1.49121351e-02 9.99883344e-01 -8.32950116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551193817 meters Centerline goodness : 0.860356 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.11, Z:-0.83 [[ 9.99975736e-01 5.77249494e-03 -3.89938040e-03 5.23781528e+00] [-5.83156206e-03 9.99865786e-01 -1.53102192e-02 -1.08249888e-01] [ 3.81047888e-03 1.53325872e-02 9.99875188e-01 -8.34882600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581193817 meters Centerline goodness : 0.863297 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.84 [[ 9.99957912e-01 8.25520845e-03 -4.00331992e-03 5.23840627e+00] [-8.30846167e-03 9.99874712e-01 -1.34732688e-02 -1.03861005e-01] [ 3.89159371e-03 1.35059632e-02 9.99901217e-01 -8.35081687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611193817 meters Centerline goodness : 0.857455 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:-0.84 [[ 9.99931258e-01 1.09854844e-02 -4.09861750e-03 5.23896482e+00] [-1.10325762e-02 9.99871275e-01 -1.16496688e-02 -9.87763922e-02] [ 3.97011265e-03 1.16940863e-02 9.99923740e-01 -8.35231102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641193817 meters Centerline goodness : 0.863777 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-0.84 [[ 9.99896218e-01 1.37516871e-02 -4.29465634e-03 5.23994212e+00] [-1.37941267e-02 9.99854712e-01 -1.00138382e-02 -9.28929557e-02] [ 4.15632521e-03 1.00720399e-02 9.99940638e-01 -8.35603628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671193817 meters Centerline goodness : 0.859563 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.09, Z:-0.84 [[ 9.99857135e-01 1.62830318e-02 -4.53560208e-03 5.24132299e+00] [-1.63224907e-02 9.99828026e-01 -8.80309242e-03 -8.60750290e-02] [ 4.39148104e-03 8.87586710e-03 9.99950966e-01 -8.36363421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701193817000004 meters Centerline goodness : 0.859218 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.07, Z:-0.84 [[ 9.99800219e-01 1.98376365e-02 -2.44742346e-03 5.26103661e+00] [-1.98683660e-02 9.99714866e-01 -1.32451889e-02 -6.97629438e-02] [ 2.18397237e-03 1.32911691e-02 9.99909283e-01 -8.40766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731193817 meters Centerline goodness : 0.859218 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.07, Z:-0.84 [[ 9.99800219e-01 1.98376365e-02 -2.44742346e-03 5.26103661e+00] [-1.98683660e-02 9.99714866e-01 -1.32451889e-02 -6.97629438e-02] [ 2.18397237e-03 1.32911691e-02 9.99909283e-01 -8.40766382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761193817 meters Centerline goodness : 0.862067 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.06, Z:-0.84 [[ 9.99737399e-01 2.27454780e-02 -2.78873978e-03 5.26267185e+00] [-2.27776272e-02 9.99667374e-01 -1.20962995e-02 -6.35797433e-02] [ 2.51267606e-03 1.21566439e-02 9.99922948e-01 -8.41120405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791193817 meters Centerline goodness : 0.861186 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.06, Z:-0.84 [[ 9.99667364e-01 2.56177773e-02 -2.98180733e-03 5.26373657e+00] [-2.56475383e-02 9.99616826e-01 -1.04117254e-02 -5.85110287e-02] [ 2.71393952e-03 1.04847381e-02 9.99941351e-01 -8.41272577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821193817 meters Centerline goodness : 0.863072 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.05, Z:-0.84 [[ 9.99585849e-01 2.86087164e-02 -3.10984927e-03 5.26445178e+00] [-2.86338308e-02 9.99555043e-01 -8.35583393e-03 -5.41644051e-02] [ 2.86941584e-03 8.44142025e-03 9.99960254e-01 -8.41157929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851193817 meters Centerline goodness : 0.862339 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.04, Z:-0.84 [[ 9.99515657e-01 3.09658455e-02 -3.09318850e-03 5.26415713e+00] [-3.09908755e-02 9.99484358e-01 -8.40136833e-03 -4.44708452e-02] [ 2.83143805e-03 8.49315980e-03 9.99959924e-01 -8.39560081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881193817 meters Centerline goodness : 0.866140 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.04, Z:-0.84 [[ 9.99525215e-01 3.06365234e-02 -3.27839060e-03 5.26457411e+00] [-3.06671073e-02 9.99482341e-01 -9.72515372e-03 -4.00868767e-02] [ 2.97874861e-03 9.82107512e-03 9.99947335e-01 -8.39308663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911193817 meters Centerline goodness : 0.866239 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.04, Z:-0.84 [[ 9.99537536e-01 3.02159563e-02 -3.42200881e-03 5.26504556e+00] [-3.02512819e-02 9.99484082e-01 -1.07902925e-02 -3.66489884e-02] [ 3.09420433e-03 1.08888225e-02 9.99935928e-01 -8.39353426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941193817 meters Centerline goodness : 0.862348 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.84 [[ 9.99520203e-01 3.08065735e-02 -3.21235442e-03 5.26457975e+00] [-3.08392540e-02 9.99467346e-01 -1.06754138e-02 -3.10079178e-02] [ 2.88177042e-03 1.07693584e-02 9.99937856e-01 -8.38811372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971193817 meters Centerline goodness : 0.864572 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.84 [[ 9.99511574e-01 3.10821628e-02 -3.24237507e-03 5.26429229e+00] [-3.11171436e-02 9.99451158e-01 -1.13625260e-02 -2.74231142e-02] [ 2.88742364e-03 1.14578696e-02 9.99930188e-01 -8.38000382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001193817 meters Centerline goodness : 0.865858 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.02, Z:-0.84 [[ 9.99391526e-01 3.47403163e-02 -3.11250714e-03 5.26364346e+00] [-3.47648578e-02 9.99361780e-01 -8.21198230e-03 -2.48105937e-02] [ 2.82523381e-03 8.31519139e-03 9.99961437e-01 -8.36947524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031193817 meters Centerline goodness : 0.861916 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.02, Z:-0.84 [[ 9.99250719e-01 3.85589747e-02 -3.34762518e-03 5.26443888e+00] [-3.85755715e-02 9.99242958e-01 -5.04346112e-03 -2.20275724e-02] [ 3.15062019e-03 5.16881871e-03 9.99981678e-01 -8.36898931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061193817 meters Centerline goodness : 0.871023 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.02, Z:-0.84 [[ 9.98783052e-01 4.91967290e-02 -3.47805454e-03 5.26800089e+00] [-4.91819171e-02 9.98780909e-01 4.22318208e-03 -1.68768781e-02] [ 3.68158122e-03 -4.04698530e-03 9.99985034e-01 -8.39715455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091193817 meters Centerline goodness : 0.867546 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98587522e-01 5.30176520e-02 -3.47691064e-03 5.26916007e+00] [-5.29923337e-02 9.98570320e-01 7.00922725e-03 -1.29230270e-02] [ 3.84355254e-03 -6.81507726e-03 9.99969390e-01 -8.40582262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121193817 meters Centerline goodness : 0.867658 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98374859e-01 5.68799351e-02 -3.50921926e-03 5.27009370e+00] [-5.68415530e-02 9.98331014e-01 1.02090529e-02 -9.96692040e-03] [ 4.08405268e-03 -9.99299224e-03 9.99941729e-01 -8.41143743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151193817 meters Centerline goodness : 0.868348 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 9.98199682e-01 5.98762635e-02 -3.49685350e-03 5.27158426e+00] [-5.98295654e-02 9.98133985e-01 1.22053563e-02 -5.28807562e-03] [ 4.22113945e-03 -1.19741676e-02 9.99919397e-01 -8.42527018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181193817 meters Centerline goodness : 0.869921 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98289589e-01 5.80509927e-02 -6.92665661e-03 5.28116131e+00] [-5.79231748e-02 9.98169181e-01 1.74123809e-02 -3.48615020e-03] [ 7.92478115e-03 -1.69813846e-02 9.99824400e-01 -8.40534543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211193817 meters Centerline goodness : 0.872204 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98315407e-01 5.75726645e-02 -7.19277264e-03 5.28166003e+00] [-5.74454070e-02 9.98207328e-01 1.67975155e-02 -1.88086654e-03] [ 8.14695609e-03 -1.63560268e-02 9.99833040e-01 -8.40433648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241193817 meters Centerline goodness : 0.874473 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98341804e-01 5.70737292e-02 -7.49874896e-03 5.28231270e+00] [-5.69466197e-02 9.98245901e-01 1.61927230e-02 -5.59685991e-04] [ 8.40977450e-03 -1.57388439e-02 9.99840770e-01 -8.40298506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271193817000004 meters Centerline goodness : 0.867321 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98452140e-01 5.50629866e-02 -7.83532086e-03 5.28287621e+00] [-5.47583109e-02 9.97890346e-01 3.48767001e-02 -3.55455851e-03] [ 9.73920632e-03 -3.43936669e-02 9.99360908e-01 -8.38480940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301193817 meters Centerline goodness : 0.870914 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98617175e-01 5.19596248e-02 -7.99591665e-03 5.28249007e+00] [-5.16943655e-02 9.98199676e-01 3.04154493e-02 -1.07297021e-03] [ 9.56189675e-03 -2.99600462e-02 9.99505361e-01 -8.37913219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331193817 meters Centerline goodness : 0.870620 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98610866e-01 5.20578288e-02 -8.14371513e-03 5.28263269e+00] [-5.17897374e-02 9.98199852e-01 3.02469451e-02 -1.97712576e-04] [ 9.70364553e-03 -2.97831672e-02 9.99509281e-01 -8.37677491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361193817 meters Centerline goodness : 0.870980 Centerline is valid? [False, False] Translation: X:5.28, Y:0.00, Z:-0.84 [[ 9.98605299e-01 5.21326960e-02 -8.34498032e-03 5.28296671e+00] [-5.18601148e-02 9.98200880e-01 3.00920464e-02 4.67491879e-04] [ 9.89874621e-03 -2.96173053e-02 9.99512296e-01 -8.37571507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391193817 meters Centerline goodness : 0.870603 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.84 [[ 9.98769800e-01 4.90717510e-02 -7.13093957e-03 5.28235710e+00] [-4.87059038e-02 9.97814041e-01 4.46640144e-02 -1.29121790e-03] [ 9.30709303e-03 -4.42617499e-02 9.98976614e-01 -8.35780834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193817 meters Centerline goodness : 0.870563 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.98932826e-01 4.55491886e-02 -7.64724890e-03 5.28242593e+00] [-4.51947824e-02 9.98118198e-01 4.14426699e-02 -2.56982009e-03] [ 9.52053828e-03 -4.10528277e-02 9.99111618e-01 -8.34861195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451193817000004 meters Centerline goodness : 0.866286 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.99103131e-01 4.15753508e-02 -8.02643334e-03 5.28205385e+00] [-4.12432709e-02 9.98431651e-01 3.78580486e-02 -3.27104649e-03] [ 9.58780675e-03 -3.74930586e-02 9.99250892e-01 -8.33600542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481193817 meters Centerline goodness : 0.865515 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.00, Z:-0.83 [[ 9.99257532e-01 3.76616256e-02 -8.12318756e-03 5.28136228e+00] [-3.73628242e-02 9.98714964e-01 3.42409249e-02 -4.21671694e-03] [ 9.40231786e-03 -3.39119969e-02 9.99380595e-01 -8.32705260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511193817 meters Centerline goodness : 0.870709 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.01, Z:-0.83 [[ 9.99396711e-01 3.37030579e-02 -8.38563123e-03 5.28110084e+00] [-3.34313858e-02 9.98970479e-01 3.06647081e-02 -5.26235550e-03] [ 9.41049248e-03 -3.03658651e-02 9.99494551e-01 -8.32081064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541193817 meters Centerline goodness : 0.868037 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.01, Z:-0.83 [[ 0.99953046 0.02939959 -0.00863271 5.28121848] [-0.02915931 0.9992167 0.0267529 -0.00613869] [ 0.00941247 -0.02648861 0.9996048 -0.83196479] [ 0. 0. 0. 1. ]] SLAMing on 47.571193817 meters Centerline goodness : 0.865480 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.83 [[ 0.99981099 0.01733008 -0.0088117 5.26590262] [-0.01704219 0.99935027 0.03175863 -0.0081754 ] [ 0.00935635 -0.03160246 0.99945672 -0.83491972] [ 0. 0. 0. 1. ]] SLAMing on 47.601193817 meters Centerline goodness : 0.868224 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 0.99987123 0.01317969 -0.00915564 5.26703807] [-0.01292069 0.99953017 0.02779396 -0.00870123] [ 0.00951765 -0.02767208 0.99957174 -0.83566709] [ 0. 0. 0. 1. ]] SLAMing on 47.631193817 meters Centerline goodness : 0.866808 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.01, Z:-0.84 [[ 0.99991427 0.00904981 -0.00946306 5.26814065] [-0.00882446 0.99968276 0.02359044 -0.00843839] [ 0.00967355 -0.02350492 0.99967692 -0.83640048] [ 0. 0. 0. 1. ]] SLAMing on 47.661193817 meters Centerline goodness : 0.868065 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.01, Z:-0.84 [[ 0.99989752 0.00558722 -0.0131804 5.25107615] [-0.00534886 0.99982277 0.01805047 -0.00533648] [ 0.01327892 -0.01797812 0.9997502 -0.83684487] [ 0. 0. 0. 1. ]] SLAMing on 47.691193817 meters Centerline goodness : 0.869158 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.00, Z:-0.84 [[ 9.99891920e-01 5.04357803e-03 -1.38097968e-02 5.25362743e+00] [-4.80820252e-03 9.99843510e-01 1.70245744e-02 -3.71395942e-03] [ 1.38935005e-02 -1.69563340e-02 9.99759698e-01 -8.38456143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721193817 meters Centerline goodness : 0.865870 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.00, Z:-0.84 [[ 9.99886013e-01 5.27315315e-03 -1.41476432e-02 5.25469783e+00] [-5.04040657e-03 9.99852202e-01 1.64367844e-02 -1.55317776e-03] [ 1.42322259e-02 -1.63636009e-02 9.99764810e-01 -8.38958700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751193817 meters Centerline goodness : 0.870777 Centerline is valid? [False, False] Translation: X:5.25, Y:0.00, Z:-0.84 [[ 9.99880869e-01 6.22003311e-03 -1.41265109e-02 5.25443865e+00] [-5.99117571e-03 9.99851057e-01 1.61855035e-02 1.44457451e-03] [ 1.42250812e-02 -1.60989409e-02 9.99769209e-01 -8.38534260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193817 meters Centerline goodness : 0.872187 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.84 [[ 0.99981705 0.01334749 -0.01370087 5.25159464] [-0.01304367 0.99967221 0.02203034 0.00567668] [ 0.01399043 -0.0218476 0.99966342 -0.83556085] [ 0. 0. 0. 1. ]] SLAMing on 47.811193817 meters Centerline goodness : 0.871777 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99981027 0.01377797 -0.01376928 5.25136411] [-0.01348136 0.99967994 0.02140743 0.00863042] [ 0.01405982 -0.02121774 0.99967601 -0.83495808] [ 0. 0. 0. 1. ]] SLAMing on 47.841193817 meters Centerline goodness : 0.869770 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99978853 0.01547199 -0.01354664 5.24970501] [-0.01516633 0.99963442 0.02238312 0.0102696 ] [ 0.013888 -0.02217293 0.99965768 -0.83337411] [ 0. 0. 0. 1. ]] SLAMing on 47.871193817 meters Centerline goodness : 0.873621 Centerline is valid? [False, False] Translation: X:5.25, Y:0.01, Z:-0.83 [[ 0.99976486 0.01713768 -0.01328589 5.24773901] [-0.01682322 0.99958391 0.02343038 0.01194484] [ 0.01368191 -0.02320136 0.99963719 -0.83151267] [ 0. 0. 0. 1. ]] SLAMing on 47.901193817 meters Centerline goodness : 0.871525 Centerline is valid? [False, False] Translation: X:5.23, Y:0.01, Z:-0.83 [[ 0.99976052 0.01993888 -0.0090191 5.22606596] [-0.01970424 0.99948325 0.02539634 0.01361335] [ 0.00952081 -0.02521254 0.99963677 -0.83263174] [ 0. 0. 0. 1. ]] SLAMing on 47.931193817 meters Centerline goodness : 0.873802 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99969332 0.02313314 -0.00883837 5.22415663] [-0.02287527 0.99933936 0.02824115 0.01433851] [ 0.00948584 -0.0280303 0.99956206 -0.83040887] [ 0. 0. 0. 1. ]] SLAMing on 47.961193817 meters Centerline goodness : 0.873509 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99967889 0.02372462 -0.00890247 5.22412277] [-0.02345932 0.99930966 0.02880732 0.01342188] [ 0.00957977 -0.02858923 0.99954534 -0.83012199] [ 0. 0. 0. 1. ]] SLAMing on 47.991193817 meters Centerline goodness : 0.874338 Centerline is valid? [False, False] Translation: X:5.22, Y:0.01, Z:-0.83 [[ 0.99966526 0.02425729 -0.00899775 5.22414116] [-0.0239804 0.99927113 0.02970095 0.01167304] [ 0.00971166 -0.02947524 0.99951833 -0.82980513] [ 0. 0. 0. 1. ]] SLAMing on 48.021193817000004 meters Centerline goodness : 0.875881 Centerline is valid? [False, False] Translation: X:5.21, Y:0.00, Z:-0.83 [[ 9.99725250e-01 2.26686572e-02 -5.96295731e-03 5.20511457e+00] [-2.23489674e-02 9.98543527e-01 4.91054864e-02 3.98335732e-03] [ 7.06742786e-03 -4.89587287e-02 9.98775798e-01 -8.29654782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051193817 meters Centerline goodness : 0.874331 Centerline is valid? [False, False] Translation: X:5.20, Y:0.00, Z:-0.83 [[ 9.99756964e-01 2.12621113e-02 -5.82545693e-03 5.20323398e+00] [-2.09562075e-02 9.98612044e-01 4.83199963e-02 3.38310173e-03] [ 6.84475660e-03 -4.81861733e-02 9.98814919e-01 -8.27606144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081193817 meters Centerline goodness : 0.872059 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.01, Z:-0.81 [[ 0.99974389 0.01874754 -0.01267643 5.21300201] [-0.01759598 0.99617877 0.08554677 -0.00719967] [ 0.01423178 -0.0853018 0.99625351 -0.81139944] [ 0. 0. 0. 1. ]] SLAMing on 48.111193817 meters Centerline goodness : 0.876549 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.01, Z:-0.81 [[ 0.99976382 0.01614389 -0.01454915 5.22887999] [-0.015159 0.99774172 0.06543444 -0.00600265] [ 0.01557266 -0.06519843 0.9977508 -0.80858521] [ 0. 0. 0. 1. ]] SLAMing on 48.141193817 meters Centerline goodness : 0.878590 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.01, Z:-0.81 [[ 0.99978273 0.01451456 -0.01496048 5.21562637] [-0.01376665 0.99870698 0.04893726 -0.01190644] [ 0.01565144 -0.04872067 0.99868981 -0.81136427] [ 0. 0. 0. 1. ]] SLAMing on 48.171193817 meters Centerline goodness : 0.873637 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.01, Z:-0.81 [[ 0.99972604 0.01363417 -0.0190253 5.22461033] [-0.01277504 0.99892456 0.04457052 -0.01491245] [ 0.01961253 -0.04431526 0.99882506 -0.81131477] [ 0. 0. 0. 1. ]] SLAMing on 48.201193817000004 meters Centerline goodness : 0.874561 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.02, Z:-0.81 [[ 0.9997321 0.01234092 -0.01958118 5.227817 ] [-0.01148182 0.99899201 0.0433951 -0.01746987] [ 0.02009698 -0.04315864 0.99886608 -0.81380741] [ 0. 0. 0. 1. ]] SLAMing on 48.231193817 meters Centerline goodness : 0.876138 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.02, Z:-0.81 [[ 0.99964722 0.01234687 -0.0235156 5.2356867 ] [-0.01140405 0.99914203 0.03981405 -0.01982652] [ 0.02398701 -0.03953183 0.99893036 -0.81275211] [ 0. 0. 0. 1. ]] SLAMing on 48.261193817 meters Centerline goodness : 0.877864 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.02, Z:-0.81 [[ 0.99965067 0.01115432 -0.02396088 5.23787648] [-0.01022132 0.99919804 0.0387144 -0.02182888] [ 0.0243735 -0.03845596 0.998963 -0.81424819] [ 0. 0. 0. 1. ]] SLAMing on 48.291193817 meters Centerline goodness : 0.877036 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 0.99965563 0.00943298 -0.02448741 5.24007527] [-0.00851089 0.99926075 0.03749034 -0.02582056] [ 0.02482295 -0.03726902 0.99899692 -0.8156577 ] [ 0. 0. 0. 1. ]] SLAMing on 48.321193817 meters Centerline goodness : 0.875661 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 9.99675087e-01 5.75713354e-03 -2.48309284e-02 5.24126004e+00] [-4.91571869e-03 9.99416031e-01 3.38146855e-02 -2.66883103e-02] [ 2.50111035e-02 -3.36816369e-02 9.99119608e-01 -8.16374599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351193817 meters Centerline goodness : 0.875583 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.03, Z:-0.82 [[ 9.99670140e-01 3.21321973e-03 -2.54810967e-02 5.24423471e+00] [-2.40898627e-03 9.99499900e-01 3.15300854e-02 -2.91970258e-02] [ 2.55696667e-02 -3.14583013e-02 9.99177946e-01 -8.18331727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193817 meters Centerline goodness : 0.877689 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.03, Z:-0.82 [[ 9.99651922e-01 -3.11259445e-03 -2.61982252e-02 5.24718201e+00] [ 3.78420039e-03 9.99664460e-01 2.56251382e-02 -3.25183522e-02] [ 2.61096740e-02 -2.57153579e-02 9.99328277e-01 -8.20033850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411193817 meters Centerline goodness : 0.878867 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.03, Z:-0.82 [[ 0.99970152 -0.00544428 -0.0238167 5.25664408] [ 0.00574132 0.99990637 0.01242117 -0.03125739] [ 0.02374685 -0.0125542 0.99963917 -0.82054756] [ 0. 0. 0. 1. ]] SLAMing on 48.441193817 meters Centerline goodness : 0.877722 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.03, Z:-0.82 [[ 9.99753741e-01 -7.90494076e-03 -2.07356908e-02 5.26659406e+00] [ 7.88868707e-03 9.99968509e-01 -8.65532888e-04 -2.95961014e-02] [ 2.07418798e-02 7.01742367e-04 9.99784618e-01 -8.22066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471193817 meters Centerline goodness : 0.877845 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.03, Z:-0.83 [[ 0.99981378 -0.00894054 -0.01710194 5.27974272] [ 0.00875941 0.99990506 -0.01063695 -0.02959528] [ 0.01719541 0.01048516 0.99979717 -0.82593195] [ 0. 0. 0. 1. ]] SLAMing on 48.501193817 meters Centerline goodness : 0.878870 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.03, Z:-0.83 [[ 0.99979998 -0.01655516 -0.0112215 5.28706054] [ 0.01647725 0.99983973 -0.00700035 -0.03474444] [ 0.01133559 0.00681405 0.99991253 -0.8265968 ] [ 0. 0. 0. 1. ]] SLAMing on 48.531193817 meters Centerline goodness : 0.879584 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.04, Z:-0.83 [[ 0.99978051 -0.02006689 -0.00602161 5.302758 ] [ 0.02000429 0.99974701 -0.01028309 -0.03535891] [ 0.00622644 0.01016037 0.999929 -0.82567263] [ 0. 0. 0. 1. ]] SLAMing on 48.561193817 meters Centerline goodness : 0.881751 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.04, Z:-0.82 [[ 9.99752781e-01 -2.22325369e-02 -3.02647310e-04 5.31777931e+00] [ 2.22273921e-02 9.99682725e-01 -1.18486903e-02 -3.57673943e-02] [ 5.65977731e-04 1.18390340e-02 9.99929756e-01 -8.24768186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591193817 meters Centerline goodness : 0.881324 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.04, Z:-0.82 [[ 9.99743294e-01 -2.26554898e-02 -2.74795574e-04 5.31732406e+00] [ 2.26506483e-02 9.99673292e-01 -1.18430095e-02 -3.59088040e-02] [ 5.43014978e-04 1.18337451e-02 9.99929831e-01 -8.24059122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621193817 meters Centerline goodness : 0.881126 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99726525e-01 -2.33845153e-02 -2.00307779e-04 5.31723241e+00] [ 2.33802774e-02 9.99650819e-01 -1.23127260e-02 -3.49436390e-02] [ 4.88164965e-04 1.23046756e-02 9.99924175e-01 -8.23961219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651193817 meters Centerline goodness : 0.881126 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99726525e-01 -2.33845153e-02 -2.00307779e-04 5.31723241e+00] [ 2.33802774e-02 9.99650819e-01 -1.23127260e-02 -3.49436390e-02] [ 4.88164965e-04 1.23046756e-02 9.99924175e-01 -8.23961219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681193817 meters Centerline goodness : 0.879940 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.82 [[ 9.99712908e-01 -2.39581351e-02 -3.31986002e-04 5.31823123e+00] [ 2.39519017e-02 9.99630688e-01 -1.28371785e-02 -3.42465578e-02] [ 6.39418254e-04 1.28255414e-02 9.99917545e-01 -8.24887039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711193817 meters Centerline goodness : 0.880002 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99696393e-01 -2.46350785e-02 -4.85213970e-04 5.31921953e+00] [ 2.46262353e-02 9.99604700e-01 -1.35643965e-02 -3.30803541e-02] [ 8.19182139e-04 1.35483293e-02 9.99907882e-01 -8.25710699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193817 meters Centerline goodness : 0.881078 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99685803e-01 -2.50583459e-02 -6.12202514e-04 5.31983530e+00] [ 2.50471437e-02 9.99585564e-01 -1.41894732e-02 -3.12862215e-02] [ 9.67513524e-04 1.41696810e-02 9.99899137e-01 -8.26121448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771193817000004 meters Centerline goodness : 0.882342 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99676548e-01 -2.54224157e-02 -7.06761346e-04 5.32023528e+00] [ 2.54090914e-02 9.99566349e-01 -1.48826097e-02 -2.92584501e-02] [ 1.08480675e-03 1.48598378e-02 9.99888998e-01 -8.26302087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters Centerline goodness : 0.880658 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.03, Z:-0.83 [[ 9.99664910e-01 -2.58713597e-02 -8.60508221e-04 5.32087438e+00] [ 2.58544755e-02 9.99539940e-01 -1.58573360e-02 -2.65792705e-02] [ 1.27036318e-03 1.58297744e-02 9.99873894e-01 -8.26660161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831193817 meters Centerline goodness : 0.882618 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.02, Z:-0.83 [[ 9.99698111e-01 -2.45328121e-02 -1.35186805e-03 5.34325061e+00] [ 2.45064750e-02 9.99556659e-01 -1.69091038e-02 -1.93979118e-02] [ 1.76609658e-03 1.68708696e-02 9.99856117e-01 -8.29046247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861193817 meters Centerline goodness : 0.885905 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.02, Z:-0.83 [[ 9.99793039e-01 -2.03436774e-02 -1.18628924e-04 5.35435951e+00] [ 2.03355443e-02 9.99527691e-01 -2.30404185e-02 -1.53516451e-02] [ 5.87299737e-04 2.30332377e-02 9.99734527e-01 -8.30551859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891193817 meters Centerline goodness : 0.884594 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.83 [[ 9.99860334e-01 -1.61906978e-02 4.14400932e-03 5.37012813e+00] [ 1.62905971e-02 9.99546398e-01 -2.53301082e-02 -6.33180574e-03] [-3.73201746e-03 2.53940788e-02 9.99670552e-01 -8.33548019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921193817 meters Centerline goodness : 0.886479 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.00, Z:-0.83 [[ 9.99906404e-01 -1.30992342e-02 3.94889462e-03 5.37128818e+00] [ 1.31867000e-02 9.99648421e-01 -2.30031384e-02 -2.14339938e-03] [-3.64618277e-03 2.30530583e-02 9.99727594e-01 -8.34499863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951193817000004 meters Centerline goodness : 0.884883 Centerline is valid? [False, False] Translation: X:5.39, Y:0.00, Z:-0.84 [[ 9.99950384e-01 -9.23681556e-03 3.72971809e-03 5.39325803e+00] [ 9.31649337e-03 9.99715818e-01 -2.19428131e-02 2.97678182e-03] [-3.52597645e-03 2.19764723e-02 9.99752270e-01 -8.37108289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981193817 meters Centerline goodness : 0.886282 Centerline is valid? [False, False] Translation: X:5.41, Y:0.01, Z:-0.84 [[ 9.99974170e-01 -6.04642182e-03 3.88594421e-03 5.41463594e+00] [ 6.13218899e-03 9.99729119e-01 -2.24518511e-02 9.94763597e-03] [-3.74913821e-03 2.24751005e-02 9.99740373e-01 -8.39168643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011193817 meters Centerline goodness : 0.885945 Centerline is valid? [False, False] Translation: X:5.42, Y:0.01, Z:-0.84 [[ 9.99994176e-01 -4.25793736e-05 3.41254979e-03 5.41684541e+00] [ 1.00899576e-04 9.99853923e-01 -1.70915705e-02 1.45153305e-02] [-3.41132354e-03 1.70918153e-02 9.99848105e-01 -8.40562215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041193817 meters Centerline goodness : 0.889568 Centerline is valid? [False, False] Translation: X:5.42, Y:0.02, Z:-0.84 [[ 9.99963931e-01 7.91998405e-03 3.06777398e-03 5.41839707e+00] [-7.88495621e-03 9.99905441e-01 -1.12665870e-02 2.29790403e-02] [-3.15671509e-03 1.12419913e-02 9.99931824e-01 -8.41357326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071193817 meters Centerline goodness : 0.891325 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99927640e-01 1.16316647e-02 3.06893570e-03 5.41845381e+00] [-1.16063508e-02 9.99899502e-01 -8.14120430e-03 2.56149535e-02] [-3.16332304e-03 8.10499606e-03 9.99962150e-01 -8.41256871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101193817 meters Centerline goodness : 0.892955 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99881854e-01 1.50956619e-02 2.89805522e-03 5.41893569e+00] [-1.50809878e-02 9.99873673e-01 -5.02022711e-03 2.79541265e-02] [-2.97347277e-03 4.97592845e-03 9.99983199e-01 -8.41271385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131193817 meters Centerline goodness : 0.894941 Centerline is valid? [False, False] Translation: X:5.42, Y:0.03, Z:-0.84 [[ 9.99828680e-01 1.83090439e-02 2.71835181e-03 5.41977517e+00] [-1.83040581e-02 9.99830759e-01 -1.84781251e-03 2.97528352e-02] [-2.75172344e-03 1.79773907e-03 9.99994598e-01 -8.41800971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161193817 meters Centerline goodness : 0.894503 Centerline is valid? [False, False] Translation: X:5.40, Y:0.03, Z:-0.84 [[ 9.99878151e-01 1.56038332e-02 -4.50641520e-04 5.39962374e+00] [-1.55976785e-02 9.99813257e-01 1.14089579e-02 3.20106929e-02] [ 6.28580843e-04 -1.14005388e-02 9.99934814e-01 -8.39849573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191193817 meters Centerline goodness : 0.894021 Centerline is valid? [False, False] Translation: X:5.38, Y:0.03, Z:-0.84 [[ 9.99923695e-01 1.19397314e-02 -3.16972989e-03 5.37935505e+00] [-1.18602042e-02 9.99641051e-01 2.40230223e-02 3.42090643e-02] [ 3.45542055e-03 -2.39835955e-02 9.99706381e-01 -8.37802034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221193817 meters Centerline goodness : 0.896805 Centerline is valid? [False, False] Translation: X:5.38, Y:0.04, Z:-0.84 [[ 9.99933483e-01 1.10544409e-02 -3.29081373e-03 5.37874808e+00] [-1.09768333e-02 9.99681279e-01 2.27343310e-02 3.73214717e-02] [ 3.54108020e-03 -2.26966960e-02 9.99736126e-01 -8.36573101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251193817 meters Centerline goodness : 0.892289 Centerline is valid? [False, False] Translation: X:5.38, Y:0.04, Z:-0.83 [[ 9.99945890e-01 9.92165899e-03 -3.12685658e-03 5.37679161e+00] [-9.85195285e-03 9.99718779e-01 2.15708795e-02 3.83498081e-02] [ 3.33999615e-03 -2.15389067e-02 9.99762432e-01 -8.34396570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281193817 meters Centerline goodness : 0.896253 Centerline is valid? [False, False] Translation: X:5.37, Y:0.04, Z:-0.83 [[ 9.99956391e-01 8.77237852e-03 -3.20347282e-03 5.37462939e+00] [-8.70298696e-03 9.99740159e-01 2.10682829e-02 3.83324861e-02] [ 3.38745938e-03 -2.10394844e-02 9.99772907e-01 -8.31149495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311193817 meters Centerline goodness : 0.895625 Centerline is valid? [False, False] Translation: X:5.34, Y:0.04, Z:-0.83 [[ 9.99984014e-01 4.97629210e-03 2.68492534e-03 5.34370010e+00] [-5.03517724e-03 9.99736635e-01 2.23899083e-02 3.94436388e-02] [-2.57279950e-03 -2.24030695e-02 9.99745709e-01 -8.30780972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341193817000004 meters Centerline goodness : 0.895673 Centerline is valid? [False, False] Translation: X:5.34, Y:0.04, Z:-0.83 [[ 9.99984471e-01 4.91863485e-03 2.62007531e-03 5.34360716e+00] [-4.97514323e-03 9.99745234e-01 2.20162484e-02 4.12747571e-02] [-2.51111792e-03 -2.20289418e-02 9.99754180e-01 -8.30401757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371193817 meters Centerline goodness : 0.897130 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99979277e-01 5.93899905e-03 -2.48468615e-03 5.33170811e+00] [-5.90744782e-03 9.99904190e-01 1.25185365e-02 4.65670392e-02] [ 2.55879567e-03 -1.25035990e-02 9.99918553e-01 -8.26108082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401193817 meters Centerline goodness : 0.896761 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.82 [[ 9.99967312e-01 7.79226071e-03 -2.15779863e-03 5.32990002e+00] [-7.76043608e-03 9.99866431e-01 1.43838747e-02 4.80901023e-02] [ 2.26959332e-03 -1.43666591e-02 9.99894218e-01 -8.24662509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431193817 meters Centerline goodness : 0.898619 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99967196e-01 7.77011861e-03 -2.28739142e-03 5.33043849e+00] [-7.73800230e-03 9.99875802e-01 1.37296623e-02 5.04847206e-02] [ 2.39378843e-03 -1.37115121e-02 9.99903127e-01 -8.25032300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461193817 meters Centerline goodness : 0.894714 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99945013e-01 1.01857086e-02 -2.49427256e-03 5.33174718e+00] [-1.01426438e-02 9.99808952e-01 1.67088961e-02 4.95499166e-02] [ 2.66398798e-03 -1.66826788e-02 9.99857286e-01 -8.26159394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491193817 meters Centerline goodness : 0.894831 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992764 0.00937153 -0.0075429 5.32581343] [-0.00916429 0.99959193 0.02705537 0.04883855] [ 0.00779337 -0.02698429 0.99960548 -0.82569197] [ 0. 0. 0. 1. ]] SLAMing on 49.521193817000004 meters Centerline goodness : 0.892543 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992933 0.00892953 -0.00784875 5.3280967 ] [-0.0087208 0.99961767 0.02623855 0.05052386] [ 0.00808005 -0.02616825 0.9996249 -0.82785363] [ 0. 0. 0. 1. ]] SLAMing on 49.551193817 meters Centerline goodness : 0.892355 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 0.99992825 0.00870048 -0.00823385 5.32976615] [-0.0084882 0.99963946 0.02547363 0.05286887] [ 0.00845251 -0.02540191 0.99964158 -0.82912618] [ 0. 0. 0. 1. ]] SLAMing on 49.581193817 meters Centerline goodness : 0.891693 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 0.99992798 0.00838699 -0.00858427 5.33071235] [-0.00817484 0.99966744 0.02445765 0.05636384] [ 0.00878654 -0.02438571 0.99966401 -0.82950743] [ 0. 0. 0. 1. ]] SLAMing on 49.611193817 meters Centerline goodness : 0.896434 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 9.99949663e-01 4.60345829e-03 -8.91516550e-03 5.33116587e+00] [-4.42534576e-03 9.99792255e-01 1.98963153e-02 5.87787437e-02] [ 9.00490527e-03 -1.98558611e-02 9.99762300e-01 -8.29212100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641193817 meters Centerline goodness : 0.892857 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 9.99979127e-01 2.98886342e-03 -5.72815670e-03 5.32460844e+00] [-2.85882365e-03 9.99741016e-01 2.25771365e-02 5.81151834e-02] [ 5.79415318e-03 -2.25602895e-02 9.99728694e-01 -8.30759822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671193817 meters Centerline goodness : 0.896932 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 9.99980503e-01 2.33679211e-03 -5.79075710e-03 5.32446423e+00] [-2.20633013e-03 9.99745886e-01 2.24342326e-02 5.73128516e-02] [ 5.84170972e-03 -2.24210188e-02 9.99731550e-01 -8.30393486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701193817000004 meters Centerline goodness : 0.895406 Centerline is valid? [False, False] Translation: X:5.30, Y:0.06, Z:-0.83 [[ 9.99990259e-01 -1.74806502e-03 -4.05285815e-03 5.30347577e+00] [ 1.81647039e-03 9.99854917e-01 1.69365152e-02 5.94449977e-02] [ 4.02266401e-03 -1.69437121e-02 9.99848353e-01 -8.30603768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731193817 meters Centerline goodness : 0.894159 Centerline is valid? [False, False] Translation: X:5.28, Y:0.06, Z:-0.83 [[ 9.99986555e-01 -1.97624516e-03 -4.79409583e-03 5.28213636e+00] [ 2.06185647e-03 9.99837317e-01 1.79189339e-02 5.89023581e-02] [ 4.75790370e-03 -1.79285777e-02 9.99827949e-01 -8.28784905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761193817 meters Centerline goodness : 0.894688 Centerline is valid? [False, False] Translation: X:5.26, Y:0.06, Z:-0.83 [[ 9.99989080e-01 -2.98099408e-03 -3.59897835e-03 5.26056056e+00] [ 3.04255393e-03 9.99847057e-01 1.72222634e-02 5.87375481e-02] [ 3.54708844e-03 -1.72330255e-02 9.99845209e-01 -8.28152414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791193817 meters Centerline goodness : 0.893436 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99973607e-01 -6.68830705e-03 -2.83770032e-03 5.23908552e+00] [ 6.72749499e-03 9.99878906e-01 1.40325940e-02 5.84240144e-02] [ 2.74350239e-03 -1.40513143e-02 9.99897512e-01 -8.27368866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821193817 meters Centerline goodness : 0.897576 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99969724e-01 -7.21888089e-03 -2.90500228e-03 5.23925647e+00] [ 7.25848915e-03 9.99877557e-01 1.38631221e-02 5.80876745e-02] [ 2.80457036e-03 -1.38837883e-02 9.99899682e-01 -8.27421164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851193817 meters Centerline goodness : 0.899143 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99966125e-01 -7.67903916e-03 -2.96347292e-03 5.23936998e+00] [ 7.71785118e-03 9.99881559e-01 1.33154873e-02 5.91990803e-02] [ 2.86087177e-03 -1.33379079e-02 9.99906953e-01 -8.27370679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881193817 meters Centerline goodness : 0.895047 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99965787e-01 -7.68134438e-03 -3.06939248e-03 5.23941451e+00] [ 7.72004560e-03 9.99888244e-01 1.28023808e-02 6.13231462e-02] [ 2.97070996e-03 -1.28256386e-02 9.99913335e-01 -8.27088531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911193817 meters Centerline goodness : 0.891362 Centerline is valid? [False, False] Translation: X:5.24, Y:0.06, Z:-0.83 [[ 9.99986529e-01 -4.11084566e-03 -3.16894967e-03 5.23910302e+00] [ 4.16160092e-03 9.99860438e-01 1.61797809e-02 6.27675730e-02] [ 3.10199483e-03 -1.61927508e-02 9.99864077e-01 -8.26424723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941193817 meters Centerline goodness : 0.890188 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99994876e-01 -6.32025606e-04 -3.13830190e-03 5.23774248e+00] [ 6.91597735e-04 9.99818909e-01 1.90176220e-02 6.51296252e-02] [ 3.12571396e-03 -1.90196950e-02 9.99814223e-01 -8.24706761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971193817 meters Centerline goodness : 0.893345 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99959566e-01 8.12230994e-03 -3.85926369e-03 5.24147652e+00] [-8.05638963e-03 9.99826410e-01 1.68001253e-02 7.07989375e-02] [ 3.99504959e-03 -1.67683542e-02 9.99851420e-01 -8.17704391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001193817 meters Centerline goodness : 0.890414 Centerline is valid? [False, False] Translation: X:5.24, Y:0.07, Z:-0.82 [[ 9.99918738e-01 1.21741645e-02 -3.78236865e-03 5.24088097e+00] [-1.20954218e-02 9.99723058e-01 2.01868286e-02 7.25322199e-02] [ 4.02707893e-03 -2.01394388e-02 9.99789071e-01 -8.16949777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031193817 meters Centerline goodness : 0.891786 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99911731e-01 1.27517647e-02 -3.73132120e-03 5.24071705e+00] [-1.26774547e-02 9.99733291e-01 1.93036186e-02 7.65889654e-02] [ 3.97648122e-03 -1.92546110e-02 9.99806705e-01 -8.16634891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061193817 meters Centerline goodness : 0.887682 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99860158e-01 1.63238547e-02 -3.63276967e-03 5.24055586e+00] [-1.62381932e-02 9.99615470e-01 2.24773991e-02 7.84323190e-02] [ 3.99829056e-03 -2.24152662e-02 9.99740751e-01 -8.16612835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091193817000004 meters Centerline goodness : 0.887983 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99808855e-01 1.91982413e-02 -3.69868653e-03 5.24137151e+00] [-1.91004201e-02 9.99507944e-01 2.48806031e-02 8.18251272e-02] [ 4.17453040e-03 -2.48052009e-02 9.99683588e-01 -8.17430343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters Centerline goodness : 0.886698 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99756521e-01 2.16450172e-02 -4.28850337e-03 5.24289878e+00] [-2.15147205e-02 9.99365085e-01 2.83997253e-02 8.14052517e-02] [ 4.90049307e-03 -2.83005446e-02 9.99587447e-01 -8.17394525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151193817 meters Centerline goodness : 0.883487 Centerline is valid? [False, False] Translation: X:5.24, Y:0.08, Z:-0.82 [[ 9.99756351e-01 2.15749483e-02 -4.66474299e-03 5.24397218e+00] [-2.14340447e-02 9.99366884e-01 2.83973950e-02 8.09449109e-02] [ 5.27446200e-03 -2.82904917e-02 9.99585828e-01 -8.17723995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181193817 meters Centerline goodness : 0.883830 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99973989 0.0220555 -0.00580603 5.24794741] [-0.02187549 0.99932747 0.02942896 0.07703482] [ 0.0064512 -0.0292943 0.99955001 -0.81993796] [ 0. 0. 0. 1. ]] SLAMing on 50.211193817 meters Centerline goodness : 0.880781 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99969153 0.02398963 -0.00642975 5.25089684] [-0.02377568 0.99922069 0.0315076 0.07576357] [ 0.0071806 -0.03134501 0.99948283 -0.82171778] [ 0. 0. 0. 1. ]] SLAMing on 50.241193817 meters Centerline goodness : 0.883849 Centerline is valid? [False, False] Translation: X:5.25, Y:0.08, Z:-0.82 [[ 0.99967741 0.0244474 -0.00688518 5.25251051] [-0.02421752 0.99920414 0.03169537 0.07584877] [ 0.00765457 -0.03151841 0.99947386 -0.82273457] [ 0. 0. 0. 1. ]] SLAMing on 50.271193817000004 meters Centerline goodness : 0.877186 Centerline is valid? [False, False] Translation: X:5.27, Y:0.08, Z:-0.82 [[ 0.99964164 0.02524329 -0.00890918 5.2743883 ] [-0.02493202 0.9991286 0.03347282 0.07505449] [ 0.00974638 -0.03323871 0.99939992 -0.82344533] [ 0. 0. 0. 1. ]] SLAMing on 50.301193817 meters Centerline goodness : 0.878601 Centerline is valid? [False, False] Translation: X:5.28, Y:0.07, Z:-0.82 [[ 0.99962771 0.02568023 -0.00921739 5.27532018] [-0.02535322 0.99910037 0.03399517 0.07418239] [ 0.0100821 -0.03374882 0.99937949 -0.82381974] [ 0. 0. 0. 1. ]] SLAMing on 50.331193817 meters Centerline goodness : 0.878959 Centerline is valid? [False, False] Translation: X:5.30, Y:0.07, Z:-0.82 [[ 0.99967885 0.02401791 -0.00808298 5.29547388] [-0.02372701 0.99912843 0.03434246 0.06921727] [ 0.00890077 -0.03413965 0.99937744 -0.82478697] [ 0. 0. 0. 1. ]] SLAMing on 50.361193817 meters Centerline goodness : 0.879116 Centerline is valid? [False, False] Translation: X:5.32, Y:0.06, Z:-0.83 [[ 0.99969014 0.02408589 -0.00628365 5.31521434] [-0.02382893 0.99898655 0.03818453 0.06400976] [ 0.00719699 -0.03802297 0.99925095 -0.82634666] [ 0. 0. 0. 1. ]] SLAMing on 50.391193817 meters Centerline goodness : 0.883496 Centerline is valid? [False, False] Translation: X:5.33, Y:0.06, Z:-0.83 [[ 9.99716530e-01 2.33786313e-02 -4.50542748e-03 5.33474033e+00] [-2.31748624e-02 9.98892797e-01 4.09402685e-02 5.90632146e-02] [ 5.45756649e-03 -4.08242505e-02 9.99151438e-01 -8.27018120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421193817 meters Centerline goodness : 0.883495 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99809327e-01 1.94480610e-02 -1.75560635e-03 5.35688043e+00] [-1.93231415e-02 9.98319367e-01 5.46356896e-02 5.30667601e-02] [ 2.81521404e-03 -5.45913482e-02 9.98504812e-01 -8.27852912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451193817000004 meters Centerline goodness : 0.880124 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99866001e-01 1.62510822e-02 -1.97027818e-03 5.35700219e+00] [-1.61282727e-02 9.98546066e-01 5.14357121e-02 5.26684205e-02] [ 2.80329951e-03 -5.13970426e-02 9.98674364e-01 -8.27074528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481193817 meters Centerline goodness : 0.883141 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99874373e-01 1.57199777e-02 -2.02973813e-03 5.35742811e+00] [-1.55938742e-02 9.98537480e-01 5.17661382e-02 5.08454723e-02] [ 2.84053214e-03 -5.17279835e-02 9.98657172e-01 -8.27180601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511193817 meters Centerline goodness : 0.883897 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99878594e-01 1.53718320e-02 -2.55018716e-03 5.35875217e+00] [-1.52189975e-02 9.98538984e-01 5.18486292e-02 5.04124535e-02] [ 3.34346971e-03 -5.18035232e-02 9.98651699e-01 -8.27582886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541193817 meters Centerline goodness : 0.883897 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99878713e-01 1.53681439e-02 -2.52571278e-03 5.35869889e+00] [-1.52170427e-02 9.98546202e-01 5.17100083e-02 5.07355366e-02] [ 3.31672775e-03 -5.16653027e-02 9.98658949e-01 -8.27592843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571193817 meters Centerline goodness : 0.882872 Centerline is valid? [False, False] Translation: X:5.36, Y:0.05, Z:-0.83 [[ 9.99886543e-01 1.47674016e-02 -2.97068419e-03 5.35984483e+00] [-1.45939679e-02 9.98553507e-01 5.17485181e-02 4.94665532e-02] [ 3.73057827e-03 -5.16992928e-02 9.98655729e-01 -8.27968384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601193817 meters Centerline goodness : 0.881599 Centerline is valid? [False, False] Translation: X:5.35, Y:0.05, Z:-0.83 [[ 0.99990966 0.01223909 -0.00555673 5.35148397] [-0.01202156 0.99921964 0.03762434 0.05052043] [ 0.00601288 -0.03755414 0.9992765 -0.82817537] [ 0. 0. 0. 1. ]] SLAMing on 50.631193817 meters Centerline goodness : 0.882046 Centerline is valid? [False, False] Translation: X:5.35, Y:0.05, Z:-0.83 [[ 9.99955332e-01 7.91219653e-03 -5.17025599e-03 5.35090591e+00] [-7.72872129e-03 9.99371638e-01 3.45918555e-02 4.65929384e-02] [ 5.44070475e-03 -3.45503509e-02 9.99388149e-01 -8.28501455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters Centerline goodness : 0.884045 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99972827e-01 3.13529505e-03 -6.67199515e-03 5.33127861e+00] [-2.95649872e-03 9.99640688e-01 2.66412244e-02 5.02117826e-02] [ 6.75312592e-03 -2.66207747e-02 9.99622794e-01 -8.28022088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691193817 meters Centerline goodness : 0.883581 Centerline is valid? [False, False] Translation: X:5.33, Y:0.05, Z:-0.83 [[ 9.99972992e-01 -1.74755693e-03 -7.13871653e-03 5.33353109e+00] [ 1.90780211e-03 9.99744965e-01 2.25025523e-02 4.90753013e-02] [ 7.09757142e-03 -2.25155638e-02 9.99721298e-01 -8.29990976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721193817 meters Centerline goodness : 0.883865 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99986131e-01 -4.62045665e-03 -2.52767674e-03 5.31450156e+00] [ 4.66537656e-03 9.99825952e-01 1.80637757e-02 4.84487648e-02] [ 2.44377391e-03 -1.80753178e-02 9.99833642e-01 -8.33391678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751193817 meters Centerline goodness : 0.876516 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99962925e-01 -8.22210459e-03 -2.55839693e-03 5.31482084e+00] [ 8.25820574e-03 9.99861698e-01 1.44356454e-02 4.79499339e-02] [ 2.43935171e-03 -1.44562379e-02 9.99892528e-01 -8.33669158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781193817 meters Centerline goodness : 0.885569 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99962304e-01 -8.26512969e-03 -2.66049763e-03 5.31531120e+00] [ 8.30341213e-03 9.99857251e-01 1.47150204e-02 4.65954055e-02] [ 2.53849630e-03 -1.47365569e-02 9.99888189e-01 -8.33986800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811193817 meters Centerline goodness : 0.886886 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99963856e-01 -7.99896642e-03 -2.88136093e-03 5.31572882e+00] [ 8.04065186e-03 9.99858757e-01 1.47585196e-02 4.69377546e-02] [ 2.76290105e-03 -1.47811542e-02 9.99886936e-01 -8.33958700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841193817000004 meters Centerline goodness : 0.888479 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.83 [[ 9.99987260e-01 -4.14469406e-03 -2.88116252e-03 5.31533614e+00] [ 4.19818524e-03 9.99814176e-01 1.88145867e-02 4.64627570e-02] [ 2.80264643e-03 -1.88264427e-02 9.99818839e-01 -8.33459838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871193817 meters Centerline goodness : 0.888081 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99996188e-01 1.49504228e-03 -2.32144687e-03 5.31260823e+00] [-1.43951497e-03 9.99717143e-01 2.37394666e-02 4.78056221e-02] [ 2.35628174e-03 -2.37360343e-02 9.99715484e-01 -8.31284413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901193817 meters Centerline goodness : 0.886397 Centerline is valid? [False, False] Translation: X:5.31, Y:0.05, Z:-0.83 [[ 9.99995379e-01 1.98040767e-03 -2.30652323e-03 5.31229424e+00] [-1.92637203e-03 9.99729022e-01 2.31985076e-02 5.05719648e-02] [ 2.35184071e-03 -2.31939572e-02 9.99728218e-01 -8.30780576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931193817 meters Centerline goodness : 0.887240 Centerline is valid? [False, False] Translation: X:5.28, Y:0.05, Z:-0.83 [[ 9.99995198e-01 3.09591127e-03 1.39791614e-04 5.28327309e+00] [-3.09873500e-03 9.99529697e-01 3.05087440e-02 5.13705414e-02] [-4.52735049e-05 -3.05090307e-02 9.99534490e-01 -8.31929648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961193817 meters Centerline goodness : 0.889475 Centerline is valid? [False, False] Translation: X:5.27, Y:0.05, Z:-0.83 [[ 9.99972027e-01 4.41249151e-03 -6.03954625e-03 5.27220649e+00] [-4.27838612e-03 9.99747931e-01 2.20402022e-02 5.46229292e-02] [ 6.13527607e-03 -2.20137461e-02 9.99738843e-01 -8.28025345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991193817 meters Centerline goodness : 0.886938 Centerline is valid? [False, False] Translation: X:5.27, Y:0.05, Z:-0.83 [[ 9.99973938e-01 4.20294377e-03 -5.87020020e-03 5.27151177e+00] [-4.07289843e-03 9.99749841e-01 2.19924490e-02 5.45381782e-02] [ 5.96116474e-03 -2.19679671e-02 9.99740903e-01 -8.27443988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021193817000004 meters Centerline goodness : 0.891755 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99974012e-01 4.18915545e-03 -5.86738225e-03 5.27099031e+00] [-4.06014938e-03 9.99753475e-01 2.18289616e-02 5.53586388e-02] [ 5.95738071e-03 -2.18045718e-02 9.99744502e-01 -8.26716117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051193817 meters Centerline goodness : 0.890176 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99973259e-01 4.24701958e-03 -5.95354441e-03 5.27085070e+00] [-4.11692792e-03 9.99756145e-01 2.16956628e-02 5.63344821e-02] [ 6.04423451e-03 -2.16705723e-02 9.99746895e-01 -8.26314632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081193817 meters Centerline goodness : 0.888990 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 9.99972501e-01 4.31004108e-03 -6.03496318e-03 5.27081051e+00] [-4.17976749e-03 9.99761503e-01 2.14351929e-02 5.76807371e-02] [ 6.12591042e-03 -2.14093787e-02 9.99752025e-01 -8.26081746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111193817 meters Centerline goodness : 0.888661 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99995327 0.00765109 -0.00590892 5.27026503] [-0.00749999 0.99965472 0.02518315 0.05714246] [ 0.00609955 -0.02513765 0.99966539 -0.82564997] [ 0. 0. 0. 1. ]] SLAMing on 51.141193817 meters Centerline goodness : 0.887819 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99991998 0.01088942 -0.00643901 5.2714425 ] [-0.01069824 0.99952174 0.02901433 0.05613828] [ 0.00675188 -0.02894312 0.99955826 -0.82574884] [ 0. 0. 0. 1. ]] SLAMing on 51.171193817 meters Centerline goodness : 0.889179 Centerline is valid? [False, False] Translation: X:5.27, Y:0.06, Z:-0.83 [[ 0.99991352 0.01144874 -0.00647105 5.27124926] [-0.01125693 0.99951779 0.02893914 0.05713261] [ 0.00679925 -0.02886379 0.99956023 -0.8253978 ] [ 0. 0. 0. 1. ]] SLAMing on 51.201193817000004 meters Centerline goodness : 0.888003 Centerline is valid? [False, False] Translation: X:5.28, Y:0.05, Z:-0.82 [[ 9.99857271e-01 1.60906918e-02 -5.15045298e-03 5.27783496e+00] [-1.58423392e-02 9.98857356e-01 4.50888329e-02 5.36750357e-02] [ 5.87007836e-03 -4.50008022e-02 9.98969704e-01 -8.22255678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231193817 meters Centerline goodness : 0.889334 Centerline is valid? [False, False] Translation: X:5.30, Y:0.05, Z:-0.82 [[ 9.99873729e-01 1.56651944e-02 -2.66990797e-03 5.29599233e+00] [-1.55372213e-02 9.98970320e-01 4.26250391e-02 5.46656630e-02] [ 3.33488835e-03 -4.25781739e-02 9.99087573e-01 -8.22105789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261193817 meters Centerline goodness : 0.887495 Centerline is valid? [False, False] Translation: X:5.32, Y:0.05, Z:-0.82 [[ 9.99823538e-01 1.86178248e-02 -2.50379764e-03 5.31681054e+00] [-1.84742488e-02 9.98647885e-01 4.85911828e-02 5.03424886e-02] [ 3.40507435e-03 -4.85363525e-02 9.98815613e-01 -8.22922718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291193817 meters Centerline goodness : 0.891792 Centerline is valid? [False, False] Translation: X:5.32, Y:0.04, Z:-0.82 [[ 9.99802733e-01 1.97464130e-02 -2.13897287e-03 5.31647399e+00] [-1.96064236e-02 9.98419683e-01 5.26661639e-02 4.32834047e-02] [ 3.17556044e-03 -5.26138370e-02 9.98609884e-01 -8.21072344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321193817 meters Centerline goodness : 0.891792 Centerline is valid? [False, False] Translation: X:5.32, Y:0.04, Z:-0.82 [[ 9.99801726e-01 1.98094073e-02 -2.02376386e-03 5.31634986e+00] [-1.96758217e-02 9.98425690e-01 5.25262162e-02 4.36348297e-02] [ 3.06109103e-03 -5.24759824e-02 9.98617495e-01 -8.21103729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351193817 meters Centerline goodness : 0.889407 Centerline is valid? [False, False] Translation: X:5.34, Y:0.02, Z:-0.81 [[ 9.99875028e-01 1.55467984e-02 -2.86785736e-03 5.34163025e+00] [-1.51977447e-02 9.95220417e-01 9.64642454e-02 2.37983759e-02] [ 4.35386037e-03 -9.64086051e-02 9.95332319e-01 -8.13800213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381193817 meters Centerline goodness : 0.887843 Centerline is valid? [False, False] Translation: X:5.35, Y:0.02, Z:-0.81 [[ 9.99901851e-01 1.36965987e-02 -2.94830631e-03 5.34872664e+00] [-1.32942054e-02 9.93964982e-01 1.08889292e-01 1.66882603e-02] [ 4.42192617e-03 -1.08839409e-01 9.94049511e-01 -8.08202470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411193817 meters Centerline goodness : 0.889339 Centerline is valid? [False, False] Translation: X:5.35, Y:0.01, Z:-0.80 [[ 9.99904875e-01 1.34039436e-02 -3.25194365e-03 5.35433409e+00] [-1.29005364e-02 9.92278860e-01 1.23354127e-01 8.59882823e-03] [ 4.88026670e-03 -1.23300441e-01 9.92357387e-01 -7.99975097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441193817 meters Centerline goodness : 0.889427 Centerline is valid? [False, False] Translation: X:5.35, Y:0.00, Z:-0.80 [[ 9.99890029e-01 1.44245335e-02 -3.44431942e-03 5.35377735e+00] [-1.38645132e-02 9.91662156e-01 1.28116911e-01 2.71129997e-03] [ 5.26362791e-03 -1.28055068e-01 9.91753091e-01 -7.95724116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471193817 meters Centerline goodness : 0.890651 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 9.99809089e-01 1.71022112e-02 -9.44987049e-03 5.36382938e+00] [-1.59262370e-02 9.93472765e-01 1.12952290e-01 -5.06205992e-03] [ 1.13199229e-02 -1.12780225e-01 9.93555474e-01 -7.93885886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501193817 meters Centerline goodness : 0.892220 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 0.99978812 0.01638993 -0.01245299 5.36330279] [-0.01516629 0.99557858 0.09269991 -0.00549606] [ 0.01391727 -0.09249141 0.99561622 -0.79322628] [ 0. 0. 0. 1. ]] SLAMing on 51.531193817 meters Centerline goodness : 0.890588 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.01, Z:-0.79 [[ 0.9997141 0.01485832 -0.0187336 5.36324943] [-0.01340683 0.99706635 0.07535877 -0.00665893] [ 0.01979835 -0.07508607 0.9969805 -0.79179207] [ 0. 0. 0. 1. ]] SLAMing on 51.561193817 meters Centerline goodness : 0.886998 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.01, Z:-0.79 [[ 0.99965946 0.01250333 -0.02290481 5.37178653] [-0.0109205 0.99762746 0.06797201 -0.0100519 ] [ 0.02370034 -0.06769873 0.99742427 -0.78952092] [ 0. 0. 0. 1. ]] SLAMing on 51.591193817000004 meters Centerline goodness : 0.888078 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.02, Z:-0.79 [[ 0.99970623 0.00763113 -0.02300493 5.37947198] [-0.00638346 0.99852979 0.05382847 -0.01586876] [ 0.02338188 -0.05366581 0.99828516 -0.78628381] [ 0. 0. 0. 1. ]] SLAMing on 51.621193817 meters Centerline goodness : 0.886835 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.02, Z:-0.79 [[ 9.99756611e-01 5.12078967e-03 -2.14591545e-02 5.38805295e+00] [-4.24835472e-03 9.99170272e-01 4.05057934e-02 -1.71648000e-02] [ 2.16487709e-02 -4.04047687e-02 9.98948840e-01 -7.85303678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651193817 meters Centerline goodness : 0.888425 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-0.78 [[ 9.99754958e-01 4.72255106e-03 -2.16268507e-02 5.40530162e+00] [-4.20297885e-03 9.99702951e-01 2.40071611e-02 -1.94494393e-02] [ 2.17338015e-02 -2.39103811e-02 9.99477831e-01 -7.83970289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681193817 meters Centerline goodness : 0.894354 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.02, Z:-0.78 [[ 9.99815807e-01 2.07718111e-03 -1.90797582e-02 5.41367171e+00] [-1.88002198e-03 9.99944716e-01 1.03455492e-02 -2.12720011e-02] [ 1.91001930e-02 -1.03077733e-02 9.99764438e-01 -7.83871460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711193817 meters Centerline goodness : 0.891343 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.03, Z:-0.78 [[ 9.99802333e-01 -3.89838488e-03 -1.94960851e-02 5.41443415e+00] [ 4.00431259e-03 9.99977418e-01 5.39719718e-03 -2.78389042e-02] [ 1.94746045e-02 -5.47419875e-03 9.99795366e-01 -7.83669359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741193817 meters Centerline goodness : 0.889900 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 9.99880792e-01 -4.62633703e-03 -1.47308581e-02 5.42531045e+00] [ 4.55531272e-03 9.99977856e-01 -4.85137349e-03 -2.91375934e-02] [ 1.47529760e-02 4.78369150e-03 9.99879726e-01 -7.87031438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771193817000004 meters Centerline goodness : 0.888907 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 9.99865615e-01 -5.98183553e-03 -1.52633539e-02 5.42772214e+00] [ 5.89922364e-03 9.99967738e-01 -5.45172889e-03 -3.24354759e-02] [ 1.52954728e-02 5.36095432e-03 9.99868646e-01 -7.88521122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801193817 meters Centerline goodness : 0.889550 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.03, Z:-0.79 [[ 0.99983472 -0.00943852 -0.01553837 5.42834568] [ 0.00930588 0.99991983 -0.00858672 -0.03461882] [ 0.01561817 0.0084407 0.9998424 -0.78852387] [ 0. 0. 0. 1. ]] SLAMing on 51.831193817 meters Centerline goodness : 0.891660 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.04, Z:-0.79 [[ 0.99979941 -0.01217604 -0.01590245 5.42990028] [ 0.01201745 0.99987748 -0.01003071 -0.04175994] [ 0.01602263 0.00983759 0.99982323 -0.78942579] [ 0. 0. 0. 1. ]] SLAMing on 51.861193817 meters Centerline goodness : 0.893439 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.04, Z:-0.79 [[ 0.99979713 -0.0120557 -0.01613541 5.43076196] [ 0.01190351 0.99988407 -0.00949517 -0.04353351] [ 0.01624801 0.00930117 0.99982473 -0.78987136] [ 0. 0. 0. 1. ]] SLAMing on 51.891193817 meters Centerline goodness : 0.885970 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.04, Z:-0.79 [[ 0.99990258 -0.00773927 -0.01161595 5.44224546] [ 0.00757 0.99986554 -0.01454637 -0.04395039] [ 0.01172697 0.01445702 0.99982672 -0.7935548 ] [ 0. 0. 0. 1. ]] SLAMing on 51.921193817 meters Centerline goodness : 0.884796 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.04, Z:-0.80 [[ 9.99973031e-01 -3.82369207e-03 -6.27036483e-03 5.45524184e+00] [ 3.70234092e-03 9.99807811e-01 -1.92518506e-02 -4.26385876e-02] [ 6.34277289e-03 1.92281163e-02 9.99795003e-01 -7.97848199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951193817000004 meters Centerline goodness : 0.884734 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.05, Z:-0.80 [[ 9.99998181e-01 1.46792285e-03 -1.21803816e-03 5.46983719e+00] [-1.48614555e-03 9.99884927e-01 -1.50971553e-02 -4.62622371e-02] [ 1.19573653e-03 1.50989380e-02 9.99885290e-01 -7.96009280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981193817 meters Centerline goodness : 0.884345 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-0.80 [[ 9.99995530e-01 2.94408559e-03 -5.22357706e-04 5.49055728e+00] [-2.95090479e-03 9.99903527e-01 -1.35731268e-02 -4.98171953e-02] [ 4.82346866e-04 1.35746075e-02 9.99907744e-01 -7.96828501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011193817 meters Centerline goodness : 0.883908 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-0.80 [[ 9.99995567e-01 2.88107044e-03 -7.51386711e-04 5.49111436e+00] [-2.89071373e-03 9.99909156e-01 -1.31652586e-02 -5.18600999e-02] [ 7.13388414e-04 1.31673723e-02 9.99913052e-01 -7.96999094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041193817 meters Centerline goodness : 0.887028 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.05, Z:-0.80 [[ 9.99997550e-01 2.11631797e-03 -6.48947400e-04 5.51279252e+00] [-2.12584764e-03 9.99884427e-01 -1.50536869e-02 -5.33038135e-02] [ 6.17014011e-04 1.50550296e-02 9.99886476e-01 -7.98729197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071193817 meters Centerline goodness : 0.878892 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.06, Z:-0.80 [[ 9.99998620e-01 1.21209711e-03 -1.13615627e-03 5.51482729e+00] [-1.22921089e-03 9.99883943e-01 -1.51851919e-02 -5.63311078e-02] [ 1.11761849e-03 1.51865676e-02 9.99884053e-01 -8.00081460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101193817 meters Centerline goodness : 0.884278 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.06, Z:-0.80 [[ 9.99995806e-01 2.49885450e-03 -1.46402808e-03 5.53653500e+00] [-2.51910279e-03 9.99898879e-01 -1.39959126e-02 -5.88982647e-02] [ 1.42890629e-03 1.39995419e-02 9.99900981e-01 -8.01889305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131193817 meters Centerline goodness : 0.878836 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.06, Z:-0.80 [[ 9.99994994e-01 2.72676826e-03 -1.60552314e-03 5.53699533e+00] [-2.74865528e-03 9.99901112e-01 -1.37917076e-02 -5.88251288e-02] [ 1.56775759e-03 1.37960516e-02 9.99903601e-01 -8.02121794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161193817 meters Centerline goodness : 0.881726 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-0.80 [[ 9.99987145e-01 5.03841979e-03 -5.68553695e-04 5.55790597e+00] [-5.04675345e-03 9.99863122e-01 -1.57565343e-02 -5.59479651e-02] [ 4.89087838e-04 1.57592011e-02 9.99875696e-01 -8.04758802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191193817 meters Centerline goodness : 0.875659 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.06, Z:-0.81 [[ 9.99975554e-01 6.88988754e-03 -1.19222689e-03 5.56050052e+00] [-6.90583608e-03 9.99879064e-01 -1.39343903e-02 -5.59421737e-02] [ 1.09607632e-03 1.39422830e-02 9.99902201e-01 -8.06326212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221193817 meters Centerline goodness : 0.882803 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.06, Z:-0.81 [[ 9.99970651e-01 7.63980751e-03 -5.74308560e-04 5.58113331e+00] [-7.64769811e-03 9.99853803e-01 -1.52932870e-02 -5.59415422e-02] [ 4.57386829e-04 1.52972303e-02 9.99882886e-01 -8.07196439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251193817 meters Centerline goodness : 0.882938 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-0.81 [[ 9.99971408e-01 7.56094802e-03 -1.21594519e-04 5.60188872e+00] [-7.56189632e-03 9.99793424e-01 -1.88660234e-02 -5.50829487e-02] [-2.10756222e-05 1.88664035e-02 9.99822013e-01 -8.08891374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281193817 meters Centerline goodness : 0.884500 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.06, Z:-0.81 [[ 9.99966736e-01 8.14445201e-03 -4.41083409e-04 5.60282810e+00] [-8.15125495e-03 9.99793313e-01 -1.86249556e-02 -5.52923635e-02] [ 2.89302185e-04 1.86279314e-02 9.99826443e-01 -8.09353123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311193817 meters Centerline goodness : 0.879318 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.06, Z:-0.81 [[ 9.99964800e-01 8.30633268e-03 -1.18499322e-03 5.62450804e+00] [-8.32878871e-03 9.99757091e-01 -2.04056317e-02 -5.53287204e-02] [ 1.01520941e-03 2.04147830e-02 9.99791081e-01 -8.10669253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341193817000004 meters Centerline goodness : 0.877934 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.06, Z:-0.81 [[ 9.99956677e-01 9.16810154e-03 -1.60917582e-03 5.62607639e+00] [-9.19737683e-03 9.99772573e-01 -1.92408543e-02 -5.65149018e-02] [ 1.43240774e-03 1.92548209e-02 9.99813583e-01 -8.11504520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371193817 meters Centerline goodness : 0.876630 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.06, Z:-0.81 [[ 9.99957393e-01 9.07282949e-03 -1.70179811e-03 5.62629185e+00] [-9.10381556e-03 9.99774564e-01 -1.91817829e-02 -5.65854602e-02] [ 1.52738141e-03 1.91964585e-02 9.99814564e-01 -8.11511284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401193817 meters Centerline goodness : 0.879661 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99963585e-01 6.67437182e-03 5.31793699e-03 5.63624399e+00] [-6.60705006e-03 9.99899066e-01 -1.25779384e-02 -5.88471232e-02] [-5.40135006e-03 1.25423445e-02 9.99906753e-01 -8.15210515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431193817 meters Centerline goodness : 0.878574 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99965168e-01 6.55720162e-03 5.16391068e-03 5.63653055e+00] [-6.49473247e-03 9.99906635e-01 -1.20225079e-02 -6.11243369e-02] [-5.24226256e-03 1.19885510e-02 9.99914393e-01 -8.15146494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461193817 meters Centerline goodness : 0.881739 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99975116e-01 5.30710017e-03 4.64776603e-03 5.63862424e+00] [-5.24724749e-03 9.99904352e-01 -1.27966069e-02 -6.32356273e-02] [-4.71523435e-03 1.27719005e-02 9.99907318e-01 -8.16441780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491193817 meters Centerline goodness : 0.881739 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.06, Z:-0.82 [[ 9.99975116e-01 5.30710017e-03 4.64776603e-03 5.63862424e+00] [-5.24724749e-03 9.99904352e-01 -1.27966069e-02 -6.32356273e-02] [-4.71523435e-03 1.27719005e-02 9.99907318e-01 -8.16441780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521193817000004 meters Centerline goodness : 0.882419 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.07, Z:-0.82 [[ 9.99984081e-01 3.90414082e-03 4.07384799e-03 5.64128848e+00] [-3.84785934e-03 9.99898296e-01 -1.37328808e-02 -6.54456438e-02] [-4.12704876e-03 1.37169866e-02 9.99897401e-01 -8.18393115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551193817 meters Centerline goodness : 0.880287 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.07, Z:-0.82 [[ 9.99992226e-01 1.63840759e-03 3.58670635e-03 5.64462076e+00] [-1.58366941e-03 9.99883046e-01 -1.52114146e-02 -6.94646852e-02] [-3.61120936e-03 1.52056162e-02 9.99877867e-01 -8.21546982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581193817 meters Centerline goodness : 0.881879 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.07, Z:-0.82 [[ 9.99995060e-01 8.46752911e-04 3.02700245e-03 5.64766448e+00] [-7.99638715e-04 9.99879050e-01 -1.55321089e-02 -7.12069428e-02] [-3.03978819e-03 1.55296117e-02 9.99874788e-01 -8.23996565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611193817 meters Centerline goodness : 0.880736 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.07, Z:-0.83 [[ 9.99996951e-01 1.76840974e-04 2.46304254e-03 5.65057542e+00] [-1.37879286e-04 9.99875009e-01 -1.58097168e-02 -7.31170276e-02] [-2.46553049e-03 1.58093290e-02 9.99871985e-01 -8.26243523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641193817 meters Centerline goodness : 0.881645 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-0.83 [[ 9.99997575e-01 3.93132916e-04 2.16698607e-03 5.65151818e+00] [-3.60206739e-04 9.99884804e-01 -1.51739612e-02 -7.52427878e-02] [-2.17270182e-03 1.51731438e-02 9.99882521e-01 -8.26745826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671193817 meters Centerline goodness : 0.879978 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.08, Z:-0.83 [[ 9.99997786e-01 7.03788530e-04 1.98298984e-03 5.65200103e+00] [-6.74677139e-04 9.99892555e-01 -1.46431743e-02 -7.67015210e-02] [-1.99308248e-03 1.46418040e-02 9.99890817e-01 -8.26886822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701193817000004 meters Centerline goodness : 0.882084 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.08, Z:-0.83 [[ 9.99993118e-01 2.84111135e-03 2.38587046e-03 5.67312027e+00] [-2.80226067e-03 9.99865942e-01 -1.61320978e-02 -7.74331198e-02] [-2.43138370e-03 1.61253009e-02 9.99867023e-01 -8.28472300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731193817 meters Centerline goodness : 0.882106 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.08, Z:-0.83 [[ 9.99987775e-01 4.74105803e-03 1.40410979e-03 5.69499787e+00] [-4.71678824e-03 9.99847557e-01 -1.68111537e-02 -7.81006352e-02] [-1.48359840e-03 1.68043253e-02 9.99857697e-01 -8.30022415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761193817 meters Centerline goodness : 0.887401 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.08, Z:-0.83 [[ 9.99972130e-01 7.46538196e-03 -8.25662143e-05 5.71680518e+00] [-7.46576946e-03 9.99854154e-01 -1.53601352e-02 -8.01819788e-02] [-3.21151042e-05 1.53603236e-02 9.99882023e-01 -8.31006976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791193817 meters Centerline goodness : 0.884470 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.08, Z:-0.83 [[ 9.99966466e-01 8.18683419e-03 -2.07159155e-04 5.71677462e+00] [-8.18898518e-03 9.99860048e-01 -1.45884976e-02 -8.12879733e-02] [ 8.76965520e-05 1.45897048e-02 9.99893561e-01 -8.30628619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821193817 meters Centerline goodness : 0.889564 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.08, Z:-0.83 [[ 9.99926198e-01 1.09458183e-02 5.27138523e-03 5.73094920e+00] [-1.08703907e-02 9.99841061e-01 -1.41310534e-02 -8.37293674e-02] [-5.42522334e-03 1.40727085e-02 9.99886256e-01 -8.28969545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851193817 meters Centerline goodness : 0.891840 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.08, Z:-0.83 [[ 0.99990679 0.01130877 0.0076506 5.74985524] [-0.01117146 0.9997799 -0.01775802 -0.08333693] [-0.00784974 0.01767089 0.99981304 -0.83027995] [ 0. 0. 0. 1. ]] SLAMing on 52.881193817 meters Centerline goodness : 0.894753 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.08, Z:-0.83 [[ 0.99988666 0.01076709 0.01052282 5.76798886] [-0.01052118 0.9996766 -0.02315176 -0.08292759] [-0.01076869 0.02303842 0.99967658 -0.83245386] [ 0. 0. 0. 1. ]] SLAMing on 52.911193817000004 meters Centerline goodness : 0.894143 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.09, Z:-0.83 [[ 0.99986351 0.01247198 0.0108356 5.78881408] [-0.01222262 0.99966573 -0.02278252 -0.08640765] [-0.01111612 0.02264697 0.99968172 -0.8335973 ] [ 0. 0. 0. 1. ]] SLAMing on 52.941193817 meters Centerline goodness : 0.896305 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.09, Z:-0.83 [[ 0.99984162 0.01410291 0.0108558 5.78849682] [-0.01387777 0.99969266 -0.02054252 -0.09178559] [-0.01114217 0.02038861 0.99973004 -0.83327956] [ 0. 0. 0. 1. ]] SLAMing on 52.971193817 meters Centerline goodness : 0.896296 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.09, Z:-0.84 [[ 0.99982643 0.01520389 0.01076788 5.81022458] [-0.01497211 0.99966127 -0.02128823 -0.09431167] [-0.0110879 0.02112332 0.99971539 -0.83512189] [ 0. 0. 0. 1. ]] SLAMing on 53.001193817 meters Centerline goodness : 0.894004 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.10, Z:-0.84 [[ 0.99982252 0.01557018 0.01060671 5.81054169] [-0.01535306 0.99967701 -0.02025255 -0.0973595 ] [-0.01091862 0.02008611 0.99973863 -0.83516129] [ 0. 0. 0. 1. ]] SLAMing on 53.031193817 meters Centerline goodness : 0.897070 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.10, Z:-0.83 [[ 0.99981732 0.01598807 0.01047441 5.81051972] [-0.01578674 0.99969428 -0.01902951 -0.10122403] [-0.01077545 0.01886068 0.99976405 -0.83480238] [ 0. 0. 0. 1. ]] SLAMing on 53.061193817 meters Centerline goodness : 0.899932 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.11, Z:-0.83 [[ 0.99983966 0.01423591 0.01086283 5.80798648] [-0.01402918 0.99972342 -0.01887502 -0.11088712] [-0.01112853 0.01871959 0.99976284 -0.83255121] [ 0. 0. 0. 1. ]] SLAMing on 53.091193817000004 meters Centerline goodness : 0.898949 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.12, Z:-0.83 [[ 0.99987881 0.01127334 0.01073713 5.8080609 ] [-0.01104416 0.99971488 -0.02117056 -0.11511003] [-0.01097273 0.02104942 0.99971822 -0.83253803] [ 0. 0. 0. 1. ]] SLAMing on 53.121193817 meters Centerline goodness : 0.900025 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.12, Z:-0.83 [[ 0.99991108 0.00819633 0.0105195 5.8083335 ] [-0.00794869 0.99969528 -0.02337035 -0.12020049] [-0.01070785 0.02328465 0.99967153 -0.8325357 ] [ 0. 0. 0. 1. ]] SLAMing on 53.151193817 meters Centerline goodness : 0.903386 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.13, Z:-0.83 [[ 9.99932540e-01 5.18353127e-03 1.03945596e-02 5.80832394e+00] [-4.91877238e-03 9.99666873e-01 -2.53367094e-02 -1.25882097e-01] [-1.05224305e-02 2.52838717e-02 9.99624932e-01 -8.32272598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181193817 meters Centerline goodness : 0.901688 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.13, Z:-0.83 [[ 9.99943300e-01 2.30264794e-03 1.03968158e-02 5.80751878e+00] [-2.02101232e-03 9.99632895e-01 -2.70183583e-02 -1.32071226e-01] [-1.04552129e-02 2.69958142e-02 9.99580869e-01 -8.31382046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211193817 meters Centerline goodness : 0.903015 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.14, Z:-0.83 [[ 9.99938106e-01 -3.44249646e-03 1.05798559e-02 5.80734276e+00] [ 3.76521987e-03 9.99523498e-01 -3.06365920e-02 -1.42869357e-01] [-1.04693482e-02 3.06745313e-02 9.99474595e-01 -8.31604717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193817 meters Centerline goodness : 0.905263 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.15, Z:-0.83 [[ 9.99941188e-01 -3.39026733e-03 1.03018115e-02 5.80847641e+00] [ 3.68883341e-03 9.99569627e-01 -2.91024756e-02 -1.48768959e-01] [-1.01987127e-02 2.91387656e-02 9.99523346e-01 -8.32440671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271193817000004 meters Centerline goodness : 0.903991 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.15, Z:-0.83 [[ 9.99943488e-01 -3.42564505e-03 1.00641118e-02 5.81014218e+00] [ 3.70625295e-03 9.99601137e-01 -2.79969880e-02 -1.53468207e-01] [-9.96418990e-03 2.80327060e-02 9.99557343e-01 -8.34017734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters Centerline goodness : 0.898467 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.16, Z:-0.83 [[ 9.99947009e-01 -3.01166672e-03 9.84425555e-03 5.81122824e+00] [ 3.27279262e-03 9.99640317e-01 -2.66181347e-02 -1.57598550e-01] [-9.76054979e-03 2.66489424e-02 9.99597202e-01 -8.34913097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331193817 meters Centerline goodness : 0.900334 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.16, Z:-0.84 [[ 9.99957293e-01 -5.75040271e-04 9.22395151e-03 5.81375673e+00] [ 7.88974871e-04 9.99730381e-01 -2.32065344e-02 -1.64898020e-01] [-9.20811986e-03 2.32128208e-02 9.99688139e-01 -8.36812152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361193817 meters Centerline goodness : 0.898196 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.17, Z:-0.84 [[ 9.99958109e-01 3.09631813e-03 8.61355272e-03 5.81606283e+00] [-2.93299512e-03 9.99816895e-01 -1.89096097e-02 -1.68753225e-01] [-8.67052570e-03 1.88835541e-02 9.99784093e-01 -8.38229147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391193817 meters Centerline goodness : 0.896665 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.17, Z:-0.84 [[ 0.99995078 0.00612535 0.0078051 5.81934785] [-0.00600248 0.9998592 -0.01566974 -0.17175616] [-0.00789999 0.01562212 0.99984676 -0.84044033] [ 0. 0. 0. 1. ]] SLAMing on 53.421193817 meters Centerline goodness : 0.893593 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.18, Z:-0.84 [[ 9.99868917e-01 1.60988878e-02 1.72491863e-03 5.83131341e+00] [-1.60743810e-02 9.99781180e-01 -1.33867850e-02 -1.77239757e-01] [-1.94005354e-03 1.33573032e-02 9.99908905e-01 -8.39346509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451193817000004 meters Centerline goodness : 0.894190 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.9997497 0.02127679 0.00691673 5.84409063] [-0.02115075 0.99961763 -0.01781146 -0.1763639 ] [-0.00729306 0.0176607 0.99981744 -0.84332687] [ 0. 0. 0. 1. ]] SLAMing on 53.481193817 meters Centerline goodness : 0.891940 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.9996433 0.02580072 0.00689901 5.84391733] [-0.0257108 0.99958722 -0.01281965 -0.17854215] [-0.00722692 0.0126377 0.99989402 -0.84263082] [ 0. 0. 0. 1. ]] SLAMing on 53.511193817 meters Centerline goodness : 0.894806 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.99952526 0.03004109 0.00684028 5.84408939] [-0.02998709 0.99951934 -0.00786478 -0.18168725] [-0.00707326 0.00765593 0.99994568 -0.84225421] [ 0. 0. 0. 1. ]] SLAMing on 53.541193817 meters Centerline goodness : 0.894906 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.18, Z:-0.84 [[ 0.99949944 0.03087778 0.00688739 5.84383356] [-0.03083122 0.9995017 -0.00676642 -0.18429624] [-0.0070929 0.00655069 0.99995339 -0.84197462] [ 0. 0. 0. 1. ]] SLAMing on 53.571193817 meters Centerline goodness : 0.894443 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.19, Z:-0.84 [[ 0.99950185 0.03087797 0.0065265 5.8446799 ] [-0.03083714 0.99950478 -0.00626573 -0.19257699] [-0.00671674 0.00606135 0.99995907 -0.84277878] [ 0. 0. 0. 1. ]] SLAMing on 53.601193817 meters Centerline goodness : 0.897706 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:-0.84 [[ 0.99952641 0.03015601 0.00612898 5.84648715] [-0.03011676 0.99952591 -0.00639869 -0.19710994] [-0.00631904 0.00621107 0.99996075 -0.84430513] [ 0. 0. 0. 1. ]] SLAMing on 53.631193817 meters Centerline goodness : 0.896338 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.20, Z:-0.84 [[ 0.99962076 0.02684074 0.00615696 5.84634183] [-0.02678339 0.99959878 -0.00921542 -0.20060489] [-0.00640184 0.00904702 0.99993858 -0.84451677] [ 0. 0. 0. 1. ]] SLAMing on 53.661193817000004 meters Centerline goodness : 0.896240 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.21, Z:-0.84 [[ 0.99970538 0.02350805 0.0060438 5.84622909] [-0.02343619 0.99965691 -0.01169688 -0.20526112] [-0.0063167 0.01155179 0.99991332 -0.84430448] [ 0. 0. 0. 1. ]] SLAMing on 53.691193817 meters Centerline goodness : 0.896446 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.84 [[ 0.99982388 0.01775445 0.00608148 5.84567604] [-0.01765979 0.99972727 -0.0152811 -0.21708468] [-0.00635113 0.01517101 0.99986474 -0.84387411] [ 0. 0. 0. 1. ]] SLAMing on 53.721193817 meters Centerline goodness : 0.891359 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.22, Z:-0.84 [[ 0.99987561 0.01462965 0.00589368 5.8461152 ] [-0.01452333 0.99973795 -0.01769502 -0.22163096] [-0.00615101 0.01760722 0.99982606 -0.84414057] [ 0. 0. 0. 1. ]] SLAMing on 53.751193817 meters Centerline goodness : 0.897676 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.23, Z:-0.85 [[ 9.99883731e-01 1.42923828e-02 5.31527285e-03 5.84824764e+00] [-1.42002171e-02 9.99754798e-01 -1.69910793e-02 -2.26539649e-01] [-5.55681255e-03 1.69136257e-02 9.99841513e-01 -8.45419715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193817 meters Centerline goodness : 0.895415 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.23, Z:-0.85 [[ 9.99891127e-01 1.39574881e-02 4.78777546e-03 5.85032045e+00] [-1.38770387e-02 9.99768489e-01 -1.64437216e-02 -2.30775033e-01] [-5.01618009e-03 1.63754912e-02 9.99853330e-01 -8.46707100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811193817 meters Centerline goodness : 0.890425 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.24, Z:-0.85 [[ 9.99882698e-01 1.45616789e-02 4.74846815e-03 5.85036294e+00] [-1.44896785e-02 9.99784588e-01 -1.48602311e-02 -2.35781369e-01] [-4.96383519e-03 1.47896842e-02 9.99878305e-01 -8.46582980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817000004 meters Centerline goodness : 0.895848 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.25, Z:-0.85 [[ 9.99869291e-01 1.55968520e-02 4.25910136e-03 5.85183206e+00] [-1.55420842e-02 9.99799786e-01 -1.26027999e-02 -2.45965908e-01] [-4.45481264e-03 1.25349573e-02 9.99911511e-01 -8.47344549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871193817 meters Centerline goodness : 0.896039 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.25, Z:-0.85 [[ 9.99869063e-01 1.56934908e-02 3.94593855e-03 5.85316622e+00] [-1.56457184e-02 9.99807265e-01 -1.18593612e-02 -2.50778773e-01] [-4.13129281e-03 1.17960713e-02 9.99921890e-01 -8.48254466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901193817 meters Centerline goodness : 0.891756 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.26, Z:-0.85 [[ 9.99871124e-01 1.56456209e-02 3.59865858e-03 5.85469847e+00] [-1.56039956e-02 9.99814193e-01 -1.13178871e-02 -2.55454312e-01] [-3.77506530e-03 1.12602751e-02 9.99929475e-01 -8.49350864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931193817 meters Centerline goodness : 0.891912 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.27, Z:-0.85 [[ 9.99845476e-01 1.72517178e-02 3.37686068e-03 5.85523003e+00] [-1.72242235e-02 9.99819579e-01 -8.00841369e-03 -2.66458753e-01] [-3.51441032e-03 7.94901239e-03 9.99962230e-01 -8.49431084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193817 meters Centerline goodness : 0.895107 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.27, Z:-0.85 [[ 9.99856175e-01 1.67206982e-02 2.83666783e-03 5.85787856e+00] [-1.66981488e-02 9.99830191e-01 -7.79495172e-03 -2.71282403e-01] [-2.96652317e-03 7.74646351e-03 9.99965595e-01 -8.51557563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991193817 meters Centerline goodness : 0.892169 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.28, Z:-0.85 [[ 9.99883942e-01 1.50753670e-02 2.19920487e-03 5.86083863e+00] [-1.50559539e-02 9.99849738e-01 -8.59181989e-03 -2.76917365e-01] [-2.32839925e-03 8.55771161e-03 9.99960671e-01 -8.53875717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021193817000004 meters Centerline goodness : 0.893087 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.28, Z:-0.86 [[ 9.99924096e-01 1.22116149e-02 1.63666651e-03 5.86368278e+00] [-1.21939903e-02 9.99871799e-01 -1.03775178e-02 -2.82905999e-01] [-1.76318293e-03 1.03567726e-02 9.99944813e-01 -8.56049029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051193817 meters Centerline goodness : 0.892071 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-0.86 [[ 9.99959899e-01 8.84978991e-03 1.37170296e-03 5.86451751e+00] [-8.83198054e-03 9.99883029e-01 -1.24869441e-02 -2.89116254e-01] [-1.48204934e-03 1.24743285e-02 9.99921094e-01 -8.56419355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081193817 meters Centerline goodness : 0.892459 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-0.85 [[ 9.99998749e-01 1.38226497e-03 7.69352363e-04 5.86631091e+00] [-1.37067635e-03 9.99888572e-01 -1.48648567e-02 -3.04629804e-01] [-7.89813807e-04 1.48637836e-02 9.99889216e-01 -8.54656784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111193817 meters Centerline goodness : 0.894114 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-0.85 [[ 9.99997543e-01 -2.14467303e-03 5.61097847e-04 5.86669137e+00] [ 2.15392533e-03 9.99852415e-01 -1.70443269e-02 -3.11280918e-01] [-5.24460529e-04 1.70454936e-02 9.99854577e-01 -8.54404905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193817 meters Centerline goodness : 0.895896 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.32, Z:-0.85 [[ 9.99985126e-01 -5.43775121e-03 4.23315839e-04 5.86665877e+00] [ 5.44483722e-03 9.99803214e-01 -1.90758409e-02 -3.17366842e-01] [-3.19502859e-04 1.90778621e-02 9.99817950e-01 -8.53726007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171193817 meters Centerline goodness : 0.899287 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.32, Z:-0.85 [[ 9.99961580e-01 -8.75677803e-03 3.96073988e-04 5.86647933e+00] [ 8.76326484e-03 9.99730958e-01 -2.14759520e-02 -3.22225834e-01] [-2.07907284e-04 2.14785978e-02 9.99769287e-01 -8.53231574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201193817000004 meters Centerline goodness : 0.896497 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.33, Z:-0.85 [[ 9.99920831e-01 -1.25776112e-02 3.67756591e-04 5.86683336e+00] [ 1.25827592e-02 9.99651285e-01 -2.32160127e-02 -3.30534213e-01] [-7.56263674e-05 2.32188021e-02 9.99730404e-01 -8.52899322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231193817 meters Centerline goodness : 0.897362 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.33, Z:-0.85 [[ 9.99914829e-01 -1.30511847e-02 4.10926911e-05 5.86822468e+00] [ 1.30487918e-02 9.99660494e-01 -2.25527424e-02 -3.34592173e-01] [ 2.53261265e-04 2.25513577e-02 9.99745654e-01 -8.53510580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261193817 meters Centerline goodness : 0.899591 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.34, Z:-0.85 [[ 9.99908086e-01 -1.35571921e-02 -1.51774772e-04 5.86908686e+00] [ 1.35506799e-02 9.99671383e-01 -2.17601800e-02 -3.39138860e-01] [ 4.46731837e-04 2.17561232e-02 9.99763208e-01 -8.53534088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291193817 meters Centerline goodness : 0.899154 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.34, Z:-0.85 [[ 9.99850843e-01 -1.72700608e-02 -1.90030246e-04 5.86905001e+00] [ 1.72599750e-02 9.99540919e-01 -2.49006772e-02 -3.42172547e-01] [ 6.19979215e-04 2.48936832e-02 9.99689912e-01 -8.53123451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321193817 meters Centerline goodness : 0.901339 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99832291e-01 -1.83101611e-02 -3.58374550e-04 5.87009452e+00] [ 1.82957141e-02 9.99527125e-01 -2.47142343e-02 -3.46595812e-01] [ 8.10726695e-04 2.47035328e-02 9.99694492e-01 -8.53330534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351193817 meters Centerline goodness : 0.898796 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99822491e-01 -1.88319745e-02 -5.86219381e-04 5.87072524e+00] [ 1.88123472e-02 9.99531711e-01 -2.41341018e-02 -3.49979770e-01] [ 1.04043765e-03 2.41187896e-02 9.99708558e-01 -8.53096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381193817 meters Centerline goodness : 0.898796 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99822491e-01 -1.88319745e-02 -5.86219381e-04 5.87072524e+00] [ 1.88123472e-02 9.99531711e-01 -2.41341018e-02 -3.49979770e-01] [ 1.04043765e-03 2.41187896e-02 9.99708558e-01 -8.53096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411193817000004 meters Centerline goodness : 0.905142 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99719756e-01 -2.36631807e-02 -6.81327140e-04 5.87218296e+00] [ 2.36346608e-02 9.99324806e-01 -2.81306626e-02 -3.51524717e-01] [ 1.34652807e-03 2.81066762e-02 9.99604022e-01 -8.54278928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441193817 meters Centerline goodness : 0.901386 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99711212e-01 -2.40116029e-02 -9.66957325e-04 5.87312824e+00] [ 2.39753340e-02 9.99323797e-01 -2.78770977e-02 -3.53169660e-01] [ 1.63567727e-03 2.78458640e-02 9.99610891e-01 -8.54498669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471193817 meters Centerline goodness : 0.903866 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.35, Z:-0.85 [[ 9.99708156e-01 -2.41292356e-02 -1.17569665e-03 5.87382007e+00] [ 2.40874960e-02 9.99326925e-01 -2.76674730e-02 -3.54050864e-01] [ 1.84250029e-03 2.76310788e-02 9.99616491e-01 -8.54683187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501193817 meters Centerline goodness : 0.905216 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.36, Z:-0.85 [[ 9.99782425e-01 -2.08164409e-02 -1.33389400e-03 5.87448235e+00] [ 2.07793478e-02 9.99507565e-01 -2.35126909e-02 -3.55671952e-01] [ 1.82268768e-03 2.34798577e-02 9.99722649e-01 -8.54787140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531193817 meters Centerline goodness : 0.899151 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.36, Z:-0.85 [[ 9.99899500e-01 -1.40963636e-02 -1.51055100e-03 5.87501941e+00] [ 1.40703773e-02 9.99772696e-01 -1.60181466e-02 -3.55485806e-01] [ 1.73600526e-03 1.59952828e-02 9.99870560e-01 -8.54435068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561193817 meters Centerline goodness : 0.900809 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.85 [[ 9.99944932e-01 -1.03029009e-02 -1.99582740e-03 5.87595955e+00] [ 1.02775249e-02 9.99871128e-01 -1.23328387e-02 -3.54651063e-01] [ 2.12263421e-03 1.23116474e-02 9.99921956e-01 -8.54401173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591193817000004 meters Centerline goodness : 0.899844 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99973386e-01 -6.83552328e-03 -2.54990955e-03 5.87764082e+00] [ 6.81136800e-03 9.99932955e-01 -9.36436022e-03 -3.52513908e-01] [ 2.61374889e-03 9.34674263e-03 9.99952902e-01 -8.55220546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621193817 meters Centerline goodness : 0.893955 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99990120e-01 -3.22659996e-03 -3.05773959e-03 5.87906925e+00] [ 3.20723016e-03 9.99974894e-01 -6.31855217e-03 -3.50015470e-01] [ 3.07805026e-03 6.30868287e-03 9.99975363e-01 -8.55817569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651193817 meters Centerline goodness : 0.897631 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.35, Z:-0.86 [[ 9.99994056e-01 4.78172536e-04 -3.41461591e-03 5.88012067e+00] [-4.89361118e-04 9.99994512e-01 -3.27659014e-03 -3.47231966e-01] [ 3.41303040e-03 3.27824165e-03 9.99988802e-01 -8.56322951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681193817 meters Centerline goodness : 0.897850 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99961359e-01 8.66823732e-03 1.46352060e-03 5.89186485e+00] [-8.65629781e-03 9.99930721e-01 -7.97629730e-03 -3.39787133e-01] [-1.53255965e-03 7.96332041e-03 9.99967118e-01 -8.60932419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711193817 meters Centerline goodness : 0.894500 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99920602e-01 1.25387060e-02 1.25286510e-03 5.89207591e+00] [-1.25330737e-02 9.99911748e-01 -4.40654931e-03 -3.38445820e-01] [-1.30800696e-03 4.39049719e-03 9.99989506e-01 -8.60414106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741193817 meters Centerline goodness : 0.895586 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99867530e-01 1.62446346e-02 1.01666562e-03 5.89266447e+00] [-1.62439211e-02 9.99867809e-01 -7.06161923e-04 -3.37786240e-01] [-1.02800257e-03 6.89553741e-04 9.99999234e-01 -8.60219333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771193817000004 meters Centerline goodness : 0.892906 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.34, Z:-0.86 [[ 9.99871769e-01 1.59923931e-02 8.30517880e-04 5.89353145e+00] [-1.59911666e-02 9.99871063e-01 -1.46301978e-03 -3.35667511e-01] [-8.53807983e-04 1.44955123e-03 9.99998585e-01 -8.60971913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters Centerline goodness : 0.890586 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.86 [[ 9.99886489e-01 1.50622376e-02 3.71725875e-04 5.89604856e+00] [-1.50611409e-02 9.99882668e-01 -2.79519423e-03 -3.33406067e-01] [-4.13784139e-04 2.78927833e-03 9.99996024e-01 -8.63235747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831193817 meters Centerline goodness : 0.891348 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.86 [[ 9.99900215e-01 1.41257558e-02 -1.51895673e-04 5.89840636e+00] [-1.41262266e-02 9.99893174e-01 -3.75364541e-03 -3.32708266e-01] [ 9.88563677e-05 3.75541656e-03 9.99992944e-01 -8.64974820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861193817 meters Centerline goodness : 0.887919 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.87 [[ 9.99916788e-01 1.28770253e-02 -7.74524742e-04 5.90119667e+00] [-1.28805931e-02 9.99905555e-01 -4.79285666e-03 -3.32763133e-01] [ 7.12733856e-04 4.80243418e-03 9.99988214e-01 -8.66885895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891193817 meters Centerline goodness : 0.889201 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.33, Z:-0.87 [[ 9.99936398e-01 1.11847646e-02 -1.44924551e-03 5.90391729e+00] [-1.11932769e-02 9.99919322e-01 -6.00501229e-03 -3.33804434e-01] [ 1.38196393e-03 6.02085217e-03 9.99980920e-01 -8.68401468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193817 meters Centerline goodness : 0.888836 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.34, Z:-0.87 [[ 9.99981798e-01 5.86310343e-03 -1.42399625e-03 5.90391042e+00] [-5.87737667e-03 9.99930348e-01 -1.02350313e-02 -3.36132151e-01] [ 1.36388801e-03 1.02432144e-02 9.99946607e-01 -8.67917106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951193817000004 meters Centerline goodness : 0.893584 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.34, Z:-0.87 [[ 9.99986840e-01 4.82466145e-03 -1.74452184e-03 5.90498515e+00] [-4.84274338e-03 9.99933002e-01 -1.05137301e-02 -3.37479865e-01] [ 1.69367978e-03 1.05220400e-02 9.99943207e-01 -8.68085049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981193817 meters Centerline goodness : 0.891799 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99989258e-01 4.18781062e-03 -1.98657016e-03 5.90549358e+00] [-4.20844614e-03 9.99936021e-01 -1.04996259e-02 -3.38258161e-01] [ 1.94247261e-03 1.05078735e-02 9.99942904e-01 -8.67659439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011193817 meters Centerline goodness : 0.896257 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99991367e-01 3.53534510e-03 -2.18349570e-03 5.90591453e+00] [-3.55867208e-03 9.99935632e-01 -1.07734652e-02 -3.38010911e-01] [ 2.14526724e-03 1.07811425e-02 9.99939581e-01 -8.67415482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041193817 meters Centerline goodness : 0.892621 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.34, Z:-0.87 [[ 9.99993029e-01 2.77730283e-03 -2.49587894e-03 5.90678668e+00] [-2.80541704e-03 9.99931853e-01 -1.13322498e-02 -3.37214632e-01] [ 2.46423576e-03 1.13391728e-02 9.99932673e-01 -8.67506301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071193817 meters Centerline goodness : 0.891296 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995381e-01 1.40105419e-03 -2.69739665e-03 5.90738965e+00] [-1.43521171e-03 9.99918282e-01 -1.27031306e-02 -3.34446568e-01] [ 2.67937845e-03 1.27069433e-02 9.99915674e-01 -8.67334339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101193817 meters Centerline goodness : 0.893959 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995414e-01 1.05601089e-03 -2.83829273e-03 5.90753826e+00] [-1.09319454e-03 9.99913184e-01 -1.31312455e-02 -3.33597195e-01] [ 2.82417958e-03 1.31342881e-02 9.99909753e-01 -8.67018672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131193817 meters Centerline goodness : 0.895639 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99995131e-01 6.41089960e-04 -3.05389451e-03 5.90792157e+00] [-6.82777305e-04 9.99906340e-01 -1.36691246e-02 -3.32390438e-01] [ 3.04484534e-03 1.36711432e-02 9.99901910e-01 -8.66822707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161193817000004 meters Centerline goodness : 0.895309 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.33, Z:-0.87 [[ 9.99990759e-01 2.02501285e-03 -3.79222515e-03 5.91092829e+00] [-2.07178874e-03 9.99921322e-01 -1.23716468e-02 -3.27438167e-01] [ 3.76687404e-03 1.23793892e-02 9.99916277e-01 -8.68305982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191193817 meters Centerline goodness : 0.893264 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-0.87 [[ 9.99982155e-01 4.19172841e-03 -4.25667657e-03 5.91339918e+00] [-4.23518534e-03 9.99938478e-01 -1.02519501e-02 -3.24762879e-01] [ 4.21344130e-03 1.02697950e-02 9.99938387e-01 -8.69971538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221193817 meters Centerline goodness : 0.895310 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99967335e-01 6.52260592e-03 -4.77333025e-03 5.91551852e+00] [-6.56026566e-03 9.99947141e-01 -7.91695241e-03 -3.22229135e-01] [ 4.72143877e-03 7.94800812e-03 9.99957268e-01 -8.70970374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251193817 meters Centerline goodness : 0.896513 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99969380e-01 5.98758788e-03 -5.03854305e-03 5.91645856e+00] [-6.03463754e-03 9.99937843e-01 -9.37514129e-03 -3.17724974e-01] [ 4.98209538e-03 9.40526001e-03 9.99943358e-01 -8.71611363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281193817 meters Centerline goodness : 0.896415 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-0.87 [[ 9.99946622e-01 8.75477560e-03 -5.48689909e-03 5.91817345e+00] [-8.79244294e-03 9.99937685e-01 -6.87885275e-03 -3.15334684e-01] [ 5.42633436e-03 6.92672883e-03 9.99961287e-01 -8.72317123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311193817 meters Centerline goodness : 0.894322 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-0.87 [[ 9.99947830e-01 8.40772392e-03 -5.80066058e-03 5.91904108e+00] [-8.45580972e-03 9.99929673e-01 -8.31559618e-03 -3.11085174e-01] [ 5.73033740e-03 8.36421164e-03 9.99948600e-01 -8.72834522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341193817000004 meters Centerline goodness : 0.890134 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.30, Z:-0.87 [[ 0.99991825 0.01104619 -0.00643988 5.92157758] [-0.01109414 0.99991065 -0.00745785 -0.302644 ] [ 0.00635692 0.00752869 0.99995145 -0.8746844 ] [ 0. 0. 0. 1. ]] SLAMing on 55.371193817 meters Centerline goodness : 0.889108 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.30, Z:-0.88 [[ 0.99992228 0.01054199 -0.00665574 5.92299914] [-0.01060386 0.99990025 -0.0093296 -0.29664303] [ 0.00655672 0.00939945 0.99993433 -0.87620037] [ 0. 0. 0. 1. ]] SLAMing on 55.401193817 meters Centerline goodness : 0.887677 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.29, Z:-0.88 [[ 0.99988826 0.01312051 -0.00716331 5.92533713] [-0.0131718 0.99988761 -0.00716048 -0.29335484] [ 0.00706855 0.00725404 0.99994871 -0.87762552] [ 0. 0. 0. 1. ]] SLAMing on 55.431193817 meters Centerline goodness : 0.884928 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.29, Z:-0.88 [[ 0.99985344 0.01526371 -0.00775296 5.92737284] [-0.01531001 0.9998651 -0.00594817 -0.28678998] [ 0.00766112 0.00606599 0.99995225 -0.8784719 ] [ 0. 0. 0. 1. ]] SLAMing on 55.461193817 meters Centerline goodness : 0.886836 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99985894 0.01477447 -0.00798891 5.92781338] [-0.0148321 0.99986405 -0.00720415 -0.28305926] [ 0.00788139 0.00732163 0.99994214 -0.87838092] [ 0. 0. 0. 1. ]] SLAMing on 55.491193817 meters Centerline goodness : 0.886176 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99986476 0.01419473 -0.00830528 5.92852872] [-0.01426632 0.99986103 -0.00862482 -0.27918597] [ 0.0081817 0.00874214 0.99992831 -0.8784876 ] [ 0. 0. 0. 1. ]] SLAMing on 55.521193817000004 meters Centerline goodness : 0.886770 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.28, Z:-0.88 [[ 0.99982012 0.01677246 -0.00885484 5.93051554] [-0.01682761 0.99983924 -0.00619075 -0.27716631] [ 0.00874958 0.00633865 0.99994163 -0.87926752] [ 0. 0. 0. 1. ]] SLAMing on 55.551193817 meters Centerline goodness : 0.885443 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.27, Z:-0.88 [[ 9.99755347e-01 2.01594909e-02 -9.10171789e-03 5.93094095e+00] [-2.01967332e-02 9.99787949e-01 -4.01857137e-03 -2.71681847e-01] [ 9.01877551e-03 4.20141318e-03 9.99950504e-01 -8.78945199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581193817 meters Centerline goodness : 0.889381 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:-0.88 [[ 9.99721343e-01 2.33519649e-02 -3.45286244e-03 5.94368021e+00] [-2.33884917e-02 9.99666520e-01 -1.09465457e-02 -2.67344452e-01] [ 3.19608763e-03 1.10242526e-02 9.99934123e-01 -8.83547725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611193817 meters Centerline goodness : 0.888866 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:-0.88 [[ 9.99723479e-01 2.32354892e-02 -3.61621491e-03 5.94428019e+00] [-2.32772642e-02 9.99657339e-01 -1.19738981e-02 -2.63494265e-01] [ 3.33675639e-03 1.20547626e-02 9.99921771e-01 -8.83962330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193817 meters Centerline goodness : 0.886470 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.89 [[ 9.99658136e-01 2.58223395e-02 -4.10084573e-03 5.94668170e+00] [-2.58599164e-02 9.99621465e-01 -9.39099200e-03 -2.61989267e-01] [ 3.85679604e-03 9.49382909e-03 9.99947495e-01 -8.85449306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671193817 meters Centerline goodness : 0.888132 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.89 [[ 9.99663261e-01 2.55755320e-02 -4.38833422e-03 5.94696799e+00] [-2.56205777e-02 9.99616220e-01 -1.05355719e-02 -2.57877998e-01] [ 4.11719721e-03 1.06444558e-02 9.99934870e-01 -8.85131681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817000004 meters Centerline goodness : 0.891699 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99663309e-01 2.55444455e-02 -4.55524302e-03 5.94679886e+00] [-2.55921274e-02 9.99614818e-01 -1.07358920e-02 -2.57079731e-01] [ 4.27924601e-03 1.08488557e-02 9.99931993e-01 -8.84337081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731193817 meters Centerline goodness : 0.891461 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99667878e-01 2.53269306e-02 -4.76245059e-03 5.94682853e+00] [-2.53785487e-02 9.99616176e-01 -1.11099080e-02 -2.56342040e-01] [ 4.47924278e-03 1.12270822e-02 9.99926942e-01 -8.83723604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761193817 meters Centerline goodness : 0.889677 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:-0.88 [[ 9.99671663e-01 2.51288617e-02 -5.01072990e-03 5.94701071e+00] [-2.51853097e-02 9.99616192e-01 -1.15399087e-02 -2.55223605e-01] [ 4.71882197e-03 1.16623165e-02 9.99920858e-01 -8.83250620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791193817 meters Centerline goodness : 0.892702 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.88 [[ 9.99621711e-01 2.69374000e-02 -5.55082497e-03 5.94948862e+00] [-2.69896525e-02 9.99589960e-01 -9.56398452e-03 -2.54820187e-01] [ 5.29092003e-03 9.71018141e-03 9.99938857e-01 -8.84561865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193817 meters Centerline goodness : 0.891910 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 9.99624214e-01 2.67633698e-02 -5.92903755e-03 5.95087371e+00] [-2.68259265e-02 9.99582474e-01 -1.07353566e-02 -2.50438447e-01] [ 5.63924770e-03 1.08903744e-02 9.99924796e-01 -8.85561386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851193817 meters Centerline goodness : 0.890072 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 9.99631917e-01 2.64160459e-02 -6.18240970e-03 5.95190260e+00] [-2.64851746e-02 9.99584426e-01 -1.13803260e-02 -2.48894412e-01] [ 5.87921723e-03 1.15398793e-02 9.99916129e-01 -8.86262046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193817 meters Centerline goodness : 0.888940 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:-0.89 [[ 0.99965448 0.02540782 -0.0067356 5.95422518] [-0.02549044 0.99959718 -0.01247865 -0.2477723 ] [ 0.00641583 0.01264603 0.99989945 -0.88779127] [ 0. 0. 0. 1. ]] SLAMing on 55.911193817000004 meters Centerline goodness : 0.886193 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99968229 0.02410425 -0.00736905 5.95698704] [-0.02420395 0.99961242 -0.01375421 -0.24699792] [ 0.00703465 0.0139282 0.99987825 -0.88971922] [ 0. 0. 0. 1. ]] SLAMing on 55.941193817 meters Centerline goodness : 0.884984 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99971078 0.02265387 -0.00807233 5.95994466] [-0.0227727 0.99962893 -0.01494699 -0.24688822] [ 0.00773073 0.01512649 0.9998557 -0.89166084] [ 0. 0. 0. 1. ]] SLAMing on 55.971193817 meters Centerline goodness : 0.879883 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.9998281 0.0126192 -0.01358392 5.9602219 ] [-0.0127435 0.99987736 -0.0091028 -0.24823699] [ 0.01346738 0.00927434 0.9998663 -0.89184728] [ 0. 0. 0. 1. ]] SLAMing on 56.001193817 meters Centerline goodness : 0.874852 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 0.99987188 0.00736354 -0.01421308 5.96283002] [-0.00756414 0.99987181 -0.01411169 -0.24782063] [ 0.01410734 0.01421739 0.9997994 -0.89367716] [ 0. 0. 0. 1. ]] SLAMing on 56.031193817 meters Centerline goodness : 0.874121 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.25, Z:-0.89 [[ 9.99889786e-01 2.48857680e-03 -1.46363723e-02 5.96432587e+00] [-2.76066193e-03 9.99823214e-01 -1.85989266e-02 -2.47861830e-01] [ 1.45874999e-02 1.86372828e-02 9.99719889e-01 -8.94508348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061193817 meters Centerline goodness : 0.874471 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99993706 -0.00827373 -0.00757801 5.96513201] [ 0.00817652 0.99988504 -0.01276926 -0.24796841] [ 0.00768279 0.01270649 0.99988975 -0.89634381] [ 0. 0. 0. 1. ]] SLAMing on 56.091193817000004 meters Centerline goodness : 0.873009 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99993013 -0.0088711 -0.00781336 5.96605065] [ 0.0087668 0.99987334 -0.01328354 -0.24673206] [ 0.00793021 0.01321411 0.99988124 -0.89681097] [ 0. 0. 0. 1. ]] SLAMing on 56.121193817 meters Centerline goodness : 0.874227 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 0.99994419 -0.00653992 -0.00829678 5.96842258] [ 0.0064521 0.99992334 -0.01056786 -0.24667562] [ 0.00836525 0.01051374 0.99990974 -0.89828504] [ 0. 0. 0. 1. ]] SLAMing on 56.151193817 meters Centerline goodness : 0.871459 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.25, Z:-0.90 [[ 9.99958157e-01 -3.02584270e-03 -8.63299724e-03 5.96920882e+00] [ 2.96467697e-03 9.99970477e-01 -7.08913143e-03 -2.46201068e-01] [ 8.65419297e-03 7.06324075e-03 9.99937606e-01 -8.98295495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181193817 meters Centerline goodness : 0.873709 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:-0.90 [[ 9.99978693e-01 5.76361370e-03 -3.06502149e-03 5.98101398e+00] [-5.79336322e-03 9.99935319e-01 -9.78749398e-03 -2.40072867e-01] [ 3.00841190e-03 9.80504222e-03 9.99947404e-01 -9.01991088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211193817 meters Centerline goodness : 0.875556 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.24, Z:-0.90 [[ 9.99945076e-01 1.00395176e-02 -3.00870123e-03 5.98068687e+00] [-1.00590178e-02 9.99928034e-01 -6.53777180e-03 -2.36730876e-01] [ 2.94284864e-03 6.56767730e-03 9.99974102e-01 -9.01535384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241193817 meters Centerline goodness : 0.875714 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99893193e-01 1.42937306e-02 -3.04838474e-03 5.98019857e+00] [-1.43036038e-02 9.99892442e-01 -3.24199709e-03 -2.33497751e-01] [ 3.00171663e-03 3.28525371e-03 9.99990098e-01 -9.00563384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271193817000004 meters Centerline goodness : 0.876298 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99825492e-01 1.84458061e-02 -2.95602770e-03 5.97958284e+00] [-1.84453561e-02 9.99829854e-01 1.79421676e-04 -2.30932934e-01] [ 2.95883432e-03 -1.24865382e-04 9.99995615e-01 -8.99594016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters Centerline goodness : 0.876298 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99825492e-01 1.84458061e-02 -2.95602770e-03 5.97958284e+00] [-1.84453561e-02 9.99829854e-01 1.79421676e-04 -2.30932934e-01] [ 2.95883432e-03 -1.24865382e-04 9.99995615e-01 -8.99594016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331193817 meters Centerline goodness : 0.873972 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.23, Z:-0.90 [[ 9.99743026e-01 2.24750509e-02 -2.95869692e-03 5.97937553e+00] [-2.24642081e-02 9.99740991e-01 3.64833100e-03 -2.28754474e-01] [ 3.03992702e-03 -3.58092869e-03 9.99988968e-01 -8.98940479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361193817 meters Centerline goodness : 0.878907 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99525414e-01 3.06732853e-02 2.84558095e-03 5.98865895e+00] [-3.06726659e-02 9.99529449e-01 -2.61052913e-04 -2.22205313e-01] [-2.85224931e-03 1.73647467e-04 9.99995917e-01 -9.01380737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391193817 meters Centerline goodness : 0.879518 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99491848e-01 3.17526179e-02 2.79603029e-03 5.98842631e+00] [-3.17515993e-02 9.99495708e-01 -4.07964164e-04 -2.18887868e-01] [-2.80757420e-03 3.18978423e-04 9.99996008e-01 -9.01086148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193817 meters Centerline goodness : 0.881040 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99468411e-01 3.24790816e-02 2.82921754e-03 5.98836962e+00] [-3.24770857e-02 9.99472200e-01 -7.48595986e-04 -2.16390685e-01] [-2.85203799e-03 6.56313301e-04 9.99995718e-01 -9.01095848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451193817000004 meters Centerline goodness : 0.881675 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.90 [[ 9.99314611e-01 3.68740539e-02 3.25771446e-03 5.98798200e+00] [-3.68842863e-02 9.99314614e-01 3.13878876e-03 -2.15697683e-01] [-3.13974180e-03 -3.25679594e-03 9.99989768e-01 -9.01253486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817000005 meters Centerline goodness : 0.871153 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.21, Z:-0.90 [[ 9.99412466e-01 3.41387555e-02 3.04426689e-03 5.98847037e+00] [-3.41374654e-02 9.99417034e-01 -4.74768096e-04 -2.13912652e-01] [-3.05870018e-03 3.70565598e-04 9.99995254e-01 -9.01859142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511193817 meters Centerline goodness : 0.872128 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.21, Z:-0.90 [[ 9.99533953e-01 3.03910788e-02 2.87389879e-03 5.98913527e+00] [-3.03776563e-02 9.99527888e-01 -4.60417677e-03 -2.13513564e-01] [-3.01246789e-03 4.51472870e-03 9.99985271e-01 -9.02776927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541193817 meters Centerline goodness : 0.873736 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.91 [[ 9.99604907e-01 2.80124098e-02 2.30977712e-03 5.99183246e+00] [-2.79962087e-02 9.99585096e-01 -6.77109986e-03 -2.15438700e-01] [-2.49849361e-03 6.70375965e-03 9.99974408e-01 -9.05044046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571193817 meters Centerline goodness : 0.869907 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.22, Z:-0.91 [[ 9.99724464e-01 2.33805894e-02 2.08437421e-03 5.99369859e+00] [-2.33573484e-02 9.99671483e-01 -1.05527622e-02 -2.19009697e-01] [-2.33041926e-03 1.05011691e-02 9.99942146e-01 -9.07077804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193817 meters Centerline goodness : 0.869563 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.22, Z:-0.91 [[ 9.99750780e-01 2.22640315e-02 1.64038523e-03 5.99577760e+00] [-2.22448840e-02 9.99693252e-01 -1.08888393e-02 -2.21623766e-01] [-1.88231151e-03 1.08496355e-02 9.99939369e-01 -9.08557358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631193817 meters Centerline goodness : 0.874654 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.23, Z:-0.91 [[ 9.99785975e-01 2.06608791e-02 1.06403851e-03 5.99834123e+00] [-2.06468630e-02 9.99716865e-01 -1.18277711e-02 -2.25240455e-01] [-1.30810939e-03 1.18032706e-02 9.99929483e-01 -9.10422341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817000004 meters Centerline goodness : 0.874382 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.23, Z:-0.91 [[ 9.99836071e-01 1.80920346e-02 7.14425824e-04 6.00032551e+00] [-1.80804511e-02 9.99741181e-01 -1.38082357e-02 -2.28983861e-01] [-9.64059996e-04 1.37930550e-02 9.99904407e-01 -9.12198582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691193817 meters Centerline goodness : 0.870234 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.24, Z:-0.91 [[ 9.99970751e-01 7.62600607e-03 5.84446429e-04 6.00245142e+00] [-7.62215032e-03 9.99950867e-01 -6.33762268e-03 -2.36430528e-01] [-6.32748463e-04 6.33298257e-03 9.99979746e-01 -9.14291451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721193817 meters Centerline goodness : 0.874878 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.24, Z:-0.92 [[ 9.99986775e-01 5.13185097e-03 3.39012150e-04 6.00473947e+00] [-5.12888688e-03 9.99952968e-01 -8.23146531e-03 -2.38888323e-01] [-3.81238858e-04 8.22961769e-03 9.99966063e-01 -9.16421690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751193817 meters Centerline goodness : 0.873411 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99993633e-01 3.56731567e-03 -8.51871111e-05 6.00719134e+00] [-3.56793716e-03 9.99953257e-01 -8.98634884e-03 -2.41065380e-01] [ 5.31259861e-05 8.98659557e-03 9.99959618e-01 -9.18263332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781193817 meters Centerline goodness : 0.874150 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99997232e-01 2.30144058e-03 -4.88260349e-04 6.00927777e+00] [-2.30604286e-03 9.99950831e-01 -9.64455836e-03 -2.42677645e-01] [ 4.66039964e-04 9.64565762e-03 9.99953371e-01 -9.19724229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811193817 meters Centerline goodness : 0.874862 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.24, Z:-0.92 [[ 9.99998266e-01 1.75677594e-03 -6.17604775e-04 6.00973420e+00] [-1.76261561e-03 9.99952505e-01 -9.58550567e-03 -2.44382467e-01] [ 6.00735855e-04 9.58657765e-03 9.99953867e-01 -9.19804393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841193817000004 meters Centerline goodness : 0.874703 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99998986e-01 1.22252617e-03 -7.30105601e-04 6.01008693e+00] [-1.22943234e-03 9.99953787e-01 -9.53481673e-03 -2.45979122e-01] [ 7.18415297e-04 9.53570468e-03 9.99954276e-01 -9.19758437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871193817 meters Centerline goodness : 0.874133 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99999439e-01 -5.49103824e-04 -9.06269921e-04 6.01155762e+00] [ 5.39568346e-04 9.99944848e-01 -1.04885930e-02 -2.48608202e-01] [ 9.11979265e-04 1.04880981e-02 9.99944583e-01 -9.20767922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901193817 meters Centerline goodness : 0.874257 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99998322e-01 -1.39148097e-03 -1.19174805e-03 6.01324271e+00] [ 1.37804870e-03 9.99936343e-01 -1.11986823e-02 -2.48920064e-01] [ 1.20725495e-03 1.11970212e-02 9.99936583e-01 -9.22090340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931193817 meters Centerline goodness : 0.872470 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-0.92 [[ 9.99997666e-01 -1.72435638e-03 -1.30169973e-03 6.01416501e+00] [ 1.70923864e-03 9.99932102e-01 -1.15269584e-02 -2.48735530e-01] [ 1.32148793e-03 1.15247066e-02 9.99932715e-01 -9.22985558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193817 meters Centerline goodness : 0.880447 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.25, Z:-0.93 [[ 9.99998579e-01 4.50279913e-04 -1.62475745e-03 6.01672847e+00] [-4.65780775e-04 9.99954264e-01 -9.55268339e-03 -2.45671433e-01] [ 1.62038176e-03 9.55342660e-03 9.99953052e-01 -9.25276726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991193817 meters Centerline goodness : 0.876460 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99993217e-01 3.08564152e-03 -2.01127555e-03 6.01875958e+00] [-3.09958251e-03 9.99970936e-01 -6.96555130e-03 -2.43786126e-01] [ 1.98972390e-03 6.97173816e-03 9.99973718e-01 -9.26710594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021193817000004 meters Centerline goodness : 0.877782 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99977015e-01 6.40760115e-03 -2.21654561e-03 6.01945779e+00] [-6.41557529e-03 9.99972906e-01 -3.60934498e-03 -2.43027990e-01] [ 2.19335831e-03 3.62348244e-03 9.99991030e-01 -9.26877174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051193817 meters Centerline goodness : 0.874265 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99977445e-01 6.29183268e-03 -2.35014705e-03 6.01993915e+00] [-6.30178143e-03 9.99971112e-01 -4.25010455e-03 -2.41376777e-01] [ 2.32333822e-03 4.26481880e-03 9.99988207e-01 -9.27174008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081193817 meters Centerline goodness : 0.878488 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99983749e-01 5.13049186e-03 -2.48595023e-03 6.02120619e+00] [-5.14391414e-03 9.99972064e-01 -5.42328431e-03 -2.41350982e-01] [ 2.45805666e-03 5.43598369e-03 9.99982204e-01 -9.28361554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111193817 meters Centerline goodness : 0.877160 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.24, Z:-0.93 [[ 9.99988759e-01 3.65442066e-03 -3.02112716e-03 6.02376311e+00] [-3.67446880e-03 9.99971089e-01 -6.65727862e-03 -2.41048350e-01] [ 2.99671132e-03 6.66830482e-03 9.99973276e-01 -9.30176848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141193817 meters Centerline goodness : 0.877437 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.93 [[ 9.99991776e-01 1.90129982e-03 -3.58224721e-03 6.02673371e+00] [-1.93027541e-03 9.99965310e-01 -8.10264479e-03 -2.40367259e-01] [ 3.56671738e-03 8.10949288e-03 9.99960757e-01 -9.32428565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171193817 meters Centerline goodness : 0.878461 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.93 [[ 9.99991357e-01 2.16909655e-04 -4.15197360e-03 6.02971521e+00] [-2.56492415e-04 9.99954505e-01 -9.53532330e-03 -2.38963630e-01] [ 4.14971640e-03 9.53630584e-03 9.99945918e-01 -9.34633742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201193817000004 meters Centerline goodness : 0.878004 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.24, Z:-0.94 [[ 9.99988111e-01 -1.81876830e-03 -4.52429259e-03 6.03207241e+00] [ 1.76716653e-03 9.99933645e-01 -1.13834582e-02 -2.35490558e-01] [ 4.54469625e-03 1.13753277e-02 9.99924971e-01 -9.36403047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231193817000005 meters Centerline goodness : 0.874907 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:-0.94 [[ 9.99985825e-01 -2.28601457e-03 -4.80880883e-03 6.03293946e+00] [ 2.22878541e-03 9.99927032e-01 -1.18727839e-02 -2.34661634e-01] [ 4.83559929e-03 1.18618977e-02 9.99917953e-01 -9.36672366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261193817 meters Centerline goodness : 0.875366 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.23, Z:-0.94 [[ 9.99983260e-01 -2.65296886e-03 -5.14210291e-03 6.03381887e+00] [ 2.58891727e-03 9.99919478e-01 -1.24231880e-02 -2.33933329e-01] [ 5.17464718e-03 1.24096675e-02 9.99909608e-01 -9.36778832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291193817 meters Centerline goodness : 0.878019 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:-0.94 [[ 9.99983528e-01 -5.95373761e-04 -5.70861312e-03 6.03594878e+00] [ 5.33010043e-04 9.99940235e-01 -1.09198002e-02 -2.30406638e-01] [ 5.71477331e-03 1.09165776e-02 9.99924082e-01 -9.37903548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321193817 meters Centerline goodness : 0.880896 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.23, Z:-0.94 [[ 9.99978131e-01 1.70163741e-03 -6.39073986e-03 6.03878298e+00] [-1.75876701e-03 9.99958451e-01 -8.94447968e-03 -2.26822542e-01] [ 6.37525407e-03 8.95552390e-03 9.99939576e-01 -9.39604536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351193817 meters Centerline goodness : 0.882282 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:-0.94 [[ 9.99967510e-01 3.95304845e-03 -7.02512839e-03 6.04177686e+00] [-4.00330267e-03 9.99966397e-01 -7.15388829e-03 -2.22566665e-01] [ 6.99661266e-03 7.18177958e-03 9.99949733e-01 -9.41633480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381193817 meters Centerline goodness : 0.881456 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.22, Z:-0.94 [[ 9.99951463e-01 6.19237623e-03 -7.66330657e-03 6.04451964e+00] [-6.23275652e-03 9.99966759e-01 -5.25668753e-03 -2.18720814e-01] [ 7.63050045e-03 5.30419591e-03 9.99956820e-01 -9.43298904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411193817000004 meters Centerline goodness : 0.881025 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.21, Z:-0.95 [[ 9.99970907e-01 6.82464697e-03 -3.40717286e-03 6.06084053e+00] [-6.87013099e-03 9.99884982e-01 -1.35212113e-02 -2.07939495e-01] [ 3.31450348e-03 1.35442256e-02 9.99902779e-01 -9.47314692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441193817 meters Centerline goodness : 0.881076 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99974724e-01 6.07601695e-03 -3.69234279e-03 6.06173170e+00] [-6.13017667e-03 9.99871115e-01 -1.48382449e-02 -2.03960148e-01] [ 3.60170948e-03 1.48605046e-02 9.99883090e-01 -9.47575560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471193817 meters Centerline goodness : 0.881272 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99978216e-01 5.14739914e-03 -4.13186516e-03 6.06287753e+00] [-5.21398745e-03 9.99854038e-01 -1.62701477e-02 -1.99927455e-01] [ 4.04751312e-03 1.62913368e-02 9.99859095e-01 -9.47782547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501193817 meters Centerline goodness : 0.885302 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.20, Z:-0.95 [[ 9.99981898e-01 4.05214370e-03 -4.44796030e-03 6.06414376e+00] [-4.13142607e-03 9.99830128e-01 -1.79623744e-02 -1.95149784e-01] [ 4.37441859e-03 1.79804257e-02 9.99828770e-01 -9.48386950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531193817 meters Centerline goodness : 0.885732 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.19, Z:-0.95 [[ 9.99984044e-01 2.84503223e-03 -4.88022233e-03 6.06593264e+00] [-2.93902920e-03 9.99808200e-01 -1.93630015e-02 -1.86004122e-01] [ 4.82419794e-03 1.93770356e-02 9.99800609e-01 -9.48815996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561193817 meters Centerline goodness : 0.888530 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 9.99975153e-01 4.29098050e-03 -5.59296553e-03 6.06871392e+00] [-4.39012307e-03 9.99831284e-01 -1.78362350e-02 -1.83087503e-01] [ 5.51548697e-03 1.78603457e-02 9.99825278e-01 -9.50143600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591193817000004 meters Centerline goodness : 0.887434 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 9.99958523e-01 6.71794831e-03 -6.14990001e-03 6.07040110e+00] [-6.81271440e-03 9.99856342e-01 -1.55203508e-02 -1.80570566e-01] [ 6.04475162e-03 1.55616046e-02 9.99860639e-01 -9.50545746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621193817 meters Centerline goodness : 0.886996 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.18, Z:-0.95 [[ 0.99993097 0.00968908 -0.00664657 6.07168758] [-0.00977473 0.99986801 -0.01297743 -0.17747847] [ 0.00651996 0.0130415 0.9998937 -0.9506189 ] [ 0. 0. 0. 1. ]] SLAMing on 57.651193817 meters Centerline goodness : 0.895089 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.17, Z:-0.95 [[ 0.99989537 0.0125953 -0.00711421 6.07343695] [-0.01267167 0.99986145 -0.01079361 -0.17318589] [ 0.00697727 0.01088263 0.99991644 -0.95132875] [ 0. 0. 0. 1. ]] SLAMing on 57.681193817 meters Centerline goodness : 0.889076 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.16, Z:-0.96 [[ 9.99847042e-01 1.70536276e-02 -3.88143819e-03 6.09145444e+00] [-1.71118981e-02 9.99733273e-01 -1.55101880e-02 -1.59025167e-01] [ 3.61589794e-03 1.55742344e-02 9.99872176e-01 -9.55786538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711193817 meters Centerline goodness : 0.891757 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.15, Z:-0.96 [[ 9.99793186e-01 1.98673011e-02 -4.34466917e-03 6.09324255e+00] [-1.99241078e-02 9.99711050e-01 -1.34479075e-02 -1.54145841e-01] [ 4.07624015e-03 1.35316899e-02 9.99900134e-01 -9.56477815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193817 meters Centerline goodness : 0.891938 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.15, Z:-0.96 [[ 9.99734446e-01 2.25156458e-02 -4.90742898e-03 6.09534364e+00] [-2.25698520e-02 9.99681570e-01 -1.12854028e-02 -1.50564554e-01] [ 4.65176818e-03 1.13931659e-02 9.99924276e-01 -9.57312562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771193817000004 meters Centerline goodness : 0.891215 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.15, Z:-0.96 [[ 9.99683216e-01 2.45337634e-02 -5.61799194e-03 6.09851614e+00] [-2.45869590e-02 9.99651561e-01 -9.60403124e-03 -1.47852512e-01] [ 5.38041139e-03 9.73911818e-03 9.99938098e-01 -9.59153075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters Centerline goodness : 0.892116 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:-0.96 [[ 0.99961915 0.0268103 -0.00653984 6.10186489] [-0.02686634 0.99960172 -0.00863676 -0.14058711] [ 0.00630568 0.00880917 0.99994132 -0.96077774] [ 0. 0. 0. 1. ]] SLAMing on 57.831193817 meters Centerline goodness : 0.895136 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.14, Z:-0.96 [[ 0.99954651 0.02924484 -0.00717777 6.10433461] [-0.029292 0.9995494 -0.00655598 -0.13691493] [ 0.00698281 0.00676326 0.99995275 -0.96180694] [ 0. 0. 0. 1. ]] SLAMing on 57.861193817 meters Centerline goodness : 0.892222 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.13, Z:-0.96 [[ 0.99956327 0.02853511 -0.00768211 6.10622778] [-0.02859912 0.99955604 -0.00835564 -0.13096786] [ 0.00744027 0.00857169 0.99993558 -0.9627431 ] [ 0. 0. 0. 1. ]] SLAMing on 57.891193817 meters Centerline goodness : 0.892135 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.13, Z:-0.96 [[ 0.99949864 0.03052662 -0.0084021 6.10935637] [-0.03058247 0.99951045 -0.00660168 -0.1272697 ] [ 0.00819646 0.00685533 0.99994291 -0.96439622] [ 0. 0. 0. 1. ]] SLAMing on 57.921193817 meters Centerline goodness : 0.889714 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.12, Z:-0.97 [[ 9.99435216e-01 3.23111724e-02 -9.23234840e-03 6.11291030e+00] [-3.23659743e-02 9.99458968e-01 -5.84937945e-03 -1.20061261e-01] [ 9.03835309e-03 6.14488977e-03 9.99940272e-01 -9.66300314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951193817000004 meters Centerline goodness : 0.889046 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.12, Z:-0.97 [[ 0.99944754 0.03173824 -0.00986371 6.11470285] [-0.0318177 0.99946162 -0.0080059 -0.11560904] [ 0.00960431 0.00831531 0.9999193 -0.9663408 ] [ 0. 0. 0. 1. ]] SLAMing on 57.981193817000005 meters Centerline goodness : 0.891491 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.11, Z:-0.97 [[ 0.99945686 0.0312368 -0.01050012 6.11630145] [-0.0313463 0.99945415 -0.01043082 -0.11044961] [ 0.01016856 0.0107543 0.99989047 -0.96597398] [ 0. 0. 0. 1. ]] SLAMing on 58.011193817 meters Centerline goodness : 0.889645 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.10, Z:-0.97 [[ 0.99946386 0.03084921 -0.01096913 6.11740797] [-0.03099096 0.99943517 -0.01299654 -0.1044651 ] [ 0.010562 0.01332952 0.99985537 -0.96527398] [ 0. 0. 0. 1. ]] SLAMing on 58.041193817 meters Centerline goodness : 0.891818 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99937787 0.03361401 -0.01067609 6.11677565] [-0.03375693 0.99933887 -0.01350168 -0.0945132 ] [ 0.01021519 0.01385367 0.99985185 -0.9632274 ] [ 0. 0. 0. 1. ]] SLAMing on 58.071193817 meters Centerline goodness : 0.892985 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99927436 0.03659756 -0.0105534 6.11685889] [-0.03671735 0.99926078 -0.01138992 -0.09112436] [ 0.01012876 0.01176914 0.99987944 -0.96271541] [ 0. 0. 0. 1. ]] SLAMing on 58.101193817 meters Centerline goodness : 0.892766 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.09, Z:-0.96 [[ 0.99926157 0.0367399 -0.01124677 6.11808836] [-0.03689307 0.99922491 -0.01372904 -0.08563853] [ 0.01073365 0.01413383 0.9998425 -0.96143235] [ 0. 0. 0. 1. ]] SLAMing on 58.131193817 meters Centerline goodness : 0.896016 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99923043 0.03735316 -0.01197045 6.11928224] [-0.03753453 0.99917815 -0.01530303 -0.08089841] [ 0.011389 0.01574056 0.99981124 -0.96011036] [ 0. 0. 0. 1. ]] SLAMing on 58.161193817000004 meters Centerline goodness : 0.898631 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99906478 0.04145117 -0.012303 6.11984121] [-0.04161825 0.99904033 -0.0136504 -0.07539573] [ 0.01172537 0.01414966 0.99983114 -0.95841518] [ 0. 0. 0. 1. ]] SLAMing on 58.191193817 meters Centerline goodness : 0.898631 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.08, Z:-0.96 [[ 0.99906478 0.04145117 -0.012303 6.11984121] [-0.04161825 0.99904033 -0.0136504 -0.07539573] [ 0.01172537 0.01414966 0.99983114 -0.95841518] [ 0. 0. 0. 1. ]] SLAMing on 58.221193817 meters Centerline goodness : 0.896480 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99899518 0.04304682 -0.0124737 6.11969114] [-0.04321337 0.99897593 -0.01340509 -0.07274887] [ 0.01188388 0.01393065 0.99983234 -0.95711825] [ 0. 0. 0. 1. ]] SLAMing on 58.251193817 meters Centerline goodness : 0.896520 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99882579 0.0468031 -0.01251017 6.12011075] [-0.04692669 0.99885051 -0.00977507 -0.07223737] [ 0.01203828 0.01035065 0.99987396 -0.95696249] [ 0. 0. 0. 1. ]] SLAMing on 58.281193817 meters Centerline goodness : 0.897916 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.9987915 0.0473186 -0.0132849 6.12156147] [-0.04746314 0.99881478 -0.01078355 -0.06955791] [ 0.01275889 0.01140106 0.9998536 -0.95618201] [ 0. 0. 0. 1. ]] SLAMing on 58.311193817 meters Centerline goodness : 0.898737 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.07, Z:-0.96 [[ 0.99852262 0.05257867 -0.01371351 6.12300595] [-0.05266918 0.99859199 -0.00632366 -0.07035251] [ 0.01336171 0.0070366 0.99988597 -0.95618552] [ 0. 0. 0. 1. ]] SLAMing on 58.341193817000004 meters Centerline goodness : 0.899200 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 0.9984529 0.0536446 -0.01463109 6.12531261] [-0.05374133 0.99853502 -0.00629977 -0.06995938] [ 0.01427171 0.00707632 0.99987311 -0.95651693] [ 0. 0. 0. 1. ]] SLAMing on 58.371193817 meters Centerline goodness : 0.900745 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98372000e-01 5.48841165e-02 -1.55268337e-02 6.12787625e+00] [-5.49826910e-02 9.98469314e-01 -5.99433392e-03 -6.96777996e-02] [ 1.51740733e-02 6.83828224e-03 9.99861483e-01 -9.57274578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401193817 meters Centerline goodness : 0.901243 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98090441e-01 5.95535664e-02 -1.63964749e-02 6.13206476e+00] [-5.95822296e-02 9.98222600e-01 -1.26477985e-03 -7.14985897e-02] [ 1.62920096e-02 2.23930321e-03 9.99864769e-01 -9.59999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431193817 meters Centerline goodness : 0.899965 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.07, Z:-0.96 [[ 9.98048191e-01 6.01679734e-02 -1.67219596e-02 6.13335254e+00] [-6.01804184e-02 9.98187487e-01 -2.41574538e-04 -7.34334977e-02] [ 1.66771158e-02 1.24743756e-03 9.99860149e-01 -9.60990058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461193817 meters Centerline goodness : 0.899269 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.07, Z:-0.96 [[ 9.98204997e-01 5.71707133e-02 -1.78408014e-02 6.13603361e+00] [-5.72438054e-02 9.98353691e-01 -3.61305868e-03 -7.40588307e-02] [ 1.76048688e-02 4.62784859e-03 9.99834312e-01 -9.62169081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491193817 meters Centerline goodness : 0.893997 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.08, Z:-0.96 [[ 9.98236571e-01 5.63361193e-02 -1.87080225e-02 6.13958361e+00] [-5.64121668e-02 9.98401212e-01 -3.56200823e-03 -7.69154200e-02] [ 1.84774426e-02 4.61108696e-03 9.99818645e-01 -9.64954314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521193817000004 meters Centerline goodness : 0.895011 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.08, Z:-0.97 [[ 9.98372263e-01 5.36163769e-02 -1.94450373e-02 6.14125378e+00] [-5.37187813e-02 9.98544651e-01 -4.78244666e-03 -8.27113423e-02] [ 1.91603205e-02 5.81922580e-03 9.99799489e-01 -9.66334008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551193817 meters Centerline goodness : 0.895334 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99852511 0.05043078 -0.02010848 6.14176027] [-0.05059329 0.99868999 -0.0076563 -0.08512643] [ 0.01969603 0.00866237 0.99976849 -0.96593273] [ 0. 0. 0. 1. ]] SLAMing on 58.581193817 meters Centerline goodness : 0.896652 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99867433 0.0471432 -0.02066648 6.14206781] [-0.04736813 0.99882197 -0.01053251 -0.08763268] [ 0.0201456 0.01149748 0.99973095 -0.96550415] [ 0. 0. 0. 1. ]] SLAMing on 58.611193817 meters Centerline goodness : 0.900671 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.09, Z:-0.97 [[ 0.99870313 0.04650523 -0.02071986 6.14175802] [-0.04671348 0.9988614 -0.00968246 -0.09156265] [ 0.02024598 0.0106378 0.99973843 -0.96540403] [ 0. 0. 0. 1. ]] SLAMing on 58.641193817 meters Centerline goodness : 0.905808 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99887634 0.04290208 -0.02013612 6.13793231] [-0.04314014 0.99900237 -0.01154062 -0.09688786] [ 0.01962091 0.01239632 0.99973064 -0.96262981] [ 0. 0. 0. 1. ]] SLAMing on 58.671193817 meters Centerline goodness : 0.905178 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99890897 0.04208428 -0.02024286 6.13744336] [-0.04231311 0.99904371 -0.01101191 -0.10040889] [ 0.01976008 0.01185643 0.99973445 -0.96208609] [ 0. 0. 0. 1. ]] SLAMing on 58.701193817000004 meters Centerline goodness : 0.904235 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.10, Z:-0.96 [[ 0.99892512 0.04159428 -0.02045772 6.13748517] [-0.0418048 0.99907603 -0.00997223 -0.10440357] [ 0.02002403 0.01081674 0.99974098 -0.96210127] [ 0. 0. 0. 1. ]] SLAMing on 58.731193817000005 meters Centerline goodness : 0.909053 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.11, Z:-0.96 [[ 0.99906912 0.0381005 -0.02022992 6.1352416 ] [-0.03833368 0.99920148 -0.01126648 -0.11117114] [ 0.0197845 0.01203148 0.99973187 -0.96076342] [ 0. 0. 0. 1. ]] SLAMing on 58.761193817 meters Centerline goodness : 0.909123 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.12, Z:-0.96 [[ 0.99910046 0.03734567 -0.02008929 6.13483864] [-0.0375499 0.99924585 -0.00988646 -0.11600174] [ 0.01970492 0.01063192 0.99974931 -0.961357 ] [ 0. 0. 0. 1. ]] SLAMing on 58.791193817 meters Centerline goodness : 0.910781 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.12, Z:-0.96 [[ 0.99922496 0.03370436 -0.02033465 6.13495694] [-0.03396655 0.99934242 -0.01268878 -0.11849394] [ 0.01989362 0.01336964 0.99971271 -0.96152028] [ 0. 0. 0. 1. ]] SLAMing on 58.821193817 meters Centerline goodness : 0.911748 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.12, Z:-0.96 [[ 0.99925194 0.03280037 -0.02048628 6.13528561] [-0.0330388 0.99938893 -0.01141073 -0.12348276] [ 0.02009948 0.01207904 0.99972502 -0.96238458] [ 0. 0. 0. 1. ]] SLAMing on 58.851193817 meters Centerline goodness : 0.909485 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99928346 0.03135712 -0.02119665 6.13796532] [-0.03161663 0.99942778 -0.01202074 -0.12705864] [ 0.02080758 0.01268229 0.99970306 -0.96390289] [ 0. 0. 0. 1. ]] SLAMing on 58.881193817 meters Centerline goodness : 0.913928 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99935277 0.02889661 -0.02142491 6.13900778] [-0.02919073 0.99948209 -0.01354466 -0.13203337] [ 0.02102242 0.01416131 0.99967871 -0.96487463] [ 0. 0. 0. 1. ]] SLAMing on 58.911193817000004 meters Centerline goodness : 0.915511 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.13, Z:-0.96 [[ 0.99933277 0.02933152 -0.02176398 6.13968089] [-0.02961013 0.99948221 -0.0125915 -0.13424893] [ 0.02138338 0.01322754 0.99968384 -0.96478754] [ 0. 0. 0. 1. ]] SLAMing on 58.941193817 meters Centerline goodness : 0.916672 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.14, Z:-0.96 [[ 0.99930934 0.02991778 -0.02204037 6.14030317] [-0.03018048 0.99947617 -0.01168446 -0.13624557] [ 0.02167926 0.01234158 0.9996888 -0.96479733] [ 0. 0. 0. 1. ]] SLAMing on 58.971193817 meters Centerline goodness : 0.913969 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.14, Z:-0.96 [[ 0.99927531 0.03080428 -0.02235971 6.14086549] [-0.03104753 0.99946155 -0.01061441 -0.13844549] [ 0.0220207 0.01130093 0.99969364 -0.96467262] [ 0. 0. 0. 1. ]] SLAMing on 59.001193817 meters Centerline goodness : 0.914357 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.14, Z:-0.97 [[ 0.99912484 0.03474594 -0.0232867 6.16244679] [-0.03501307 0.9993245 -0.01116356 -0.14225676] [ 0.02288308 0.01196913 0.9996665 -0.96617455] [ 0. 0. 0. 1. ]] SLAMing on 59.031193817 meters Centerline goodness : 0.913899 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.14, Z:-0.97 [[ 0.99899241 0.03816007 -0.02362132 6.16431987] [-0.03834897 0.99923554 -0.00759599 -0.14368457] [ 0.0233134 0.00849419 0.99969212 -0.96723226] [ 0. 0. 0. 1. ]] SLAMing on 59.061193817 meters Centerline goodness : 0.917415 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.14, Z:-0.97 [[ 9.98859451e-01 4.12952280e-02 -2.39687431e-02 6.16633195e+00] [-4.14075751e-02 9.99133470e-01 -4.20978867e-03 -1.44639806e-01] [ 2.37741292e-02 5.19747473e-03 9.99703845e-01 -9.68370840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091193817000004 meters Centerline goodness : 0.914912 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.14, Z:-0.97 [[ 9.98817600e-01 4.18943764e-02 -2.46629806e-02 6.16769859e+00] [-4.20135077e-02 9.99107652e-01 -4.33195441e-03 -1.44271422e-01] [ 2.44594881e-02 5.36301063e-03 9.99686437e-01 -9.68095195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121193817 meters Centerline goodness : 0.912257 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99885409 0.04012473 -0.02608661 6.16996057] [-0.04032949 0.99915925 -0.00737064 -0.14545745] [ 0.02576893 0.00841425 0.99963251 -0.96751149] [ 0. 0. 0. 1. ]] SLAMing on 59.151193817 meters Centerline goodness : 0.914990 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99883526 0.04024352 -0.02661927 6.17105646] [-0.0404389 0.99915859 -0.00684231 -0.14735597] [ 0.02632151 0.00791079 0.99962223 -0.96777784] [ 0. 0. 0. 1. ]] SLAMing on 59.181193817 meters Centerline goodness : 0.913501 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99890678 0.03780245 -0.02749932 6.17265747] [-0.03809843 0.9992207 -0.01031969 -0.14730061] [ 0.02708778 0.01135609 0.99956855 -0.96760521] [ 0. 0. 0. 1. ]] SLAMing on 59.211193817 meters Centerline goodness : 0.915056 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.15, Z:-0.97 [[ 0.99888724 0.03829252 -0.02753129 6.1719801 ] [-0.03853432 0.99922275 -0.00830634 -0.15279643] [ 0.02719182 0.00935799 0.99958643 -0.96714825] [ 0. 0. 0. 1. ]] SLAMing on 59.241193817 meters Centerline goodness : 0.914261 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99887118 0.03840324 -0.02795626 6.17270272] [-0.03863175 0.999224 -0.00768009 -0.15535901] [ 0.02763963 0.00875142 0.99957964 -0.96692827] [ 0. 0. 0. 1. ]] SLAMing on 59.271193817000004 meters Centerline goodness : 0.915886 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.9988628 0.03843248 -0.02821447 6.17310282] [-0.03865076 0.99922661 -0.00723209 -0.15720376] [ 0.0279147 0.00831438 0.99957573 -0.96666965] [ 0. 0. 0. 1. ]] SLAMing on 59.301193817 meters Centerline goodness : 0.918575 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99886026 0.03814237 -0.02869375 6.17408072] [-0.03835949 0.9992391 -0.00705478 -0.15827215] [ 0.02840283 0.00814741 0.99956335 -0.9666731 ] [ 0. 0. 0. 1. ]] SLAMing on 59.331193817 meters Centerline goodness : 0.917641 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.16, Z:-0.97 [[ 0.99887095 0.03791972 -0.0286167 6.17371285] [-0.03812613 0.99925046 -0.00670188 -0.15883278] [ 0.02834111 0.00778536 0.99956799 -0.96649516] [ 0. 0. 0. 1. ]] SLAMing on 59.361193817 meters Centerline goodness : 0.918173 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.16, Z:-0.97 [[ 0.99886513 0.03763586 -0.02918885 6.17501628] [-0.03784474 0.99926159 -0.00663687 -0.15954124] [ 0.02891751 0.00773398 0.99955188 -0.96664665] [ 0. 0. 0. 1. ]] SLAMing on 59.391193817 meters Centerline goodness : 0.918355 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.16, Z:-0.97 [[ 9.98848660e-01 3.77673352e-02 -2.95800992e-02 6.17535352e+00] [-3.79549482e-02 9.99262580e-01 -5.80675422e-03 -1.63714040e-01] [ 2.93389806e-02 6.92277981e-03 9.99545546e-01 -9.66093386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421193817 meters Centerline goodness : 0.917418 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99883528 0.0373927 -0.03049387 6.19677495] [-0.03767977 0.99925028 -0.00889416 -0.16714894] [ 0.03013843 0.0100328 0.99949538 -0.96660628] [ 0. 0. 0. 1. ]] SLAMing on 59.451193817000004 meters Centerline goodness : 0.917496 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99885047 0.03647927 -0.03109656 6.19932731] [-0.03678995 0.99927807 -0.00947802 -0.16955423] [ 0.03072836 0.01061116 0.99947145 -0.96825525] [ 0. 0. 0. 1. ]] SLAMing on 59.481193817000005 meters Centerline goodness : 0.916998 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.17, Z:-0.97 [[ 0.99883659 0.0363554 -0.03168193 6.2013396 ] [-0.03664964 0.99928981 -0.00875635 -0.17295395] [ 0.03134109 0.0099073 0.99945964 -0.96934842] [ 0. 0. 0. 1. ]] SLAMing on 59.511193817 meters Centerline goodness : 0.916942 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.18, Z:-0.97 [[ 9.99086364e-01 3.50846300e-02 -2.44029732e-02 6.21174024e+00] [-3.51514158e-02 9.99379321e-01 -2.31310075e-03 -1.76813661e-01] [ 2.43066725e-02 3.16878648e-03 9.99699527e-01 -9.72765859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541193817 meters Centerline goodness : 0.919192 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.18, Z:-0.98 [[ 0.99920758 0.03490579 -0.01912586 6.2249638 ] [-0.03512616 0.99931889 -0.01130971 -0.17683537] [ 0.01871806 0.01197257 0.99975312 -0.9774976 ] [ 0. 0. 0. 1. ]] SLAMing on 59.571193817 meters Centerline goodness : 0.923268 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:-0.98 [[ 0.99921308 0.03448991 -0.01958717 6.22667783] [-0.03470988 0.99933685 -0.01100354 -0.17954744] [ 0.01919467 0.01167475 0.9997476 -0.97844952] [ 0. 0. 0. 1. ]] SLAMing on 59.601193817 meters Centerline goodness : 0.920043 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.18, Z:-0.98 [[ 0.99922575 0.0336984 -0.02030584 6.22937722] [-0.03392871 0.99936255 -0.01110603 -0.18240471] [ 0.01991864 0.01178639 0.99973213 -0.98003481] [ 0. 0. 0. 1. ]] SLAMing on 59.631193817 meters Centerline goodness : 0.920977 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.19, Z:-0.98 [[ 0.99931796 0.03032763 -0.02106787 6.23176102] [-0.03061273 0.99944224 -0.01334413 -0.18909881] [ 0.02065142 0.01397997 0.99968899 -0.98151607] [ 0. 0. 0. 1. ]] SLAMing on 59.661193817000004 meters Centerline goodness : 0.921534 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.19, Z:-0.98 [[ 0.99933483 0.02922046 -0.02181903 6.23450722] [-0.02952352 0.9994702 -0.01369956 -0.19186664] [ 0.02140716 0.01433462 0.99966807 -0.98296482] [ 0. 0. 0. 1. ]] SLAMing on 59.691193817 meters Centerline goodness : 0.918706 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.9993337 0.02882649 -0.02238732 6.23621615] [-0.02913508 0.9994832 -0.01358259 -0.19335158] [ 0.02198421 0.0142258 0.9996571 -0.98361773] [ 0. 0. 0. 1. ]] SLAMing on 59.721193817 meters Centerline goodness : 0.918850 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.99933099 0.02860006 -0.02279472 6.23773178] [-0.02891429 0.99948968 -0.01357701 -0.19387761] [ 0.02239479 0.01422702 0.99964797 -0.98440823] [ 0. 0. 0. 1. ]] SLAMing on 59.751193817 meters Centerline goodness : 0.917765 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.99 [[ 0.99932287 0.02866225 -0.0230711 6.23899068] [-0.02898097 0.99948743 -0.01360102 -0.19335229] [ 0.02266944 0.01426043 0.9996413 -0.9852226 ] [ 0. 0. 0. 1. ]] SLAMing on 59.781193817 meters Centerline goodness : 0.916674 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.99 [[ 0.99931406 0.02875359 -0.02333773 6.23984173] [-0.02907857 0.99948314 -0.01370734 -0.19259431] [ 0.02293153 0.01437657 0.99963366 -0.98553249] [ 0. 0. 0. 1. ]] SLAMing on 59.811193817 meters Centerline goodness : 0.918465 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.19, Z:-0.98 [[ 0.99922158 0.03168659 -0.02349861 6.23947841] [-0.03193864 0.99943542 -0.01042932 -0.19272958] [ 0.02315487 0.01117172 0.99966947 -0.984039 ] [ 0. 0. 0. 1. ]] SLAMing on 59.841193817000004 meters Centerline goodness : 0.920948 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 9.99440173e-01 2.93016469e-02 -1.61478693e-02 6.24871869e+00] [-2.93977017e-02 9.99551293e-01 -5.74348061e-03 -1.93245846e-01] [ 1.59723302e-02 6.21497550e-03 9.99853119e-01 -9.86660982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871193817 meters Centerline goodness : 0.925694 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99945244 0.02878542 -0.0163163 6.24875913] [-0.02889146 0.9995627 -0.0063007 -0.19240522] [ 0.0161278 0.00676865 0.99984703 -0.98610991] [ 0. 0. 0. 1. ]] SLAMing on 59.901193817 meters Centerline goodness : 0.927063 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99945903 0.02829725 -0.01676042 6.24954036] [-0.02841543 0.99957269 -0.00685517 -0.19125025] [ 0.01655928 0.00732771 0.99983603 -0.98582867] [ 0. 0. 0. 1. ]] SLAMing on 59.931193817 meters Centerline goodness : 0.925548 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99946829 0.02779587 -0.01704491 6.25047238] [-0.02792641 0.99958208 -0.00746898 -0.18972876] [ 0.01683018 0.00794101 0.99982683 -0.98615639] [ 0. 0. 0. 1. ]] SLAMing on 59.961193817 meters Centerline goodness : 0.924924 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99950638 0.02601697 -0.01760999 6.25277248] [-0.02618222 0.99961467 -0.00921947 -0.187488 ] [ 0.01736335 0.00967598 0.99980243 -0.98754231] [ 0. 0. 0. 1. ]] SLAMing on 59.991193817 meters Centerline goodness : 0.925997 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.19, Z:-0.99 [[ 0.99951925 0.02507673 -0.01823248 6.25477084] [-0.02526037 0.99963176 -0.00991257 -0.18745062] [ 0.01797719 0.01036836 0.99978464 -0.98834227] [ 0. 0. 0. 1. ]] SLAMing on 60.021193817000004 meters Centerline goodness : 0.925110 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952288 0.02461771 -0.01865398 6.25582639] [-0.02480883 0.99964135 -0.01008391 -0.18813505] [ 0.01839905 0.01054188 0.99977515 -0.98847513] [ 0. 0. 0. 1. ]] SLAMing on 60.051193817000005 meters Centerline goodness : 0.926284 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952648 0.02416882 -0.01904441 6.25681599] [-0.02436748 0.99965033 -0.01026906 -0.18886817] [ 0.01878956 0.01072826 0.9997659 -0.98863225] [ 0. 0. 0. 1. ]] SLAMing on 60.081193817 meters Centerline goodness : 0.926284 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952648 0.02416882 -0.01904441 6.25681599] [-0.02436748 0.99965033 -0.01026906 -0.18886817] [ 0.01878956 0.01072826 0.9997659 -0.98863225] [ 0. 0. 0. 1. ]] SLAMing on 60.111193817 meters Centerline goodness : 0.927782 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99952403 0.02403571 -0.01933926 6.25742008] [-0.02423386 0.99965552 -0.01007765 -0.19014872] [ 0.01909037 0.01054151 0.99976219 -0.98860678] [ 0. 0. 0. 1. ]] SLAMing on 60.141193817 meters Centerline goodness : 0.928023 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99951734 0.02404627 -0.01966879 6.25839022] [-0.02425009 0.99965398 -0.01019055 -0.18968371] [ 0.01941694 0.0106626 0.99975462 -0.98887309] [ 0. 0. 0. 1. ]] SLAMing on 60.171193817 meters Centerline goodness : 0.930287 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99944228 0.02656062 -0.02024004 6.26091117] [-0.02671338 0.99961637 -0.00731458 -0.19119094] [ 0.020038 0.00785118 0.99976839 -0.99013497] [ 0. 0. 0. 1. ]] SLAMing on 60.201193817000004 meters Centerline goodness : 0.927919 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 0.99943006 0.02678447 -0.02054635 6.26206436] [-0.02693996 0.99961019 -0.00732879 -0.19100463] [ 0.02034205 0.00787813 0.99976204 -0.99076492] [ 0. 0. 0. 1. ]] SLAMing on 60.231193817000005 meters Centerline goodness : 0.925063 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:-0.99 [[ 9.99314438e-01 3.04698010e-02 -2.10296212e-02 6.26481368e+00] [-3.05561625e-02 9.99525837e-01 -3.79754976e-03 -1.91387886e-01] [ 2.09039392e-02 4.43753083e-03 9.99771641e-01 -9.92812040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261193817 meters Centerline goodness : 0.921070 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.19, Z:-0.99 [[ 9.99239793e-01 3.24350199e-02 -2.16288071e-02 6.26774646e+00] [-3.24824225e-02 9.99470606e-01 -1.84384522e-03 -1.91928499e-01] [ 2.15575518e-02 2.54499956e-03 9.99764370e-01 -9.94536797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291193817 meters Centerline goodness : 0.923965 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.19, Z:-0.99 [[ 9.99232958e-01 3.25717710e-02 -2.17387796e-02 6.26796059e+00] [-3.26214337e-02 9.99465909e-01 -1.93373405e-03 -1.91463711e-01] [ 2.16641840e-02 2.64140095e-03 9.99761815e-01 -9.94456587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321193817 meters Centerline goodness : 0.924462 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99928636 0.03427858 -0.01586633 6.28119356] [-0.03439024 0.99938522 -0.00681871 -0.19190209] [ 0.01562284 0.00735949 0.99985087 -0.99624351] [ 0. 0. 0. 1. ]] SLAMing on 60.351193817 meters Centerline goodness : 0.924987 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99929939 0.03375194 -0.01617199 6.281837 ] [-0.03386806 0.99940207 -0.00696098 -0.19277713] [ 0.01592738 0.00750381 0.99984499 -0.99618366] [ 0. 0. 0. 1. ]] SLAMing on 60.381193817 meters Centerline goodness : 0.925236 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.19, Z:-1.00 [[ 0.99934054 0.03218368 -0.01681366 6.28419372] [-0.03232317 0.99944472 -0.00809145 -0.19306587] [ 0.01654391 0.00862958 0.9998259 -0.99736702] [ 0. 0. 0. 1. ]] SLAMing on 60.411193817000004 meters Centerline goodness : 0.925733 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99938059 0.03058124 -0.0174135 6.28691764] [-0.03074782 0.99948316 -0.00938014 -0.19313352] [ 0.01711764 0.00990976 0.99980437 -0.99915845] [ 0. 0. 0. 1. ]] SLAMing on 60.441193817 meters Centerline goodness : 0.924108 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99942721 0.02855991 -0.0181546 6.29058735] [-0.02876912 0.99952143 -0.0113688 -0.1908869 ] [ 0.01782122 0.01188458 0.99977055 -1.00190419] [ 0. 0. 0. 1. ]] SLAMing on 60.471193817 meters Centerline goodness : 0.923443 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99943221 0.02813445 -0.01853916 6.29221897] [-0.02836142 0.99952455 -0.01209562 -0.18904547] [ 0.01819005 0.01261455 0.99975497 -1.00292627] [ 0. 0. 0. 1. ]] SLAMing on 60.501193817 meters Centerline goodness : 0.920839 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.19, Z:-1.00 [[ 0.99944364 0.02744103 -0.01895795 6.29393731] [-0.02769373 0.99952933 -0.01319793 -0.18678722] [ 0.01858686 0.0137156 0.99973317 -1.00396719] [ 0. 0. 0. 1. ]] SLAMing on 60.531193817 meters Centerline goodness : 0.920045 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.19, Z:-1.00 [[ 0.99943822 0.02729464 -0.01944834 6.29532939] [-0.02756405 0.99952585 -0.01372196 -0.18505004] [ 0.01906458 0.01425032 0.99971669 -1.00442463] [ 0. 0. 0. 1. ]] SLAMing on 60.561193817 meters Centerline goodness : 0.919128 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.9994344 0.02712329 -0.01987968 6.29621716] [-0.02741 0.99952207 -0.0142945 -0.18330623] [ 0.01948247 0.01483132 0.99970019 -1.00432868] [ 0. 0. 0. 1. ]] SLAMing on 60.591193817000004 meters Centerline goodness : 0.919824 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99943465 0.02684883 -0.02023652 6.29630955] [-0.02716018 0.99951444 -0.01527094 -0.18062792] [ 0.01981669 0.01581193 0.99967859 -1.00340728] [ 0. 0. 0. 1. ]] SLAMing on 60.621193817 meters Centerline goodness : 0.924691 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99943183 0.02675 -0.02050507 6.29688374] [-0.02707214 0.99951179 -0.01559747 -0.17940895] [ 0.02007783 0.01614373 0.99966808 -1.00335154] [ 0. 0. 0. 1. ]] SLAMing on 60.651193817 meters Centerline goodness : 0.923620 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99936508 0.02904069 -0.02064139 6.29748834] [-0.02931221 0.99948608 -0.01297555 -0.17714898] [ 0.02025397 0.01357236 0.99970274 -1.00308777] [ 0. 0. 0. 1. ]] SLAMing on 60.681193817 meters Centerline goodness : 0.925137 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99935648 0.02907512 -0.02100648 6.29814313] [-0.02935592 0.99948206 -0.01318475 -0.17549314] [ 0.02061225 0.01379293 0.9996924 -1.00290303] [ 0. 0. 0. 1. ]] SLAMing on 60.711193817 meters Centerline goodness : 0.926204 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99927388 0.03142505 -0.02154468 6.30023726] [-0.03165365 0.99944528 -0.01035246 -0.17598356] [ 0.0212074 0.01102691 0.99971429 -1.00361202] [ 0. 0. 0. 1. ]] SLAMing on 60.741193817 meters Centerline goodness : 0.925859 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.18, Z:-1.00 [[ 0.99919162 0.03371418 -0.02189661 6.30233048] [-0.03389291 0.9993947 -0.00784307 -0.17616567] [ 0.02161893 0.00857887 0.99972948 -1.00480346] [ 0. 0. 0. 1. ]] SLAMing on 60.771193817000004 meters Centerline goodness : 0.923916 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99917554 0.03697814 -0.01675862 6.31503951] [-0.0372352 0.99918946 -0.01529609 -0.17347085] [ 0.01617942 0.01590749 0.99974256 -1.00935846] [ 0. 0. 0. 1. ]] SLAMing on 60.801193817000005 meters Centerline goodness : 0.924226 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.9991049 0.03856151 -0.01738966 6.31806267] [-0.03880495 0.99915032 -0.01388603 -0.17392739] [ 0.01683941 0.0145484 0.99975236 -1.01131517] [ 0. 0. 0. 1. ]] SLAMing on 60.831193817 meters Centerline goodness : 0.924670 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99898808 0.04131206 -0.01778011 6.32059672] [-0.04151204 0.99907713 -0.011029 -0.17398442] [ 0.01730807 0.01175593 0.99978109 -1.01298644] [ 0. 0. 0. 1. ]] SLAMing on 60.861193817 meters Centerline goodness : 0.921472 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.17, Z:-1.01 [[ 0.99886827 0.04385509 -0.01840939 6.32364797] [-0.0440149 0.99899583 -0.00836746 -0.173154 ] [ 0.01802394 0.00916827 0.99979552 -1.01474875] [ 0. 0. 0. 1. ]] SLAMing on 60.891193817 meters Centerline goodness : 0.917765 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 9.98758396e-01 4.60588082e-02 -1.89803362e-02 6.32672612e+00] [-4.61798797e-02 9.98915178e-01 -5.99040937e-03 -1.72088063e-01] [ 1.86838348e-02 6.85948129e-03 9.99801911e-01 -1.01663601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193817 meters Centerline goodness : 0.915050 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.99871401 0.04664306 -0.01986832 6.32898728] [-0.0467937 0.99887873 -0.00718515 -0.16925997] [ 0.0195109 0.00810562 0.99977679 -1.0167329 ] [ 0. 0. 0. 1. ]] SLAMing on 60.951193817000004 meters Centerline goodness : 0.912582 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.9986684 0.04725318 -0.02070166 6.33040325] [-0.04741758 0.99884682 -0.00752378 -0.16927155] [ 0.02032227 0.00849538 0.99975739 -1.01613728] [ 0. 0. 0. 1. ]] SLAMing on 60.981193817000005 meters Centerline goodness : 0.913546 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.9986499 0.0474428 -0.02115557 6.33147223] [-0.04761371 0.99883653 -0.0076493 -0.16904594] [ 0.02076806 0.00864627 0.99974693 -1.01634348] [ 0. 0. 0. 1. ]] SLAMing on 61.011193817 meters Centerline goodness : 0.911219 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.17, Z:-1.02 [[ 0.99859791 0.04807226 -0.02216466 6.3338866 ] [-0.04825764 0.99880363 -0.00790587 -0.16911441] [ 0.02175809 0.0089644 0.99972307 -1.01663607] [ 0. 0. 0. 1. ]] SLAMing on 61.041193817 meters Centerline goodness : 0.910516 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99858792 0.04812252 -0.02250322 6.3352662 ] [-0.04831494 0.99879942 -0.0080862 -0.16836144] [ 0.02208708 0.00916203 0.99971407 -1.01749218] [ 0. 0. 0. 1. ]] SLAMing on 61.071193817 meters Centerline goodness : 0.908015 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 9.98444818e-01 5.11963773e-02 -2.20652964e-02 6.33517967e+00] [-5.12987094e-02 9.98674953e-01 -4.09652076e-03 -1.68843677e-01] [ 2.18263319e-02 5.22207116e-03 9.99748139e-01 -1.01828730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101193817 meters Centerline goodness : 0.909344 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 9.98440672e-01 5.10834566e-02 -2.25101271e-02 6.33605169e+00] [-5.11946020e-02 9.98679053e-01 -4.38890478e-03 -1.68876924e-01] [ 2.22561920e-02 5.53445803e-03 9.99736981e-01 -1.01818545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131193817 meters Centerline goodness : 0.910150 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99854299 0.04835253 -0.02395696 6.33830711] [-0.04857196 0.99878212 -0.00866319 -0.16821188] [ 0.0235089 0.0098142 0.99967545 -1.01738623] [ 0. 0. 0. 1. ]] SLAMing on 61.161193817000004 meters Centerline goodness : 0.907666 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99866322 0.04533014 -0.02483861 6.33880495] [-0.04563205 0.99888949 -0.01172576 -0.17092079] [ 0.0242795 0.01284352 0.9996227 -1.01624656] [ 0. 0. 0. 1. ]] SLAMing on 61.191193817 meters Centerline goodness : 0.909302 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.9986894 0.04440409 -0.02545107 6.34110695] [-0.04472296 0.99892615 -0.01209943 -0.17254104] [ 0.02488648 0.01322182 0.99960284 -1.01755864] [ 0. 0. 0. 1. ]] SLAMing on 61.221193817 meters Centerline goodness : 0.910911 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.17, Z:-1.02 [[ 0.99869674 0.04400758 -0.02584859 6.34224661] [-0.04432762 0.99894568 -0.01194107 -0.17439688] [ 0.02529584 0.01307131 0.99959455 -1.01798304] [ 0. 0. 0. 1. ]] SLAMing on 61.251193817 meters Centerline goodness : 0.908917 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.18, Z:-1.02 [[ 0.9986743 0.04444389 -0.02596887 6.34160963] [-0.04472959 0.99894367 -0.01052631 -0.17872432] [ 0.02547361 0.01167393 0.99960733 -1.016735 ] [ 0. 0. 0. 1. ]] SLAMing on 61.281193817 meters Centerline goodness : 0.913007 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.18, Z:-1.02 [[ 0.99895125 0.04201762 -0.01819107 6.35142394] [-0.04214449 0.99908941 -0.00664789 -0.18173957] [ 0.01789518 0.00740757 0.99981243 -1.01982905] [ 0. 0. 0. 1. ]] SLAMing on 61.311193817 meters Centerline goodness : 0.915688 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-1.02 [[ 0.99903492 0.04210717 -0.01249897 6.36342581] [-0.04229845 0.99898548 -0.01545507 -0.18198009] [ 0.01183552 0.01596885 0.99980244 -1.02328326] [ 0. 0. 0. 1. ]] SLAMing on 61.341193817000004 meters Centerline goodness : 0.912891 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.18, Z:-1.02 [[ 0.99903238 0.04209408 -0.01274306 6.3636973 ] [-0.04228253 0.9989946 -0.0148988 -0.1842786 ] [ 0.0121031 0.01542319 0.9998078 -1.02294128] [ 0. 0. 0. 1. ]] SLAMing on 61.371193817 meters Centerline goodness : 0.914610 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.19, Z:-1.02 [[ 0.99904477 0.04172097 -0.01299662 6.36424005] [-0.04191096 0.99901311 -0.01470607 -0.18586758] [ 0.01237024 0.01523673 0.99980739 -1.02288485] [ 0. 0. 0. 1. ]] SLAMing on 61.401193817 meters Centerline goodness : 0.916743 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.19, Z:-1.02 [[ 0.99909032 0.04051767 -0.01329873 6.36489443] [-0.04070949 0.99906602 -0.01448514 -0.18953703] [ 0.0126994 0.01501335 0.99980664 -1.0228259 ] [ 0. 0. 0. 1. ]] SLAMing on 61.431193817 meters Centerline goodness : 0.913659 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.19, Z:-1.02 [[ 0.99914054 0.03903862 -0.01393473 6.36723208] [-0.03924989 0.99911344 -0.01522437 -0.19160863] [ 0.01332804 0.01575823 0.999787 -1.02417345] [ 0. 0. 0. 1. ]] SLAMing on 61.461193817 meters Centerline goodness : 0.914235 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.19, Z:-1.03 [[ 0.99922545 0.03654453 -0.01459436 6.36972301] [-0.03679446 0.99917412 -0.01724059 -0.19366466] [ 0.01395226 0.01776423 0.99974485 -1.02582817] [ 0. 0. 0. 1. ]] SLAMing on 61.491193817 meters Centerline goodness : 0.913394 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.20, Z:-1.03 [[ 0.99928785 0.03459359 -0.01506922 6.37182313] [-0.03486691 0.99922497 -0.01826925 -0.19581095] [ 0.01442554 0.01878166 0.99971954 -1.02724004] [ 0. 0. 0. 1. ]] SLAMing on 61.521193817000004 meters Centerline goodness : 0.913817 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.99939089 0.02972242 -0.01828713 6.37941809] [-0.03006702 0.99936981 -0.01886706 -0.19735245] [ 0.01771483 0.01940541 0.99965475 -1.02647558] [ 0. 0. 0. 1. ]] SLAMing on 61.551193817000005 meters Centerline goodness : 0.904937 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.9996392 0.01647124 -0.02121693 6.3812686 ] [-0.01673791 0.99978236 -0.01245291 -0.20022201] [ 0.0210072 0.01280354 0.99969734 -1.02626153] [ 0. 0. 0. 1. ]] SLAMing on 61.581193817 meters Centerline goodness : 0.906543 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.20, Z:-1.03 [[ 0.99970031 0.01098781 -0.02187582 6.38404508] [-0.01137415 0.99978014 -0.01761509 -0.19949018] [ 0.02167746 0.01785863 0.9996055 -1.02819068] [ 0. 0. 0. 1. ]] SLAMing on 61.611193817 meters Centerline goodness : 0.898589 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.20, Z:-1.03 [[ 0.99971012 0.00843339 -0.02255098 6.38719725] [-0.00887493 0.99976945 -0.01955198 -0.19919121] [ 0.02238089 0.01974645 0.99955449 -1.03021919] [ 0. 0. 0. 1. ]] SLAMing on 61.641193817 meters Centerline goodness : 0.899929 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.20, Z:-1.03 [[ 0.99971122 0.0065784 -0.02311288 6.38957402] [-0.00706939 0.99974971 -0.02122572 -0.19718338] [ 0.02296746 0.02138299 0.99950751 -1.03164534] [ 0. 0. 0. 1. ]] SLAMing on 61.671193817 meters Centerline goodness : 0.899587 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.19, Z:-1.03 [[ 0.99970273 0.00708962 -0.02332777 6.39082996] [-0.00758609 0.99974513 -0.0212633 -0.18922832] [ 0.02317108 0.02143395 0.99950172 -1.03201829] [ 0. 0. 0. 1. ]] SLAMing on 61.701193817000004 meters Centerline goodness : 0.904067 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-1.03 [[ 0.99967466 0.00985193 -0.02352707 6.39171187] [-0.01030459 0.99976262 -0.01919679 -0.1843717 ] [ 0.02333235 0.01943298 0.99953887 -1.03225563] [ 0. 0. 0. 1. ]] SLAMing on 61.731193817000005 meters Centerline goodness : 0.901974 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-1.03 [[ 0.99963894 0.01271069 -0.02367327 6.39286962] [-0.01312523 0.99976179 -0.01743834 -0.17825019] [ 0.02344598 0.01774276 0.99956765 -1.03295959] [ 0. 0. 0. 1. ]] SLAMing on 61.761193817 meters Centerline goodness : 0.898165 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.16, Z:-1.04 [[ 0.99964808 0.01669194 -0.02061799 6.41248365] [-0.0171353 0.99962162 -0.02151756 -0.16302388] [ 0.02025102 0.02186328 0.99955585 -1.03725678] [ 0. 0. 0. 1. ]] SLAMing on 61.791193817 meters Centerline goodness : 0.901493 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.16, Z:-1.04 [[ 0.99959581 0.0191213 -0.02103809 6.41450259] [-0.01954525 0.99960622 -0.02013401 -0.15688809] [ 0.02064482 0.02053707 0.99957592 -1.03832857] [ 0. 0. 0. 1. ]] SLAMing on 61.821193817 meters Centerline goodness : 0.893364 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.15, Z:-1.04 [[ 0.99953803 0.02157263 -0.02140927 6.41665855] [-0.02197339 0.99958434 -0.0186635 -0.1512464 ] [ 0.02099775 0.01912531 0.99959658 -1.03966666] [ 0. 0. 0. 1. ]] SLAMing on 61.851193817 meters Centerline goodness : 0.893821 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.15, Z:-1.04 [[ 0.99947555 0.02389259 -0.02185783 6.41878265] [-0.0242695 0.99955844 -0.01714394 -0.14618919] [ 0.02143857 0.01766543 0.99961409 -1.04068182] [ 0. 0. 0. 1. ]] SLAMing on 61.881193817 meters Centerline goodness : 0.891819 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.13, Z:-1.04 [[ 0.99947087 0.02718171 -0.01786456 6.43485348] [-0.02757302 0.99937689 -0.02203554 -0.13095846] [ 0.01725447 0.02251646 0.99959757 -1.04278976] [ 0. 0. 0. 1. ]] SLAMing on 61.911193817000004 meters Centerline goodness : 0.891445 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99941344 0.03126177 -0.01398169 6.4527051 ] [-0.0315681 0.99925384 -0.0222533 -0.12400184] [ 0.01327558 0.02268163 0.99965459 -1.04309898] [ 0. 0. 0. 1. ]] SLAMing on 61.941193817 meters Centerline goodness : 0.893871 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99929405 0.03479631 -0.01416411 6.45302055] [-0.03507522 0.99918565 -0.01994397 -0.11759593] [ 0.0134586 0.0204267 0.99970076 -1.04234184] [ 0. 0. 0. 1. ]] SLAMing on 61.971193817 meters Centerline goodness : 0.893871 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.12, Z:-1.04 [[ 0.99929405 0.03479631 -0.01416411 6.45302055] [-0.03507522 0.99918565 -0.01994397 -0.11759593] [ 0.0134586 0.0204267 0.99970076 -1.04234184] [ 0. 0. 0. 1. ]] SLAMing on 62.001193817 meters Centerline goodness : 0.890266 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.11, Z:-1.04 [[ 0.9991711 0.03807911 -0.01439073 6.45379266] [-0.03834737 0.99908668 -0.01884902 -0.11146206] [ 0.01365984 0.01938524 0.99971877 -1.04132369] [ 0. 0. 0. 1. ]] SLAMing on 62.031193817 meters Centerline goodness : 0.886718 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.11, Z:-1.04 [[ 0.99903898 0.04131314 -0.01464011 6.45442701] [-0.04156553 0.99898467 -0.01737622 -0.10631909] [ 0.01390738 0.01796805 0.99974183 -1.04028609] [ 0. 0. 0. 1. ]] SLAMing on 62.061193817 meters Centerline goodness : 0.886409 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.10, Z:-1.04 [[ 0.99890848 0.04438094 -0.0145662 6.45447036] [-0.0446094 0.99888029 -0.01575307 -0.10171392] [ 0.01385075 0.01638566 0.99976981 -1.03935829] [ 0. 0. 0. 1. ]] SLAMing on 62.091193817000004 meters Centerline goodness : 0.891448 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.09, Z:-1.04 [[ 0.99880558 0.04670582 -0.01435182 6.45391922] [-0.04694082 0.99876142 -0.01649816 -0.09126451] [ 0.01356348 0.01715214 0.99976089 -1.03717919] [ 0. 0. 0. 1. ]] SLAMing on 62.121193817 meters Centerline goodness : 0.882008 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.09, Z:-1.04 [[ 0.9986644 0.04969558 -0.01413416 6.45379769] [-0.04989646 0.99865297 -0.01423311 -0.08794018] [ 0.0134078 0.01491934 0.9997988 -1.03672959] [ 0. 0. 0. 1. ]] SLAMing on 62.151193817 meters Centerline goodness : 0.879526 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99854676 0.05186527 -0.01464083 6.45656096] [-0.05205083 0.99856506 -0.01259088 -0.08451052] [ 0.0139668 0.01333466 0.99981354 -1.03834757] [ 0. 0. 0. 1. ]] SLAMing on 62.181193817 meters Centerline goodness : 0.882110 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99844089 0.05371716 -0.01517402 6.45972196] [-0.05388647 0.99848671 -0.01097873 -0.08177451] [ 0.01456132 0.01177929 0.99982459 -1.04050613] [ 0. 0. 0. 1. ]] SLAMing on 62.211193817 meters Centerline goodness : 0.876242 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.99827853 0.05658508 -0.0154308 6.46202033] [-0.05672471 0.99835137 -0.00876615 -0.07779511] [ 0.01490932 0.00962636 0.99984251 -1.0420962 ] [ 0. 0. 0. 1. ]] SLAMing on 62.241193817 meters Centerline goodness : 0.877269 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.08, Z:-1.04 [[ 0.9982805 0.05641059 -0.0159341 6.46333497] [-0.05657223 0.9983496 -0.00988187 -0.07522757] [ 0.01535036 0.01076631 0.99982421 -1.04216848] [ 0. 0. 0. 1. ]] SLAMing on 62.271193817000004 meters Centerline goodness : 0.884532 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99807185 0.05990317 -0.01625391 6.46502717] [-0.06003642 0.99816542 -0.00783678 -0.07023078] [ 0.01575464 0.0087975 0.99983718 -1.04247366] [ 0. 0. 0. 1. ]] SLAMing on 62.301193817000005 meters Centerline goodness : 0.879134 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99806463 0.05983236 -0.01694354 6.46672367] [-0.05999612 0.99815503 -0.00932694 -0.06608831] [ 0.01635423 0.01032544 0.99981294 -1.04238001] [ 0. 0. 0. 1. ]] SLAMing on 62.331193817 meters Centerline goodness : 0.876688 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99806463 0.05969696 -0.01741436 6.4679289 ] [-0.05988416 0.9981508 -0.01043379 -0.06282376] [ 0.01675929 0.01145644 0.99979392 -1.04236144] [ 0. 0. 0. 1. ]] SLAMing on 62.361193817 meters Centerline goodness : 0.877903 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99807541 0.05938312 -0.01786391 6.46888971] [-0.05959174 0.99815794 -0.01138194 -0.06078729] [ 0.01715511 0.01242458 0.99977564 -1.04226399] [ 0. 0. 0. 1. ]] SLAMing on 62.391193817 meters Centerline goodness : 0.877074 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99809331 0.05898691 -0.01817389 6.46904536] [-0.05920451 0.99817757 -0.0116772 -0.06167286] [ 0.01745196 0.01273091 0.99976665 -1.04177871] [ 0. 0. 0. 1. ]] SLAMing on 62.421193817 meters Centerline goodness : 0.876916 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99808574 0.05905157 -0.01837859 6.46950895] [-0.05927272 0.99817291 -0.01172962 -0.06149894] [ 0.01765235 0.01279652 0.99976229 -1.0417492 ] [ 0. 0. 0. 1. ]] SLAMing on 62.451193817000004 meters Centerline goodness : 0.876458 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99808428 0.05904547 -0.0184771 6.46948313] [-0.05928282 0.99816205 -0.01257246 -0.05924925] [ 0.01770079 0.01364375 0.99975023 -1.04103482] [ 0. 0. 0. 1. ]] SLAMing on 62.481193817000005 meters Centerline goodness : 0.876906 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99785046 0.06289037 -0.01841916 6.46961053] [-0.06306167 0.9979702 -0.00887127 -0.05847911] [ 0.01782385 0.01001374 0.999791 -1.04057396] [ 0. 0. 0. 1. ]] SLAMing on 62.511193817 meters Centerline goodness : 0.879045 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97570787e-01 6.73399927e-02 -1.78283822e-02 6.46761254e+00] [-6.74506148e-02 9.97706461e-01 -5.67729980e-03 -5.64420152e-02] [ 1.74051828e-02 6.86604377e-03 9.99824943e-01 -1.03802231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541193817 meters Centerline goodness : 0.877178 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97503336e-01 6.82504910e-02 -1.81373885e-02 6.46802533e+00] [-6.83559555e-02 9.97647134e-01 -5.25912628e-03 -5.67668958e-02] [ 1.77357757e-02 6.48579453e-03 9.99821672e-01 -1.03758202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571193817 meters Centerline goodness : 0.878097 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97443207e-01 6.90355583e-02 -1.84700099e-02 6.46848721e+00] [-6.91337513e-02 9.97596182e-01 -4.73098173e-03 -5.81409726e-02] [ 1.80990054e-02 5.99578666e-03 9.99818222e-01 -1.03730700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601193817 meters Centerline goodness : 0.877201 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97345314e-01 7.04246805e-02 -1.85118557e-02 6.46849010e+00] [-7.04973265e-02 9.97506508e-01 -3.30065151e-03 -6.11952961e-02] [ 1.82332492e-02 4.59692565e-03 9.99823193e-01 -1.03723511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631193817 meters Centerline goodness : 0.876935 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 0.99753514 0.06754622 -0.01900414 6.46890953] [-0.06768438 0.99768414 -0.00672223 -0.06107354] [ 0.01850607 0.00799194 0.99979681 -1.03705438] [ 0. 0. 0. 1. ]] SLAMing on 62.661193817000004 meters Centerline goodness : 0.875827 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.06, Z:-1.04 [[ 9.97523002e-01 6.77620395e-02 -1.88723852e-02 6.46833493e+00] [-6.78798117e-02 9.97677390e-01 -5.67065775e-03 -6.38265218e-02] [ 1.84442967e-02 6.93766550e-03 9.99805820e-01 -1.03684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691193817 meters Centerline goodness : 0.869421 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99764308 0.06599052 -0.01880251 6.46700848] [-0.06613153 0.99778651 -0.0069788 -0.06578897] [ 0.01830036 0.00820579 0.99979886 -1.03587898] [ 0. 0. 0. 1. ]] SLAMing on 62.721193817 meters Centerline goodness : 0.879538 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.07, Z:-1.04 [[ 0.99783518 0.06286775 -0.01930306 6.467949 ] [-0.06306083 0.99796388 -0.00956145 -0.06835233] [ 0.01866265 0.01075802 0.99976796 -1.0365489 ] [ 0. 0. 0. 1. ]] SLAMing on 62.751193817 meters Centerline goodness : 0.874359 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.08, Z:-1.04 [[ 0.99818601 0.05686966 -0.01976165 6.46750892] [-0.05714059 0.99827585 -0.01342652 -0.07781209] [ 0.01896402 0.01453136 0.99971456 -1.03684073] [ 0. 0. 0. 1. ]] SLAMing on 62.781193817 meters Centerline goodness : 0.875496 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.08, Z:-1.04 [[ 0.9981751 0.05702269 -0.01987143 6.46740994] [-0.05725726 0.99829389 -0.01144217 -0.08446862] [ 0.01918506 0.01255907 0.99973707 -1.03717368] [ 0. 0. 0. 1. ]] SLAMing on 62.811193817 meters Centerline goodness : 0.873127 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.09, Z:-1.04 [[ 0.99831749 0.05427258 -0.02041285 6.46789398] [-0.05456672 0.99841001 -0.01413928 -0.08661271] [ 0.01961302 0.01522935 0.99969165 -1.03699524] [ 0. 0. 0. 1. ]] SLAMing on 62.841193817000004 meters Centerline goodness : 0.870789 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.09, Z:-1.04 [[ 0.99824868 0.05533975 -0.02090673 6.46868514] [-0.05560958 0.99837368 -0.01255264 -0.08947423] [ 0.02017807 0.01369327 0.99970263 -1.03696407] [ 0. 0. 0. 1. ]] SLAMing on 62.871193817 meters Centerline goodness : 0.877521 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 0.99805624 0.05830269 -0.02201202 6.47159835] [-0.05851205 0.99824623 -0.00898938 -0.0954633 ] [ 0.02144931 0.01025988 0.99971729 -1.03820593] [ 0. 0. 0. 1. ]] SLAMing on 62.901193817 meters Centerline goodness : 0.873255 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 0.99794944 0.05991522 -0.02251827 6.47272208] [-0.06008068 0.99817074 -0.00674403 -0.09983392] [ 0.02207301 0.00808312 0.99972368 -1.03864572] [ 0. 0. 0. 1. ]] SLAMing on 62.931193817 meters Centerline goodness : 0.872945 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.10, Z:-1.04 [[ 9.97861033e-01 6.11688627e-02 -2.30592653e-02 6.47397547e+00] [-6.12945422e-02 9.98108263e-01 -4.78279836e-03 -1.04682355e-01] [ 2.27230848e-02 6.18597522e-03 9.99722659e-01 -1.03924463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193817 meters Centerline goodness : 0.872901 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.11, Z:-1.04 [[ 0.99792897 0.05952353 -0.02438696 6.47616048] [-0.05970318 0.99819365 -0.00670531 -0.10833729] [ 0.02394379 0.0081474 0.99968011 -1.03929868] [ 0. 0. 0. 1. ]] SLAMing on 62.991193817 meters Centerline goodness : 0.873828 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.12, Z:-1.04 [[ 0.99795638 0.05853972 -0.02561553 6.47719409] [-0.05872871 0.99825158 -0.00668809 -0.11806565] [ 0.02517923 0.00817879 0.9996495 -1.03864686] [ 0. 0. 0. 1. ]] SLAMing on 63.021193817000004 meters Centerline goodness : 0.869425 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.12, Z:-1.04 [[ 9.97922660e-01 5.90039923e-02 -2.58629591e-02 6.47651333e+00] [-5.91471590e-02 9.98237708e-01 -4.80533678e-03 -1.24535563e-01] [ 2.55338469e-02 6.32507501e-03 9.99653948e-01 -1.03785434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051193817000005 meters Centerline goodness : 0.869034 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.13, Z:-1.04 [[ 0.99809069 0.05581515 -0.02645059 6.47693846] [-0.05601173 0.9984073 -0.00674946 -0.12966562] [ 0.02603174 0.00821811 0.99962734 -1.03798176] [ 0. 0. 0. 1. ]] SLAMing on 63.081193817 meters Centerline goodness : 0.869637 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.14, Z:-1.04 [[ 9.98386765e-01 4.83793652e-02 -2.97204484e-02 6.46740807e+00] [-4.84508926e-02 9.98824135e-01 -1.69083185e-03 -1.35702971e-01] [ 2.96036998e-02 3.12808640e-03 9.99556820e-01 -1.03683225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111193817 meters Centerline goodness : 0.873120 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.15, Z:-1.04 [[ 9.98693040e-01 4.14448798e-02 -2.99087522e-02 6.46803167e+00] [-4.15727105e-02 9.99128760e-01 -3.66465505e-03 -1.47663513e-01] [ 2.97308133e-02 4.90325339e-03 9.99545915e-01 -1.03964942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141193817 meters Centerline goodness : 0.876655 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.15, Z:-1.04 [[ 9.98833170e-01 3.78530054e-02 -2.99907975e-02 6.46794629e+00] [-3.80482103e-02 9.99258102e-01 -5.96490437e-03 -1.52797209e-01] [ 2.97427578e-02 7.09904052e-03 9.99532377e-01 -1.03968392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171193817 meters Centerline goodness : 0.871700 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.16, Z:-1.04 [[ 0.99895161 0.03446617 -0.03012905 6.46739043] [-0.03470298 0.99937048 -0.00737238 -0.15869864] [ 0.02985599 0.00841022 0.99951883 -1.03968976] [ 0. 0. 0. 1. ]] SLAMing on 63.201193817000004 meters Centerline goodness : 0.877239 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.17, Z:-1.04 [[ 0.99922897 0.02515098 -0.03014778 6.46568455] [-0.02560835 0.99956127 -0.01488211 -0.17025759] [ 0.02976025 0.01564267 0.99943466 -1.03852828] [ 0. 0. 0. 1. ]] SLAMing on 63.231193817000005 meters Centerline goodness : 0.875949 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.17, Z:-1.04 [[ 0.99930427 0.02173922 -0.03030493 6.46559944] [-0.02227226 0.99960114 -0.01736425 -0.17489957] [ 0.02991535 0.01802713 0.99938986 -1.03826111] [ 0. 0. 0. 1. ]] SLAMing on 63.261193817 meters Centerline goodness : 0.876991 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.99937397 0.01800439 -0.03045489 6.46593777] [-0.01863294 0.99961657 -0.02048245 -0.17733841] [ 0.03007444 0.0210371 0.99932626 -1.03851109] [ 0. 0. 0. 1. ]] SLAMing on 63.291193817 meters Centerline goodness : 0.882557 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.999385 0.01657663 -0.03090059 6.46762272] [-0.01722282 0.99963604 -0.02076455 -0.17988424] [ 0.03054514 0.02128397 0.99930675 -1.03929949] [ 0. 0. 0. 1. ]] SLAMing on 63.321193817 meters Centerline goodness : 0.878451 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.18, Z:-1.04 [[ 0.99939695 0.01490163 -0.03136376 6.46936947] [-0.01557619 0.9996502 -0.0213745 -0.18223921] [ 0.03103427 0.02185014 0.99927946 -1.04005057] [ 0. 0. 0. 1. ]] SLAMing on 63.351193817 meters Centerline goodness : 0.887043 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.19, Z:-1.04 [[ 9.99669430e-01 4.03592968e-03 -2.53917514e-02 6.46791096e+00] [-4.40309224e-03 9.99886322e-01 -1.44206606e-02 -1.87233331e-01] [ 2.53306641e-02 1.45276958e-02 9.99573561e-01 -1.04007673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381193817 meters Centerline goodness : 0.887060 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.19, Z:-1.04 [[ 9.99671742e-01 -6.75644809e-04 -2.56115368e-02 6.46871784e+00] [ 1.99561038e-04 9.99827233e-01 -1.85866453e-02 -1.87991842e-01] [ 2.56196699e-02 1.85754330e-02 9.99499167e-01 -1.04047135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411193817000004 meters Centerline goodness : 0.887768 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 9.99730786e-01 -6.12937933e-03 -2.23782503e-02 6.47784842e+00] [ 5.82809100e-03 9.99891833e-01 -1.35039308e-02 -1.90013740e-01] [ 2.24586004e-02 1.33698728e-02 9.99658371e-01 -1.04042811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441193817 meters Centerline goodness : 0.891683 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 0.99968566 -0.01097078 -0.02254365 6.47898831] [ 0.01056281 0.99977972 -0.01813688 -0.18898578] [ 0.02273766 0.01789306 0.99958133 -1.04124778] [ 0. 0. 0. 1. ]] SLAMing on 63.471193817 meters Centerline goodness : 0.892759 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.19, Z:-1.04 [[ 0.99954106 -0.01892764 -0.023652 6.48327635] [ 0.01833577 0.9995194 -0.02499524 -0.18623543] [ 0.02411373 0.02455009 0.99940774 -1.04309111] [ 0. 0. 0. 1. ]] SLAMing on 63.501193817 meters Centerline goodness : 0.896725 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.18, Z:-1.04 [[ 0.99949919 -0.02054542 -0.02406773 6.48497654] [ 0.01990754 0.99945189 -0.02644997 -0.18429653] [ 0.02459797 0.02595759 0.99936037 -1.04393701] [ 0. 0. 0. 1. ]] SLAMing on 63.531193817 meters Centerline goodness : 0.895764 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.18, Z:-1.04 [[ 0.99947487 -0.02152102 -0.02422441 6.48571438] [ 0.02084723 0.99939799 -0.02773169 -0.1808755 ] [ 0.02480664 0.02721211 0.99932184 -1.04427629] [ 0. 0. 0. 1. ]] SLAMing on 63.561193817 meters Centerline goodness : 0.901313 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.18, Z:-1.04 [[ 0.99950333 -0.01950931 -0.0247485 6.48733127] [ 0.01886785 0.99948664 -0.02589328 -0.17690687] [ 0.02524095 0.02541347 0.99935832 -1.04483029] [ 0. 0. 0. 1. ]] SLAMing on 63.591193817000004 meters Centerline goodness : 0.898299 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.17, Z:-1.05 [[ 0.99954546 -0.0167264 -0.02508175 6.48822164] [ 0.01612873 0.99958556 -0.0238448 -0.17172605] [ 0.0254702 0.02342942 0.99940099 -1.04502214] [ 0. 0. 0. 1. ]] SLAMing on 63.621193817000005 meters Centerline goodness : 0.898627 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.16, Z:-1.05 [[ 0.99972891 -0.00956254 -0.02122867 6.50507889] [ 0.00904108 0.99965832 -0.02452564 -0.15701854] [ 0.02145595 0.02432706 0.99947378 -1.0474852 ] [ 0. 0. 0. 1. ]] SLAMing on 63.651193817 meters Centerline goodness : 0.898847 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.15, Z:-1.05 [[ 9.99758099e-01 -3.65457694e-03 -2.16884395e-02 6.50670878e+00] [ 3.22833444e-03 9.99801599e-01 -1.96555572e-02 -1.50759245e-01] [ 2.17559692e-02 1.95807850e-02 9.99571544e-01 -1.04810793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681193817 meters Centerline goodness : 0.898972 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.13, Z:-1.05 [[ 9.99841879e-01 4.92701079e-03 -1.70862750e-02 6.52140193e+00] [-5.30925987e-03 9.99735014e-01 -2.23989816e-02 -1.33151726e-01] [ 1.69713873e-02 2.24861553e-02 9.99603094e-01 -1.05226423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711193817 meters Centerline goodness : 0.899195 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.12, Z:-1.05 [[ 0.99984674 0.00985826 -0.01446726 6.53983156] [-0.01019444 0.99967535 -0.02335083 -0.12484446] [ 0.01423236 0.02349474 0.99962265 -1.05376789] [ 0. 0. 0. 1. ]] SLAMing on 63.741193817 meters Centerline goodness : 0.899590 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.12, Z:-1.05 [[ 0.99976327 0.01603841 -0.01470255 6.54102652] [-0.01630442 0.99970224 -0.018155 -0.11814615] [ 0.01440699 0.01839041 0.99972708 -1.05404921] [ 0. 0. 0. 1. ]] SLAMing on 63.771193817000004 meters Centerline goodness : 0.903882 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.11, Z:-1.06 [[ 0.99976523 0.01915363 -0.01013019 6.5564331 ] [-0.01937535 0.9995644 -0.02226208 -0.10819883] [ 0.00969938 0.02245313 0.99970084 -1.05670455] [ 0. 0. 0. 1. ]] SLAMing on 63.801193817000005 meters Centerline goodness : 0.901753 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.09, Z:-1.06 [[ 0.99968423 0.02401398 -0.00740097 6.57576642] [-0.02418454 0.99942204 -0.0238892 -0.09260536] [ 0.00682301 0.02406065 0.99968722 -1.05887741] [ 0. 0. 0. 1. ]] SLAMing on 63.831193817 meters Centerline goodness : 0.899709 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.09, Z:-1.06 [[ 0.99961245 0.02672911 -0.00777806 6.57770746] [-0.02689561 0.99939273 -0.02215407 -0.08697889] [ 0.00718118 0.02235468 0.99972431 -1.05984699] [ 0. 0. 0. 1. ]] SLAMing on 63.861193817 meters Centerline goodness : 0.902301 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99952431 0.02968892 -0.00835036 6.57970258] [-0.02985598 0.99934091 -0.02064874 -0.0821695 ] [ 0.00773182 0.02088822 0.99975192 -1.06007673] [ 0. 0. 0. 1. ]] SLAMing on 63.891193817 meters Centerline goodness : 0.899853 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99943455 0.03243941 -0.00884659 6.58208895] [-0.03260229 0.99928904 -0.0189343 -0.0782231 ] [ 0.00822608 0.01921202 0.99978159 -1.06116755] [ 0. 0. 0. 1. ]] SLAMing on 63.921193817 meters Centerline goodness : 0.899853 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.08, Z:-1.06 [[ 0.99943455 0.03243941 -0.00884659 6.58208895] [-0.03260229 0.99928904 -0.0189343 -0.0782231 ] [ 0.00822608 0.01921202 0.99978159 -1.06116755] [ 0. 0. 0. 1. ]] SLAMing on 63.951193817000004 meters Centerline goodness : 0.902294 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.07, Z:-1.06 [[ 0.99931675 0.03580806 -0.00915465 6.58346061] [-0.03596944 0.99918866 -0.01811706 -0.07014419] [ 0.00849849 0.01843397 0.99979396 -1.06066041] [ 0. 0. 0. 1. ]] SLAMing on 63.981193817000005 meters Centerline goodness : 0.903076 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.07, Z:-1.06 [[ 0.9991965 0.03900574 -0.00921476 6.58370583] [-0.03914885 0.99910692 -0.01589772 -0.06641357] [ 0.00858643 0.01624569 0.99983116 -1.05986344] [ 0. 0. 0. 1. ]] SLAMing on 64.011193817 meters Centerline goodness : 0.900079 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.06, Z:-1.06 [[ 0.99905534 0.04240534 -0.00949803 6.58446894] [-0.04253244 0.99900245 -0.01360504 -0.0626597 ] [ 0.00891163 0.01399616 0.99986234 -1.05912455] [ 0. 0. 0. 1. ]] SLAMing on 64.041193817 meters Centerline goodness : 0.900447 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.06 [[ 0.99874049 0.04909287 -0.01036001 6.58807344] [-0.04918045 0.99875479 -0.00837521 -0.05763334] [ 0.00993594 0.00887417 0.99991126 -1.06014646] [ 0. 0. 0. 1. ]] SLAMing on 64.07119381700001 meters Centerline goodness : 0.899720 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 0.99870936 0.04962539 -0.01081322 6.58933366] [-0.04972671 0.99871945 -0.00931173 -0.05428775] [ 0.01033728 0.00983742 0.99989818 -1.0600774 ] [ 0. 0. 0. 1. ]] SLAMing on 64.101193817 meters Centerline goodness : 0.901222 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98516737e-01 5.33450789e-02 -1.08916365e-02 6.58971612e+00] [-5.34116251e-02 9.98555073e-01 -5.91302030e-03 -5.33433239e-02] [ 1.05604683e-02 6.48598974e-03 9.99923201e-01 -1.05963288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131193817 meters Centerline goodness : 0.903990 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 0.99849502 0.05374131 -0.01093419 6.58938561] [-0.05381541 0.99852909 -0.00659923 -0.05097519] [ 0.01056345 0.00717773 0.99991844 -1.05846551] [ 0. 0. 0. 1. ]] SLAMing on 64.161193817 meters Centerline goodness : 0.905747 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98264372e-01 5.79098277e-02 -1.07096310e-02 6.58849862e+00] [-5.79434378e-02 9.98315786e-01 -2.85485395e-03 -4.95669442e-02] [ 1.05262695e-02 3.47045182e-03 9.99938575e-01 -1.05686141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191193817 meters Centerline goodness : 0.910243 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.06 [[ 9.98252915e-01 5.81026416e-02 -1.07331789e-02 6.58782781e+00] [-5.81388051e-02 9.98303732e-01 -3.08833879e-03 -4.91415408e-02] [ 1.05355319e-02 3.70695740e-03 9.99937629e-01 -1.05556228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221193817 meters Centerline goodness : 0.911388 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.05, Z:-1.05 [[ 9.98246477e-01 5.82033965e-02 -1.07859402e-02 6.58719897e+00] [-5.82377148e-02 9.98298546e-01 -2.89520502e-03 -5.05472120e-02] [ 1.05990776e-02 3.51827672e-03 9.99937639e-01 -1.05459390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251193817 meters Centerline goodness : 0.917381 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.05, Z:-1.05 [[ 9.98384064e-01 5.58419116e-02 -1.05329246e-02 6.58469770e+00] [-5.58946726e-02 9.98425215e-01 -4.78289043e-03 -5.43730208e-02] [ 1.02492518e-02 5.36389596e-03 9.99933088e-01 -1.05254798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.281193817 meters Centerline goodness : 0.919026 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.05 [[ 9.98376148e-01 5.59535441e-02 -1.06896424e-02 6.58500564e+00] [-5.60012164e-02 9.98421810e-01 -4.21342093e-03 -5.63880758e-02] [ 1.04370163e-02 4.80521193e-03 9.99933987e-01 -1.05257168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.311193817 meters Centerline goodness : 0.916923 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.06, Z:-1.05 [[ 9.98367984e-01 5.60874432e-02 -1.07502008e-02 6.58499274e+00] [-5.61312679e-02 9.98416094e-01 -3.81898780e-03 -5.76806082e-02] [ 1.05189763e-02 4.41617755e-03 9.99934922e-01 -1.05240701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341193817 meters Centerline goodness : 0.919226 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.06, Z:-1.05 [[ 9.98355088e-01 5.62508896e-02 -1.10885620e-02 6.58591102e+00] [-5.62914881e-02 9.98408644e-01 -3.38359251e-03 -5.91279510e-02] [ 1.08805861e-02 4.00221846e-03 9.99932795e-01 -1.05276464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.371193817 meters Centerline goodness : 0.918176 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.05 [[ 9.98293605e-01 5.72990680e-02 -1.12558774e-02 6.58719405e+00] [-5.73112715e-02 9.98356066e-01 -7.64377457e-04 -6.58449884e-02] [ 1.11935754e-02 1.40816177e-03 9.99936358e-01 -1.05437843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.401193817 meters Centerline goodness : 0.915796 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.05 [[ 9.98456171e-01 5.42068473e-02 -1.21199475e-02 6.58882268e+00] [-5.42565610e-02 9.98519755e-01 -3.81109663e-03 -6.82682965e-02] [ 1.18954195e-02 4.46279962e-03 9.99919288e-01 -1.05493419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43119381700001 meters Centerline goodness : 0.916946 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.07, Z:-1.06 [[ 9.98455211e-01 5.41481251e-02 -1.24567742e-02 6.58971965e+00] [-5.41796001e-02 9.98528776e-01 -2.20305296e-03 -7.36255763e-02] [ 1.23191564e-02 2.87455276e-03 9.99919984e-01 -1.05585984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46119381700001 meters Centerline goodness : 0.916410 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.08, Z:-1.06 [[ 9.98600777e-01 5.12815798e-02 -1.29107361e-02 6.59046507e+00] [-5.13422051e-02 9.98671388e-01 -4.40869609e-03 -7.68993793e-02] [ 1.26674979e-02 5.06539300e-03 9.99906934e-01 -1.05643424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491193817 meters Centerline goodness : 0.914115 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.09, Z:-1.06 [[ 9.98740351e-01 4.82706341e-02 -1.36987976e-02 6.59294966e+00] [-4.83391146e-02 9.98819865e-01 -4.71253913e-03 -8.56906457e-02] [ 1.34551539e-02 5.36879073e-03 9.99895062e-01 -1.05920538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521193817 meters Centerline goodness : 0.912132 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.09, Z:-1.06 [[ 0.99886555 0.0454287 -0.01427721 6.59440787] [-0.04552673 0.9989412 -0.00661764 -0.08941746] [ 0.01396147 0.00726013 0.99987618 -1.06035649] [ 0. 0. 0. 1. ]] SLAMing on 64.551193817 meters Centerline goodness : 0.913093 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.09, Z:-1.06 [[ 0.99899308 0.04235504 -0.01479477 6.59501481] [-0.04249326 0.9990548 -0.00915609 -0.0922367 ] [ 0.01439298 0.00977555 0.99984863 -1.06042116] [ 0. 0. 0. 1. ]] SLAMing on 64.581193817 meters Centerline goodness : 0.915672 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.10, Z:-1.06 [[ 9.98960477e-01 4.32026944e-02 -1.45427660e-02 6.59229136e+00] [-4.32968825e-02 9.99042856e-01 -6.22517093e-03 -1.00843273e-01] [ 1.42599023e-02 6.84835616e-03 9.99874870e-01 -1.05816268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611193817 meters Centerline goodness : 0.917767 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.10, Z:-1.06 [[ 0.99906983 0.04032288 -0.01528178 6.59293144] [-0.04046266 0.99914096 -0.00895042 -0.10351385] [ 0.01490774 0.00956044 0.99984317 -1.05745268] [ 0. 0. 0. 1. ]] SLAMing on 64.641193817 meters Centerline goodness : 0.921335 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.11, Z:-1.06 [[ 0.99917622 0.0374818 -0.01555648 6.59232911] [-0.03765768 0.99922825 -0.01117135 -0.10718807] [ 0.01512576 0.01174796 0.99981658 -1.05653954] [ 0. 0. 0. 1. ]] SLAMing on 64.671193817 meters Centerline goodness : 0.919036 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.11, Z:-1.06 [[ 0.99928811 0.03416218 -0.01600667 6.59252757] [-0.03438117 0.9993161 -0.01361156 -0.11096017] [ 0.01553072 0.0141522 0.99977923 -1.05634755] [ 0. 0. 0. 1. ]] SLAMing on 64.701193817 meters Centerline goodness : 0.920075 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.12, Z:-1.06 [[ 0.99932251 0.03332475 -0.01561987 6.59125498] [-0.03351359 0.99936637 -0.01198755 -0.1168302 ] [ 0.0152105 0.0125029 0.99980614 -1.0564032 ] [ 0. 0. 0. 1. ]] SLAMing on 64.731193817 meters Centerline goodness : 0.923607 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.12, Z:-1.06 [[ 0.99949277 0.02815944 -0.0148746 6.58875171] [-0.02836271 0.99950468 -0.01363609 -0.12412966] [ 0.01448325 0.01405106 0.99979638 -1.0560104 ] [ 0. 0. 0. 1. ]] SLAMing on 64.761193817 meters Centerline goodness : 0.922538 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.13, Z:-1.06 [[ 0.99959387 0.02412679 -0.01516558 6.58926412] [-0.02438583 0.99955577 -0.01713449 -0.12576044] [ 0.01474544 0.01749735 0.99973817 -1.05612668] [ 0. 0. 0. 1. ]] SLAMing on 64.791193817 meters Centerline goodness : 0.921588 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99976227 0.01890758 -0.01085853 6.59948461] [-0.01904312 0.9997403 -0.01251787 -0.12884744] [ 0.01061903 0.01272167 0.99986269 -1.05826291] [ 0. 0. 0. 1. ]] SLAMing on 64.82119381700001 meters Centerline goodness : 0.920693 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99982616 0.01496511 -0.0111217 6.60021168] [-0.01514508 0.9997528 -0.01627746 -0.12941082] [ 0.01087536 0.01644307 0.99980566 -1.05866106] [ 0. 0. 0. 1. ]] SLAMing on 64.851193817 meters Centerline goodness : 0.919341 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.13, Z:-1.06 [[ 0.99983851 0.01362469 -0.01171821 6.60218272] [-0.01382353 0.99975892 -0.01705884 -0.13035502] [ 0.01148296 0.01721807 0.99978582 -1.05956338] [ 0. 0. 0. 1. ]] SLAMing on 64.881193817 meters Centerline goodness : 0.918562 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.13, Z:-1.06 [[ 0.99992865 0.00957532 -0.00714154 6.61405109] [-0.00966345 0.9998763 -0.01240969 -0.13093965] [ 0.00702183 0.01247782 0.99989749 -1.06293655] [ 0. 0. 0. 1. ]] SLAMing on 64.911193817 meters Centerline goodness : 0.917251 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.06 [[ 0.9999282 0.0093985 -0.0074344 6.61502315] [-0.00949282 0.99987358 -0.01275585 -0.12996936] [ 0.00731357 0.01282551 0.999891 -1.06334625] [ 0. 0. 0. 1. ]] SLAMing on 64.941193817 meters Centerline goodness : 0.915394 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.07 [[ 0.99991298 0.01053404 -0.00794114 6.61754848] [-0.01062764 0.99987345 -0.01183807 -0.12901132] [ 0.00781544 0.01192143 0.99989839 -1.06502349] [ 0. 0. 0. 1. ]] SLAMing on 64.971193817 meters Centerline goodness : 0.912272 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99870213e-01 1.58092157e-02 -3.10239963e-03 6.63128556e+00] [-1.58572155e-02 9.99744466e-01 -1.61106150e-02 -1.21461298e-01] [ 2.84691067e-03 1.61577195e-02 9.99865403e-01 -1.06869675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters Centerline goodness : 0.911456 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99796122e-01 1.99366233e-02 -3.20093262e-03 6.63172828e+00] [-1.99753652e-02 9.99721507e-01 -1.25655938e-02 -1.18749121e-01] [ 2.94952567e-03 1.26269718e-02 9.99915926e-01 -1.06861449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.031193817 meters Centerline goodness : 0.910239 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.07 [[ 9.99711057e-01 2.38086659e-02 -3.30892626e-03 6.63206995e+00] [-2.38383514e-02 9.99673107e-01 -9.24181777e-03 -1.16536327e-01] [ 3.08780924e-03 9.31802676e-03 9.99951819e-01 -1.06832992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.061193817 meters Centerline goodness : 0.908976 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.07 [[ 9.99539712e-01 3.03233230e-02 9.27563083e-04 6.64554437e+00] [-3.03075581e-02 9.99444367e-01 -1.38711973e-02 -1.11366688e-01] [-1.34766849e-03 1.38367004e-02 9.99903360e-01 -1.07268379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.091193817 meters Centerline goodness : 0.905562 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.07 [[ 9.99456612e-01 3.29576422e-02 5.24537839e-04 6.64781540e+00] [-3.29497054e-02 9.99394223e-01 -1.12028413e-02 -1.11469629e-01] [-8.93439322e-04 1.11794705e-02 9.99937109e-01 -1.07433939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.121193817 meters Centerline goodness : 0.903770 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99440007e-01 3.34614954e-02 1.71644452e-05 6.64950205e+00] [-3.34590891e-02 9.99374031e-01 -1.14906994e-02 -1.10041621e-01] [-4.01649685e-04 1.14836904e-02 9.99933980e-01 -1.07500745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.151193817 meters Centerline goodness : 0.899843 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99427851e-01 3.38214608e-02 -2.82646559e-04 6.65080658e+00] [-3.38224471e-02 9.99358846e-01 -1.17447791e-02 -1.08434117e-01] [-1.14760246e-04 1.17476191e-02 9.99930988e-01 -1.07571783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18119381700001 meters Centerline goodness : 0.898142 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99406479e-01 3.44411353e-02 -7.05139472e-04 6.65263418e+00] [-3.44471510e-02 9.99333211e-01 -1.21048005e-02 -1.05984174e-01] [ 2.87766224e-04 1.21219061e-02 9.99926486e-01 -1.07666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21119381700001 meters Centerline goodness : 0.894098 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99279599e-01 3.79482449e-02 -4.62570009e-04 6.65271505e+00] [-3.79505917e-02 9.99253746e-01 -7.19050596e-03 -1.08957956e-01] [ 1.89357733e-04 7.20288072e-03 9.99974041e-01 -1.07749974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241193817 meters Centerline goodness : 0.894545 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99272515e-01 3.81278065e-02 -8.43597218e-04 6.65393261e+00] [-3.81327311e-02 9.99248836e-01 -6.90354904e-03 -1.09885581e-01] [ 5.79746356e-04 6.93069548e-03 9.99975814e-01 -1.07822215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271193817 meters Centerline goodness : 0.894521 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.11, Z:-1.08 [[ 9.99267834e-01 3.82404155e-02 -1.21133201e-03 6.65473622e+00] [-3.82478011e-02 9.99245072e-01 -6.81114205e-03 -1.10644965e-01] [ 9.49956640e-04 6.85248595e-03 9.99976070e-01 -1.07825319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301193817 meters Centerline goodness : 0.889960 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.11, Z:-1.08 [[ 9.99356376e-01 3.58188107e-02 -1.96149076e-03 6.65521396e+00] [-3.58364639e-02 9.99309040e-01 -9.85853314e-03 -1.12236396e-01] [ 1.60701452e-03 9.92248084e-03 9.99949480e-01 -1.07694586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331193817 meters Centerline goodness : 0.892362 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.11, Z:-1.08 [[ 9.99351544e-01 3.59469858e-02 -2.07505676e-03 6.65554345e+00] [-3.59640001e-02 9.99313938e-01 -8.84554924e-03 -1.14567393e-01] [ 1.75566231e-03 8.91444063e-03 9.99958724e-01 -1.07738681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361193817 meters Centerline goodness : 0.890058 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.08 [[ 9.99375443e-01 3.52725512e-02 -2.13819667e-03 6.65606246e+00] [-3.52897678e-02 9.99339821e-01 -8.63451368e-03 -1.15981763e-01] [ 1.83222375e-03 8.70457739e-03 9.99960436e-01 -1.07815394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391193817 meters Centerline goodness : 0.885627 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.08 [[ 9.99509117e-01 3.13147025e-02 -9.55885672e-04 6.65184263e+00] [-3.13240310e-02 9.99435066e-01 -1.21800966e-02 -1.15179213e-01] [ 5.73929557e-04 1.22040598e-02 9.99925363e-01 -1.07533261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.421193817 meters Centerline goodness : 0.890967 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.07 [[ 9.99554227e-01 2.98455046e-02 -7.70346272e-04 6.65093746e+00] [-2.98528612e-02 9.99474406e-01 -1.26379499e-02 -1.16586213e-01] [ 3.92755390e-04 1.26553133e-02 9.99919841e-01 -1.07459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.451193817 meters Centerline goodness : 0.885669 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.12, Z:-1.07 [[ 9.99669091e-01 2.57007700e-02 -1.08582197e-03 6.65102225e+00] [-2.57152537e-02 9.99531695e-01 -1.65866266e-02 -1.17403253e-01] [ 6.59024403e-04 1.66090601e-02 9.99861843e-01 -1.07410263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481193817 meters Centerline goodness : 0.881571 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.07 [[ 9.99868402e-01 1.61971571e-02 9.11926820e-04 6.65847920e+00] [-1.61814630e-02 9.99753922e-01 -1.51742100e-02 -1.22177145e-01] [-1.15748148e-03 1.51574568e-02 9.99884449e-01 -1.07277103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.511193817 meters Centerline goodness : 0.884481 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.12, Z:-1.08 [[ 9.99923704e-01 1.23446811e-02 4.40528541e-04 6.66192351e+00] [-1.23343118e-02 9.99749761e-01 -1.86622735e-02 -1.22420212e-01] [-6.70798118e-04 1.86554160e-02 9.99825748e-01 -1.07583438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.541193817 meters Centerline goodness : 0.885209 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99987462e-01 4.95847647e-03 6.98980143e-04 6.66714241e+00] [-4.95153214e-03 9.99941570e-01 -9.60927106e-03 -1.22872192e-01] [-7.46586646e-04 9.60568956e-03 9.99953586e-01 -1.07876533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57119381700001 meters Centerline goodness : 0.889108 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99994265e-01 3.38271162e-03 1.65535172e-04 6.66981692e+00] [-3.38070447e-03 9.99934775e-01 -1.09094762e-02 -1.21915841e-01] [-2.02427987e-04 1.09088540e-02 9.99940476e-01 -1.08072532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601193817 meters Centerline goodness : 0.881826 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99996954e-01 2.46834543e-03 -1.01299762e-05 6.67090626e+00] [-2.46829460e-03 9.99928261e-01 -1.17209567e-02 -1.21109098e-01] [-1.88021204e-05 1.17209460e-02 9.99931307e-01 -1.08146159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631193817 meters Centerline goodness : 0.885921 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99996731e-01 2.53845133e-03 -3.08562745e-04 6.67213979e+00] [-2.54195878e-03 9.99925310e-01 -1.19545947e-02 -1.20222882e-01] [ 2.78193542e-04 1.19553400e-02 9.99928494e-01 -1.08222899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661193817 meters Centerline goodness : 0.886508 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.12, Z:-1.08 [[ 9.99988204e-01 4.82150858e-03 -5.87923159e-04 6.67424396e+00] [-4.82685653e-03 9.99943583e-01 -9.46217157e-03 -1.20142478e-01] [ 5.42268049e-04 9.46489777e-03 9.99955060e-01 -1.08401116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691193817 meters Centerline goodness : 0.886035 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.08 [[ 9.99988660e-01 4.70055281e-03 -7.65213637e-04 6.67512757e+00] [-4.70800565e-03 9.99938435e-01 -1.00479621e-02 -1.17805574e-01] [ 7.17935550e-04 1.00514508e-02 9.99949225e-01 -1.08463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721193817 meters Centerline goodness : 0.886847 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99969820e-01 7.73782038e-03 -6.96898782e-04 6.67517447e+00] [-7.74299451e-03 9.99939943e-01 -7.75601969e-03 -1.12971680e-01] [ 6.36842241e-04 7.76118170e-03 9.99969679e-01 -1.08440307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751193817 meters Centerline goodness : 0.890039 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99935058e-01 1.13653903e-02 -8.40854830e-04 6.67564876e+00] [-1.13689788e-02 9.99925718e-01 -4.39365399e-03 -1.11451933e-01] [ 7.90856777e-04 4.40292832e-03 9.99989994e-01 -1.08434034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781193817 meters Centerline goodness : 0.890039 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99935058e-01 1.13653903e-02 -8.40854830e-04 6.67564876e+00] [-1.13689788e-02 9.99925718e-01 -4.39365399e-03 -1.11451933e-01] [ 7.90856777e-04 4.40292832e-03 9.99989994e-01 -1.08434034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.811193817 meters Centerline goodness : 0.884614 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.08 [[ 9.99927008e-01 1.20368408e-02 -1.04597570e-03 6.67657236e+00] [-1.20419140e-02 9.99915056e-01 -4.98733524e-03 -1.07858456e-01] [ 9.85855088e-04 4.99956675e-03 9.99987016e-01 -1.08494493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841193817 meters Centerline goodness : 0.885102 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.10, Z:-1.09 [[ 9.99869021e-01 1.57939804e-02 3.53433914e-03 6.69102658e+00] [-1.57547800e-02 9.99816938e-01 -1.08571210e-02 -1.03825091e-01] [-3.70516929e-03 1.08000162e-02 9.99934814e-01 -1.08998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.871193817 meters Centerline goodness : 0.884747 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.10, Z:-1.09 [[ 0.99977093 0.01994555 0.00776308 6.70668449] [-0.01982078 0.99967821 -0.01583076 -0.09603536] [-0.00807633 0.01567326 0.99984455 -1.09458684] [ 0. 0. 0. 1. ]] SLAMing on 65.901193817 meters Centerline goodness : 0.887580 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99970126 0.02323376 0.00758896 6.70739747] [-0.02313689 0.99965275 -0.01261193 -0.09437682] [-0.00787935 0.01243257 0.99989167 -1.09468215] [ 0. 0. 0. 1. ]] SLAMing on 65.93119381700001 meters Centerline goodness : 0.881017 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99969379 0.02357549 0.00751817 6.70745757] [-0.0234729 0.99963394 -0.01345376 -0.09111624] [-0.00783259 0.01327317 0.99988123 -1.09395912] [ 0. 0. 0. 1. ]] SLAMing on 65.96119381700001 meters Centerline goodness : 0.881454 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99970353 0.02321552 0.00734113 6.70771542] [-0.0231059 0.99962524 -0.0146799 -0.08847115] [-0.00767918 0.01450592 0.9998653 -1.09334517] [ 0. 0. 0. 1. ]] SLAMing on 65.991193817 meters Centerline goodness : 0.884042 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99972213 0.02237355 0.00742179 6.70749706] [-0.02225663 0.99963245 -0.01547932 -0.08832962] [-0.00776539 0.01530984 0.99985264 -1.09302085] [ 0. 0. 0. 1. ]] SLAMing on 66.021193817 meters Centerline goodness : 0.886026 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99973419 0.02188756 0.00724477 6.70819115] [-0.02176988 0.9996359 -0.0159415 -0.08814608] [-0.00759105 0.01577954 0.99984668 -1.09342949] [ 0. 0. 0. 1. ]] SLAMing on 66.051193817 meters Centerline goodness : 0.883795 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:-1.09 [[ 0.99973901 0.02176288 0.00694947 6.70938018] [-0.02164704 0.99963229 -0.0163305 -0.08683748] [-0.00730231 0.01617581 0.9998425 -1.09417315] [ 0. 0. 0. 1. ]] SLAMing on 66.081193817 meters Centerline goodness : 0.884033 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.08, Z:-1.10 [[ 9.99732015e-01 2.23043409e-02 6.19795109e-03 6.73157267e+00] [-2.21828986e-02 9.99573052e-01 -1.90166458e-02 -8.46482188e-02] [-6.61945863e-03 1.88740611e-02 9.99799956e-01 -1.09629777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111193817 meters Centerline goodness : 0.882665 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.08, Z:-1.10 [[ 9.99668828e-01 2.51045072e-02 5.65672956e-03 6.73460097e+00] [-2.50095067e-02 9.99554614e-01 -1.62818133e-02 -8.33340322e-02] [-6.06295703e-03 1.61349492e-02 9.99851441e-01 -1.09850559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters Centerline goodness : 0.884357 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99462974e-01 3.23481418e-02 5.23085496e-03 6.73762115e+00] [-3.22964411e-02 9.99431424e-01 -9.68338446e-03 -8.20252999e-02] [-5.54112031e-03 9.50924623e-03 9.99939433e-01 -1.10058976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.171193817 meters Centerline goodness : 0.885666 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99330828e-01 3.61994947e-02 5.24340928e-03 6.73806513e+00] [-3.61691373e-02 9.99329007e-01 -5.77318138e-03 -8.21914207e-02] [-5.44887723e-03 5.57966854e-03 9.99969588e-01 -1.10081232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201193817 meters Centerline goodness : 0.884008 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99320191e-01 3.65313748e-02 4.96131322e-03 6.73869111e+00] [-3.65016833e-02 9.99315885e-01 -5.94883064e-03 -8.16072449e-02] [-5.17523807e-03 5.76369029e-03 9.99969998e-01 -1.10068521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.231193817 meters Centerline goodness : 0.882376 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.08, Z:-1.10 [[ 9.99387197e-01 3.46420441e-02 5.01598935e-03 6.73701870e+00] [-3.45991447e-02 9.99365963e-01 -8.40064145e-03 -8.18257606e-02] [-5.30382442e-03 8.22194457e-03 9.99952133e-01 -1.09867997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261193817 meters Centerline goodness : 0.884494 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.09, Z:-1.10 [[ 9.99528405e-01 3.02343405e-02 5.37138816e-03 6.73537886e+00] [-3.01756567e-02 9.99487450e-01 -1.06895724e-02 -8.75845995e-02] [-5.69182722e-03 1.05224461e-02 9.99928438e-01 -1.09812553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.291193817 meters Centerline goodness : 0.887521 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.09, Z:-1.10 [[ 9.99642837e-01 2.62153384e-02 5.19170833e-03 6.73601511e+00] [-2.61420335e-02 9.99564123e-01 -1.37170947e-02 -8.98224540e-02] [-5.54904366e-03 1.35764736e-02 9.99892438e-01 -1.09924943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32119381700001 meters Centerline goodness : 0.889931 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.10 [[ 9.99889505e-01 1.48646832e-02 1.35917731e-04 6.73561906e+00] [-1.48637107e-02 9.99874394e-01 -5.50141246e-03 -9.74507740e-02] [-2.17677412e-04 5.49878434e-03 9.99984858e-01 -1.10078522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351193817 meters Centerline goodness : 0.885460 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.10 [[ 9.99942452e-01 1.07101530e-02 -6.20528399e-04 6.73925396e+00] [-1.07153286e-02 9.99901693e-01 -9.04351379e-03 -9.91715999e-02] [ 5.23609981e-04 9.04964252e-03 9.99958914e-01 -1.10363158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381193817 meters Centerline goodness : 0.888351 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.11 [[ 9.99970183e-01 7.65136319e-03 -1.04423076e-03 6.74196791e+00] [-7.66307419e-03 9.99902025e-01 -1.17140337e-02 -1.00534644e-01] [ 9.54500127e-04 1.17216865e-02 9.99930843e-01 -1.10598356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411193817 meters Centerline goodness : 0.889038 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.10, Z:-1.11 [[ 9.99982174e-01 5.72584718e-03 -1.69312510e-03 6.74491281e+00] [-5.74768680e-03 9.99896509e-01 -1.31884720e-02 -1.01446847e-01] [ 1.61743470e-03 1.31979684e-02 9.99911595e-01 -1.10797427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441193817 meters Centerline goodness : 0.889203 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.10, Z:-1.11 [[ 9.99984086e-01 5.28275908e-03 -1.97992907e-03 6.74605710e+00] [-5.30893606e-03 9.99895347e-01 -1.34577274e-02 -1.01594595e-01] [ 1.90862793e-03 1.34680245e-02 9.99907480e-01 -1.10867199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471193817 meters Centerline goodness : 0.890781 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.10, Z:-1.11 [[ 9.99977421e-01 6.40680496e-03 -2.02722848e-03 6.76829608e+00] [-6.43981163e-03 9.99839520e-01 -1.67171256e-02 -9.82214939e-02] [ 1.91979979e-03 1.67298032e-02 9.99858204e-01 -1.11082126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501193817 meters Centerline goodness : 0.888312 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.10, Z:-1.11 [[ 9.99961149e-01 8.37918838e-03 -2.73663170e-03 6.79028719e+00] [-8.42861083e-03 9.99791903e-01 -1.85770965e-02 -9.56278139e-02] [ 2.58040123e-03 1.85994408e-02 9.99823686e-01 -1.11245146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.531193817 meters Centerline goodness : 0.890145 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.09, Z:-1.12 [[ 9.99945598e-01 1.04073011e-02 -6.99562264e-04 6.80963790e+00] [-1.04204229e-02 9.99691824e-01 -2.25315867e-02 -9.09508198e-02] [ 4.64853669e-04 2.25376507e-02 9.99745887e-01 -1.11538880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561193817 meters Centerline goodness : 0.891995 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.12 [[ 9.99778767e-01 2.08196512e-02 2.99309911e-03 6.84766546e+00] [-2.06932424e-02 9.99085920e-01 -3.74047242e-02 -8.16346219e-02] [-3.76911649e-03 3.73345121e-02 9.99295716e-01 -1.11662100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.591193817 meters Centerline goodness : 0.886734 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.12 [[ 9.99680583e-01 2.50833499e-02 3.09136545e-03 6.84703960e+00] [-2.49638321e-02 9.99109479e-01 -3.40155288e-02 -7.96506888e-02] [-3.94183593e-03 3.39274913e-02 9.99416523e-01 -1.11517606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.621193817 meters Centerline goodness : 0.884720 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99578335e-01 2.88755143e-02 3.05875656e-03 6.84683947e+00] [-2.87683521e-02 9.99115945e-01 -3.06546830e-02 -7.89232706e-02] [-3.94122219e-03 3.05537616e-02 9.99525355e-01 -1.11410874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.651193817 meters Centerline goodness : 0.888584 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99524594e-01 3.04822774e-02 4.62793119e-03 6.85253111e+00] [-3.03966921e-02 9.99383715e-01 -1.75565063e-02 -8.12190004e-02] [-5.16024136e-03 1.74074860e-02 9.99835162e-01 -1.11086688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68119381700001 meters Centerline goodness : 0.888403 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99518619e-01 3.06901470e-02 4.54360574e-03 6.85217622e+00] [-3.06062666e-02 9.99378238e-01 -1.75040994e-02 -8.10765863e-02] [-5.07798409e-03 1.73566105e-02 9.99836468e-01 -1.11002882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71119381700001 meters Centerline goodness : 0.885123 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99512128e-01 3.09456442e-02 4.22765572e-03 6.85289237e+00] [-3.08679056e-02 9.99372727e-01 -1.73587412e-02 -8.08581565e-02] [-4.76218125e-03 1.72197735e-02 9.99840388e-01 -1.11009964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741193817 meters Centerline goodness : 0.887552 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.08, Z:-1.11 [[ 9.99502207e-01 3.13209498e-02 3.78627091e-03 6.85420103e+00] [-3.12524611e-02 9.99367526e-01 -1.69655968e-02 -8.12285021e-02] [-4.31525479e-03 1.68388211e-02 9.99848905e-01 -1.11075067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771193817 meters Centerline goodness : 0.889637 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.08, Z:-1.11 [[ 9.99437663e-01 3.33903869e-02 3.07229850e-03 6.85772101e+00] [-3.33431952e-02 9.99341551e-01 -1.43071833e-02 -8.36274420e-02] [-3.54799794e-03 1.41966976e-02 9.99892927e-01 -1.11372804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801193817 meters Centerline goodness : 0.890004 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.08, Z:-1.11 [[ 9.99419444e-01 3.39840590e-02 2.42047098e-03 6.85935577e+00] [-3.39480193e-02 9.99330605e-01 -1.36335567e-02 -8.47806565e-02] [-2.88217432e-03 1.35434715e-02 9.99904129e-01 -1.11430979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831193817 meters Centerline goodness : 0.890352 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99389768e-01 3.48794761e-02 1.87452877e-03 6.86065196e+00] [-3.48530250e-02 9.99312259e-01 -1.26599650e-02 -8.65469151e-02] [-2.31481253e-03 1.25869065e-02 9.99918102e-01 -1.11470688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861193817 meters Centerline goodness : 0.889170 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99365821e-01 3.55882057e-02 1.19806503e-03 6.86202322e+00] [-3.55714036e-02 9.99295846e-01 -1.19368406e-02 -8.84774110e-02] [-1.62203214e-03 1.18866537e-02 9.99928036e-01 -1.11483183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891193817 meters Centerline goodness : 0.894613 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99275430e-01 3.80585919e-02 3.98396531e-04 6.86321623e+00] [-3.80526980e-02 9.99225531e-01 -1.00165417e-02 -9.18648777e-02] [-7.79303459e-04 9.99412398e-03 9.99949754e-01 -1.11417203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.921193817 meters Centerline goodness : 0.890892 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.09, Z:-1.11 [[ 9.99229234e-01 3.92539617e-02 2.53170845e-04 6.86323960e+00] [-3.92502444e-02 9.99191067e-01 -8.75390010e-03 -9.39349591e-02] [-5.96591306e-04 8.73721587e-03 9.99961652e-01 -1.11380204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.951193817 meters Centerline goodness : 0.897470 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.10, Z:-1.11 [[ 9.99193368e-01 4.01563043e-02 -2.92145126e-04 6.86408928e+00] [-4.01573625e-02 9.99163362e-01 -7.74353155e-03 -9.61098489e-02] [-1.90509026e-05 7.74901714e-03 9.99969976e-01 -1.11354952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.981193817 meters Centerline goodness : 0.896542 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.10, Z:-1.11 [[ 9.99144004e-01 4.13647677e-02 -4.64691182e-04 6.86433660e+00] [-4.13665603e-02 9.99131838e-01 -4.93744790e-03 -1.03148980e-01] [ 2.60051369e-04 4.95244414e-03 9.99987703e-01 -1.11404777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.011193817 meters Centerline goodness : 0.894722 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.11, Z:-1.11 [[ 9.99262694e-01 3.83698353e-02 -1.35088745e-03 6.86618051e+00] [-3.83793819e-02 9.99231672e-01 -7.94283397e-03 -1.05246778e-01] [ 1.04508430e-03 7.98882390e-03 9.99967543e-01 -1.11472601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.041193817 meters Centerline goodness : 0.894980 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.11, Z:-1.12 [[ 9.99239150e-01 3.89779696e-02 -1.35590669e-03 6.86665162e+00] [-3.89849384e-02 9.99224318e-01 -5.56202257e-03 -1.10721247e-01] [ 1.13805859e-03 5.61065065e-03 9.99983613e-01 -1.11600679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07119381700001 meters Centerline goodness : 0.896850 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.12, Z:-1.12 [[ 9.99293311e-01 3.75185635e-02 -2.28817075e-03 6.86935978e+00] [-3.75279193e-02 9.99286783e-01 -4.19291523e-03 -1.21584730e-01] [ 2.12922664e-03 4.27582243e-03 9.99988592e-01 -1.11874496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101193817 meters Centerline goodness : 0.897285 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.13, Z:-1.12 [[ 9.99374943e-01 3.52128942e-02 -3.12653372e-03 6.87178985e+00] [-3.52284720e-02 9.99366396e-01 -5.07559244e-03 -1.27698315e-01] [ 2.94582644e-03 5.18256291e-03 9.99982231e-01 -1.12077162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131193817 meters Centerline goodness : 0.897387 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.13, Z:-1.12 [[ 9.99457330e-01 3.26663695e-02 -4.23722378e-03 6.87457942e+00] [-3.26938787e-02 9.99443659e-01 -6.59413374e-03 -1.33204256e-01] [ 4.01946003e-03 6.72908658e-03 9.99969281e-01 -1.12257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161193817 meters Centerline goodness : 0.898277 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.14, Z:-1.12 [[ 9.99535149e-01 3.00820808e-02 -4.95516685e-03 6.87653474e+00] [-3.01195565e-02 9.99516872e-01 -7.67039344e-03 -1.39061779e-01] [ 4.72203148e-03 7.81607528e-03 9.99958305e-01 -1.12431974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191193817 meters Centerline goodness : 0.899880 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.15, Z:-1.12 [[ 9.99723821e-01 2.06633954e-02 -1.11939675e-02 6.87164674e+00] [-2.06409858e-02 9.99784718e-01 2.11379352e-03 -1.52850565e-01] [ 1.12352358e-02 -1.88215521e-03 9.99935111e-01 -1.12074978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221193817 meters Centerline goodness : 0.899838 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.16, Z:-1.13 [[ 9.99856119e-01 1.66720294e-02 -3.12797397e-03 6.88040026e+00] [-1.66815048e-02 9.99856269e-01 -3.02799620e-03 -1.57085642e-01] [ 3.07704154e-03 3.07973984e-03 9.99990523e-01 -1.12854922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251193817 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.16, Z:-1.13 [[ 9.99904140e-01 1.33907222e-02 -3.52130623e-03 6.88051759e+00] [-1.34094800e-02 9.99895731e-01 -5.35841386e-03 -1.62296391e-01] [ 3.44918603e-03 5.40511909e-03 9.99979444e-01 -1.12773915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.281193817 meters Centerline goodness : 0.902912 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.17, Z:-1.13 [[ 9.99941270e-01 1.01440398e-02 -3.81512470e-03 6.88047314e+00] [-1.01732552e-02 9.99918466e-01 -7.71795307e-03 -1.67323680e-01] [ 3.73652241e-03 7.75631203e-03 9.99962938e-01 -1.12696501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.311193817 meters Centerline goodness : 0.909476 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99986156e-01 4.57143566e-03 2.60561659e-03 6.88709140e+00] [-4.56229361e-03 9.99983454e-01 -3.50380614e-03 -1.79203793e-01] [-2.62159090e-03 3.49187005e-03 9.99990467e-01 -1.12711673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341193817 meters Centerline goodness : 0.911287 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99995779e-01 1.51022557e-03 2.48210838e-03 6.88681174e+00] [-1.49440818e-03 9.99978645e-01 -6.36210757e-03 -1.81711609e-01] [-2.49166359e-03 6.35837144e-03 9.99976681e-01 -1.12640063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.371193817 meters Centerline goodness : 0.909846 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.18, Z:-1.13 [[ 9.99995991e-01 1.57648602e-03 2.35211285e-03 6.88682096e+00] [-1.56347654e-03 9.99983528e-01 -5.52259926e-03 -1.84862007e-01] [-2.36078041e-03 5.51889965e-03 9.99981984e-01 -1.12587803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401193817 meters Centerline goodness : 0.915732 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99996436e-01 -1.44896566e-03 2.24248874e-03 6.88682178e+00] [ 1.46705328e-03 9.99966237e-01 -8.08535414e-03 -1.87645973e-01] [-2.23069762e-03 8.08861518e-03 9.99964799e-01 -1.12561754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43119381700001 meters Centerline goodness : 0.917731 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99995488e-01 -2.50346293e-03 1.66036497e-03 6.88941607e+00] [ 2.51747789e-03 9.99960763e-01 -8.49320883e-03 -1.89812066e-01] [-1.63903739e-03 8.49735044e-03 9.99962554e-01 -1.12734298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46119381700001 meters Centerline goodness : 0.916254 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99992727e-01 -3.63342752e-03 1.15940628e-03 6.89197352e+00] [ 3.64347603e-03 9.99954766e-01 -8.78584360e-03 -1.92484477e-01] [-1.12743111e-03 8.79000397e-03 9.99960732e-01 -1.12919403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491193817 meters Centerline goodness : 0.913513 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.19, Z:-1.13 [[ 9.99986304e-01 -5.20117374e-03 5.82316874e-04 6.89473254e+00] [ 5.20654282e-03 9.99940044e-01 -9.63326430e-03 -1.94386807e-01] [-5.32177679e-04 9.63616422e-03 9.99953429e-01 -1.13104459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521193817 meters Centerline goodness : 0.915848 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99949601e-01 -1.00363546e-02 2.57372083e-04 6.89588106e+00] [ 1.00389167e-02 9.99858254e-01 -1.35163320e-02 -1.97009998e-01] [-1.21680901e-04 1.35182345e-02 9.99908617e-01 -1.13152555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551193817 meters Centerline goodness : 0.917021 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99928855e-01 -1.19223287e-02 -3.78800906e-04 6.89872152e+00] [ 1.19154076e-02 9.99819200e-01 -1.48185702e-02 -1.98800455e-01] [ 5.55404285e-04 1.48130024e-02 9.99890127e-01 -1.13324078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581193817 meters Centerline goodness : 0.913071 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99921378e-01 -1.25198917e-02 -6.99768043e-04 6.89983471e+00] [ 1.25081272e-02 9.99811556e-01 -1.48458820e-02 -1.99902561e-01] [ 8.85505010e-04 1.48359620e-02 9.99889549e-01 -1.13367888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611193817 meters Centerline goodness : 0.916235 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.20, Z:-1.13 [[ 9.99912976e-01 -1.31554941e-02 -9.86575067e-04 6.90106081e+00] [ 1.31386994e-02 9.99794450e-01 -1.54412520e-02 -1.98828434e-01] [ 1.18950958e-03 1.54269460e-02 9.99880290e-01 -1.13442877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641193817 meters Centerline goodness : 0.915871 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.20, Z:-1.14 [[ 9.99940956e-01 -1.08385221e-02 -7.81020586e-04 6.92187877e+00] [ 1.08235693e-02 9.99794903e-01 -1.71173240e-02 -1.95016845e-01] [ 9.66386896e-04 1.71078599e-02 9.99853183e-01 -1.13575497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.671193817 meters Centerline goodness : 0.918523 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.19, Z:-1.14 [[ 9.99939603e-01 -1.09205648e-02 -1.23755241e-03 6.92327503e+00] [ 1.08968199e-02 9.99782236e-01 -1.77972114e-02 -1.92574439e-01] [ 1.43163852e-03 1.77826511e-02 9.99840851e-01 -1.13640153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701193817 meters Centerline goodness : 0.915480 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99967798e-01 -7.80058960e-03 -1.88507616e-03 6.92574810e+00] [ 7.77246601e-03 9.99864772e-01 -1.44922649e-02 -1.92240944e-01] [ 1.99786946e-03 1.44771466e-02 9.99893205e-01 -1.13782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.731193817 meters Centerline goodness : 0.915480 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99967798e-01 -7.80058960e-03 -1.88507616e-03 6.92574810e+00] [ 7.77246601e-03 9.99864772e-01 -1.44922649e-02 -1.92240944e-01] [ 1.99786946e-03 1.44771466e-02 9.99893205e-01 -1.13782843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.761193817 meters Centerline goodness : 0.916574 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.19, Z:-1.14 [[ 9.99984396e-01 -5.00713314e-03 -2.47699408e-03 6.92853956e+00] [ 4.97760867e-03 9.99918161e-01 -1.17853973e-02 -1.90900384e-01] [ 2.53580242e-03 1.17728839e-02 9.99927482e-01 -1.13978674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.791193817 meters Centerline goodness : 0.913980 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.19, Z:-1.14 [[ 9.99997606e-01 2.03725215e-03 -7.98224116e-04 6.94576617e+00] [-2.04829486e-03 9.99898682e-01 -1.40865496e-02 -1.85884941e-01] [ 7.69445388e-04 1.40881509e-02 9.99900461e-01 -1.14472636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82119381700001 meters Centerline goodness : 0.914412 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99984087e-01 5.53174723e-03 -1.10694489e-03 6.94658875e+00] [-5.54323488e-03 9.99927829e-01 -1.06587783e-02 -1.84754499e-01] [ 1.04790334e-03 1.06647448e-02 9.99942581e-01 -1.14484053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851193817 meters Centerline goodness : 0.914542 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99959909e-01 8.84793236e-03 -1.37617065e-03 6.94731149e+00] [-8.85780931e-03 9.99933795e-01 -7.34473906e-03 -1.83598462e-01] [ 1.31109379e-03 7.35663446e-03 9.99972080e-01 -1.14481801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters Centerline goodness : 0.915351 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99959301e-01 8.87385804e-03 -1.62798197e-03 6.94779214e+00] [-8.88686724e-03 9.99927169e-01 -8.16581719e-03 -1.80228418e-01] [ 1.55540110e-03 8.17995252e-03 9.99965334e-01 -1.14473502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911193817 meters Centerline goodness : 0.914986 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99922055e-01 1.23564471e-02 -1.78925530e-03 6.94753858e+00] [-1.23650738e-02 9.99911576e-01 -4.89342989e-03 -1.78492691e-01] [ 1.72863167e-03 4.91517274e-03 9.99986426e-01 -1.14360643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters Centerline goodness : 0.916946 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.14 [[ 9.99918490e-01 1.25917271e-02 -2.11234384e-03 6.94854990e+00] [-1.26021862e-02 9.99908021e-01 -5.01341907e-03 -1.77803871e-01] [ 2.04902194e-03 5.03963058e-03 9.99985202e-01 -1.14402975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971193817 meters Centerline goodness : 0.915313 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.15 [[ 9.99899486e-01 1.39079959e-02 -2.75435488e-03 6.95101111e+00] [-1.39191350e-02 9.99894852e-01 -4.06718035e-03 -1.77566561e-01] [ 2.69749894e-03 4.10510978e-03 9.99987936e-01 -1.14545305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001193817 meters Centerline goodness : 0.918630 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.18, Z:-1.15 [[ 9.99841742e-01 1.75225527e-02 -3.07440355e-03 6.95225272e+00] [-1.75238284e-02 9.99846370e-01 -3.88496855e-04 -1.77471973e-01] [ 3.06712377e-03 4.42310692e-04 9.99995199e-01 -1.14596771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.031193817 meters Centerline goodness : 0.918292 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.17, Z:-1.15 [[ 9.99713234e-01 2.38753816e-02 1.84843192e-03 6.96497544e+00] [-2.38652975e-02 9.99701146e-01 -5.29777433e-03 -1.72949092e-01] [-1.97436589e-03 5.25214173e-03 9.99984258e-01 -1.15062358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.061193817 meters Centerline goodness : 0.915833 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.17, Z:-1.16 [[ 9.99593320e-01 2.77557426e-02 6.54313901e-03 6.97777606e+00] [-2.76766078e-02 9.99546218e-01 -1.18895957e-02 -1.70568171e-01] [-6.87017441e-03 1.17036685e-02 9.99907908e-01 -1.15506796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.091193817 meters Centerline goodness : 0.917175 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.17, Z:-1.16 [[ 9.99471904e-01 3.18717633e-02 6.33281178e-03 6.97871774e+00] [-3.18227546e-02 9.99463910e-01 -7.69453388e-03 -1.71384205e-01] [-6.57465519e-03 7.48894291e-03 9.99950344e-01 -1.15537944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.121193817 meters Centerline goodness : 0.914115 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.17, Z:-1.16 [[ 9.99183151e-01 4.01831476e-02 4.28316088e-03 7.00800208e+00] [-4.01204900e-02 9.99099150e-01 -1.38287811e-02 -1.70735339e-01] [-4.83498635e-03 1.36456426e-02 9.99895204e-01 -1.15625577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.151193817 meters Centerline goodness : 0.914040 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.17, Z:-1.16 [[ 0.99914324 0.04076897 0.00711838 7.0253052 ] [-0.0406182 0.99897103 -0.02017532 -0.16961073] [-0.00793358 0.01986889 0.99977112 -1.15963771] [ 0. 0. 0. 1. ]] SLAMing on 68.18119381700001 meters Centerline goodness : 0.912001 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.17, Z:-1.16 [[ 9.99096020e-01 4.20125518e-02 6.48761294e-03 7.02632283e+00] [-4.18842816e-02 9.98945922e-01 -1.87816795e-02 -1.72585621e-01] [-7.26984077e-03 1.84929722e-02 9.99802560e-01 -1.15949374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21119381700001 meters Centerline goodness : 0.913419 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.18, Z:-1.16 [[ 9.99062090e-01 4.29197386e-02 5.73033131e-03 7.02773311e+00] [-4.28166232e-02 9.98937540e-01 -1.70449067e-02 -1.76878418e-01] [-6.45580600e-03 1.67835667e-02 9.99838304e-01 -1.15984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241193817 meters Centerline goodness : 0.911161 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.16 [[ 9.99215099e-01 3.95884103e-02 -1.39435071e-03 7.01765668e+00] [-3.96004066e-02 9.99165509e-01 -1.00046653e-02 -1.87483502e-01] [ 9.97118345e-04 1.00520295e-02 9.99948980e-01 -1.15542850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271193817 meters Centerline goodness : 0.910193 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.19, Z:-1.16 [[ 9.99342482e-01 3.62165552e-02 -1.72182192e-03 7.01815161e+00] [-3.62355628e-02 9.99262354e-01 -1.27173967e-02 -1.91199581e-01] [ 1.25997153e-03 1.27714259e-02 9.99917648e-01 -1.15560758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301193817 meters Centerline goodness : 0.909967 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.20, Z:-1.16 [[ 9.99450753e-01 3.30806835e-02 -1.96476078e-03 7.01807310e+00] [-3.31064856e-02 9.99339214e-01 -1.50031741e-02 -1.95665980e-01] [ 1.46714724e-03 1.50599800e-02 9.99885516e-01 -1.15520985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331193817 meters Centerline goodness : 0.913481 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.15 [[ 9.99558192e-01 2.96594224e-02 -1.93391085e-03 7.01761734e+00] [-2.96866702e-02 9.99430529e-01 -1.60411676e-02 -2.06044899e-01] [ 1.45703778e-03 1.60914919e-02 9.99869462e-01 -1.15476528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361193817 meters Centerline goodness : 0.912838 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.16 [[ 9.99649666e-01 2.63894585e-02 -2.03507090e-03 7.01791222e+00] [-2.64227447e-02 9.99478314e-01 -1.85725323e-02 -2.09749462e-01] [ 1.54389016e-03 1.86197979e-02 9.99825445e-01 -1.15517811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391193817 meters Centerline goodness : 0.914282 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.21, Z:-1.16 [[ 9.99729725e-01 2.31395454e-02 -2.24477902e-03 7.01834006e+00] [-2.31814151e-02 9.99513234e-01 -2.08786207e-02 -2.14329612e-01] [ 1.76056455e-03 2.09250149e-02 9.99779498e-01 -1.15541615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.421193817 meters Centerline goodness : 0.915189 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.22, Z:-1.16 [[ 9.99801574e-01 1.97781495e-02 -2.37439886e-03 7.01815221e+00] [-1.98277197e-02 9.99537071e-01 -2.30760649e-02 -2.19955801e-01] [ 1.91689782e-03 2.31185649e-02 9.99730893e-01 -1.15502776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.451193817 meters Centerline goodness : 0.913656 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.23, Z:-1.15 [[ 9.99935164e-01 1.11250257e-02 -2.42941668e-03 7.01650481e+00] [-1.11925757e-02 9.99492280e-01 -2.98313467e-02 -2.31861897e-01] [ 2.09630871e-03 2.98566039e-02 9.99551994e-01 -1.15319847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.481193817 meters Centerline goodness : 0.916080 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.15 [[ 9.99966078e-01 7.76975545e-03 -2.73388432e-03 7.01725997e+00] [-7.85448999e-03 9.99441381e-01 -3.24843400e-02 -2.35606871e-01] [ 2.47996174e-03 3.25047113e-02 9.99468506e-01 -1.15352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.511193817 meters Centerline goodness : 0.914431 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.15 [[ 9.99968530e-01 7.17986787e-03 -3.37466084e-03 7.01971610e+00] [-7.28468246e-03 9.99456588e-01 -3.21475177e-02 -2.38546968e-01] [ 3.14201208e-03 3.21710894e-02 9.99477438e-01 -1.15494522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.541193817 meters Centerline goodness : 0.915040 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.24, Z:-1.16 [[ 9.99992008e-01 3.86439743e-03 -1.02488224e-03 7.02103747e+00] [-3.88195445e-03 9.99835435e-01 -1.77210012e-02 -2.43288079e-01] [ 9.56232586e-04 1.77248381e-02 9.99842445e-01 -1.15582121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57119381700001 meters Centerline goodness : 0.915304 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99970855e-01 5.37931341e-03 5.41777340e-03 7.03261235e+00] [-5.32731223e-03 9.99940041e-01 -9.56738277e-03 -2.50556688e-01] [-5.46891451e-03 9.53824176e-03 9.99939555e-01 -1.15914578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters Centerline goodness : 0.915275 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99968122e-01 6.07006893e-03 5.18747170e-03 7.03256767e+00] [-6.02493192e-03 9.99944239e-01 -8.67293393e-03 -2.53011448e-01] [-5.23982775e-03 8.64140329e-03 9.99948934e-01 -1.15839716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631193817 meters Centerline goodness : 0.916715 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.25, Z:-1.16 [[ 9.99964206e-01 6.81881428e-03 5.00898219e-03 7.03266096e+00] [-6.77916652e-03 9.99945893e-01 -7.89011979e-03 -2.54951086e-01] [-5.06251243e-03 7.85588064e-03 9.99956327e-01 -1.15799432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters Centerline goodness : 0.914244 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.26, Z:-1.16 [[ 9.99918202e-01 1.18743336e-02 4.75289497e-03 7.03349190e+00] [-1.18626677e-02 9.99926573e-01 -2.47519881e-03 -2.59159087e-01] [-4.78193732e-03 2.41861432e-03 9.99985642e-01 -1.15837137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691193817 meters Centerline goodness : 0.912762 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.26, Z:-1.16 [[ 9.99914886e-01 1.22666500e-02 4.44399235e-03 7.03491786e+00] [-1.22572774e-02 9.99922608e-01 -2.13019213e-03 -2.59707399e-01] [-4.46977874e-03 2.07553958e-03 9.99987857e-01 -1.15953937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721193817 meters Centerline goodness : 0.911859 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.26, Z:-1.16 [[ 9.99914488e-01 1.24419182e-02 4.02681191e-03 7.03646214e+00] [-1.24343003e-02 9.99920864e-01 -1.91131717e-03 -2.60416748e-01] [-4.05027370e-03 1.86108314e-03 9.99990066e-01 -1.16054292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751193817 meters Centerline goodness : 0.911719 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.26, Z:-1.16 [[ 9.99916530e-01 1.23658187e-02 3.74419771e-03 7.03781435e+00] [-1.23595738e-02 9.99922195e-01 -1.68646917e-03 -2.61891349e-01] [-3.76476096e-03 1.64005171e-03 9.99991568e-01 -1.16154866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.781193817 meters Centerline goodness : 0.911102 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99951899e-01 9.18878440e-03 3.43011769e-03 7.03794148e+00] [-9.17466685e-03 9.99949469e-01 -4.10905544e-03 -2.66121229e-01] [-3.46770159e-03 4.07738761e-03 9.99985675e-01 -1.16094281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.811193817 meters Centerline goodness : 0.910206 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99978133e-01 5.80152983e-03 3.17427887e-03 7.03825187e+00] [-5.77853771e-03 9.99957347e-01 -7.20511001e-03 -2.68670904e-01] [-3.21594414e-03 7.18660977e-03 9.99969005e-01 -1.16071683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.841193817 meters Centerline goodness : 0.910483 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.27, Z:-1.16 [[ 9.99992000e-01 2.73975559e-03 2.91442254e-03 7.03834897e+00] [-2.71089768e-03 9.99947714e-01 -9.86004874e-03 -2.72165057e-01] [-2.94128428e-03 9.85206916e-03 9.99947141e-01 -1.16016250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.871193817 meters Centerline goodness : 0.908449 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.28, Z:-1.16 [[ 9.99995550e-01 8.85883415e-04 2.84884625e-03 7.03828645e+00] [-8.55042210e-04 9.99941216e-01 -1.08089142e-02 -2.79304811e-01] [-2.85825422e-03 1.08064302e-02 9.99937524e-01 -1.15988432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901193817 meters Centerline goodness : 0.910041 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.28, Z:-1.16 [[ 9.99989369e-01 3.78116733e-03 2.63903523e-03 7.05932211e+00] [-3.75327280e-03 9.99937871e-01 -1.04960724e-02 -2.82473916e-01] [-2.67855867e-03 1.04860558e-02 9.99941432e-01 -1.16116940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93119381700001 meters Centerline goodness : 0.913072 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.28, Z:-1.16 [[ 9.99988763e-01 4.07137664e-03 2.42864814e-03 7.05973736e+00] [-4.04733931e-03 9.99943576e-01 -9.82155173e-03 -2.84426209e-01] [-2.46849834e-03 9.81161180e-03 9.99948818e-01 -1.16109483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96119381700001 meters Centerline goodness : 0.914062 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.29, Z:-1.16 [[ 9.99980369e-01 5.71273187e-03 2.57408457e-03 7.05833976e+00] [-5.69432103e-03 9.99958554e-01 -7.10382813e-03 -2.90614550e-01] [-2.61456015e-03 7.08903101e-03 9.99971454e-01 -1.15941805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991193817 meters Centerline goodness : 0.914752 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.29, Z:-1.16 [[ 9.99977265e-01 6.24310031e-03 2.54822710e-03 7.05836602e+00] [-6.22770009e-03 9.99962563e-01 -6.00734759e-03 -2.94263372e-01] [-2.58563618e-03 5.99134141e-03 9.99978709e-01 -1.15924266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021193817 meters Centerline goodness : 0.915782 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-1.16 [[ 9.99976211e-01 6.49890441e-03 2.31123157e-03 7.05880240e+00] [-6.48710138e-03 9.99966064e-01 -5.07816449e-03 -2.97796208e-01] [-2.34415564e-03 5.06305049e-03 9.99984435e-01 -1.15901851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051193817 meters Centerline goodness : 0.914999 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.30, Z:-1.16 [[ 9.99980589e-01 5.95309436e-03 1.83935816e-03 7.06067845e+00] [-5.94373540e-03 9.99969572e-01 -5.05241476e-03 -3.00755457e-01] [-1.86937969e-03 5.04138403e-03 9.99985545e-01 -1.16011142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081193817 meters Centerline goodness : 0.915054 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.31, Z:-1.16 [[ 9.99991594e-01 3.87207081e-03 1.34898605e-03 7.06350834e+00] [-3.86338192e-03 9.99972151e-01 -6.38519200e-03 -3.05733555e-01] [-1.37367240e-03 6.37992668e-03 9.99978705e-01 -1.16249831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111193817 meters Centerline goodness : 0.918416 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.31, Z:-1.16 [[ 9.99995083e-01 3.03230091e-03 7.99529386e-04 7.06598012e+00] [-3.02689109e-03 9.99973089e-01 -6.68280449e-03 -3.07752460e-01] [-8.19772144e-04 6.68035154e-03 9.99977350e-01 -1.16409486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141193817 meters Centerline goodness : 0.918562 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.31, Z:-1.17 [[ 9.99997322e-01 2.31052873e-03 1.30335461e-04 7.06837531e+00] [-2.30958061e-03 9.99973818e-01 -6.85781713e-03 -3.09932928e-01] [-1.46177232e-04 6.85749775e-03 9.99976476e-01 -1.16528654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.171193817 meters Centerline goodness : 0.913335 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.32, Z:-1.17 [[ 9.99999513e-01 7.85364921e-04 -5.97360396e-04 7.07161759e+00] [-7.89983706e-04 9.99969490e-01 -7.77146058e-03 -3.15010188e-01] [ 5.91238737e-04 7.77192870e-03 9.99969623e-01 -1.16756315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.201193817 meters Centerline goodness : 0.912528 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.32, Z:-1.17 [[ 9.99998883e-01 1.08682478e-03 -1.02586132e-03 7.07290450e+00] [-1.09381712e-03 9.99976007e-01 -6.84030125e-03 -3.18250293e-01] [ 1.01840250e-03 6.84141572e-03 9.99976079e-01 -1.16805628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.231193817 meters Centerline goodness : 0.909238 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.32, Z:-1.17 [[ 9.99998463e-01 5.06668694e-05 -1.75231185e-03 7.07602932e+00] [-6.36909730e-05 9.99972371e-01 -7.43326917e-03 -3.20557801e-01] [ 1.75188681e-03 7.43336936e-03 9.99970838e-01 -1.17012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.261193817 meters Centerline goodness : 0.908944 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.32, Z:-1.17 [[ 9.99991066e-01 1.09999965e-03 -4.08130023e-03 7.09796617e+00] [-1.13977227e-03 9.99951764e-01 -9.75559073e-03 -3.24479952e-01] [ 4.07037221e-03 9.76015533e-03 9.99944084e-01 -1.17176531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.291193817 meters Centerline goodness : 0.912539 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.33, Z:-1.17 [[ 9.99990533e-01 -1.90786443e-03 -3.91087625e-03 7.09695745e+00] [ 1.86405386e-03 9.99935815e-01 -1.11754399e-02 -3.31865888e-01] [ 3.93194645e-03 1.11680440e-02 9.99929905e-01 -1.17046836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32119381700001 meters Centerline goodness : 0.909280 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.34, Z:-1.17 [[ 9.99989310e-01 -1.99014046e-03 -4.17366217e-03 7.09728464e+00] [ 1.94869144e-03 9.99948979e-01 -9.91175455e-03 -3.36319650e-01] [ 4.19317500e-03 9.90351541e-03 9.99942167e-01 -1.16957333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35119381700001 meters Centerline goodness : 0.913656 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.34, Z:-1.17 [[ 9.99989508e-01 -1.79536520e-03 -4.21425455e-03 7.09730662e+00] [ 1.75922183e-03 9.99961776e-01 -8.56455204e-03 -3.40555774e-01] [ 4.22946997e-03 8.55704837e-03 9.99954443e-01 -1.16905149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381193817 meters Centerline goodness : 0.917854 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.35, Z:-1.17 [[ 9.99986563e-01 -2.50890456e-03 -4.53652964e-03 7.09915379e+00] [ 2.47455509e-03 9.99968349e-01 -7.56157453e-03 -3.46880452e-01] [ 4.55535732e-03 7.55024703e-03 9.99961120e-01 -1.17003600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411193817 meters Centerline goodness : 0.914346 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.35, Z:-1.17 [[ 9.99981462e-01 -3.11333932e-03 -5.23276634e-03 7.10193286e+00] [ 3.07380658e-03 9.99966804e-01 -7.54598457e-03 -3.49436453e-01] [ 5.25608585e-03 7.52976017e-03 9.99957837e-01 -1.17168546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441193817 meters Centerline goodness : 0.914081 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.35, Z:-1.17 [[ 9.99973823e-01 -4.10859300e-03 -5.95596147e-03 7.10502258e+00] [ 4.06121700e-03 9.99960193e-01 -7.94477249e-03 -3.52275807e-01] [ 5.98836622e-03 7.92037607e-03 9.99950702e-01 -1.17362975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471193817 meters Centerline goodness : 0.915529 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.36, Z:-1.17 [[ 9.99953662e-01 -7.53066585e-03 -5.99692180e-03 7.10491132e+00] [ 7.46928576e-03 9.99920156e-01 -1.01927177e-02 -3.57779053e-01] [ 6.07320093e-03 1.01474527e-02 9.99930070e-01 -1.17300802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501193817 meters Centerline goodness : 0.918818 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.36, Z:-1.17 [[ 9.99953691e-01 -7.47873704e-03 -6.05676949e-03 7.10453996e+00] [ 7.42270397e-03 9.99929931e-01 -9.22154557e-03 -3.60681227e-01] [ 6.12531061e-03 9.17616093e-03 9.99939137e-01 -1.17189263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.531193817 meters Centerline goodness : 0.919748 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 9.99950311e-01 -7.69191381e-03 -6.34119336e-03 7.10507380e+00] [ 7.63650691e-03 9.99932855e-01 -8.71600568e-03 -3.62566480e-01] [ 6.40781034e-03 8.66714802e-03 9.99941909e-01 -1.17155175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561193817 meters Centerline goodness : 0.917188 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 9.99937313e-01 -8.74562527e-03 -6.99177017e-03 7.10751431e+00] [ 8.68037885e-03 9.99918999e-01 -9.30839633e-03 -3.63074806e-01] [ 7.07261158e-03 9.24712160e-03 9.99932232e-01 -1.17283586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.591193817 meters Centerline goodness : 0.916712 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.9999203 -0.0100873 -0.00759222 7.10989284] [ 0.01001181 0.99990072 -0.00991581 -0.36410599] [ 0.00769149 0.00983901 0.99992201 -1.17404057] [ 0. 0. 0. 1. ]] SLAMing on 69.621193817 meters Centerline goodness : 0.916712 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.9999203 -0.0100873 -0.00759222 7.10989284] [ 0.01001181 0.99990072 -0.00991581 -0.36410599] [ 0.00769149 0.00983901 0.99992201 -1.17404057] [ 0. 0. 0. 1. ]] SLAMing on 69.651193817 meters Centerline goodness : 0.917309 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.99990826 -0.01082852 -0.00813762 7.11157183] [ 0.01074214 0.99988628 -0.01058453 -0.36406985] [ 0.00825131 0.01049614 0.99991087 -1.17463685] [ 0. 0. 0. 1. ]] SLAMing on 69.68119381700001 meters Centerline goodness : 0.913999 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.36, Z:-1.17 [[ 0.99990146 -0.01118397 -0.00848494 7.11255304] [ 0.01109086 0.99987862 -0.01094257 -0.36356058] [ 0.00860629 0.01084739 0.99990413 -1.17485823] [ 0. 0. 0. 1. ]] SLAMing on 69.71119381700001 meters Centerline goodness : 0.915941 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.36, Z:-1.18 [[ 0.99991615 -0.00918129 -0.00913185 7.11542481] [ 0.00910287 0.99992165 -0.00859268 -0.36348572] [ 0.00921003 0.00850883 0.99992138 -1.17655304] [ 0. 0. 0. 1. ]] SLAMing on 69.741193817 meters Centerline goodness : 0.916715 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.36, Z:-1.18 [[ 9.99923383e-01 -7.54324068e-03 -9.81469357e-03 7.11884923e+00] [ 7.47309544e-03 9.99946413e-01 -7.16411458e-03 -3.58201634e-01] [ 9.86820827e-03 7.09021954e-03 9.99926171e-01 -1.17902789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771193817 meters Centerline goodness : 0.912873 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99961742e-01 -5.54360329e-03 -6.76628394e-03 7.13653975e+00] [ 5.45689841e-03 9.99903619e-01 -1.27661437e-02 -3.54144020e-01] [ 6.83640224e-03 1.27287324e-02 9.99895616e-01 -1.18267152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801193817 meters Centerline goodness : 0.912906 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99966126e-01 -3.44836597e-03 -7.47368361e-03 7.13937039e+00] [ 3.37084368e-03 9.99940646e-01 -1.03605941e-02 -3.53229172e-01] [ 7.50896714e-03 1.03350505e-02 9.99918398e-01 -1.18407444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831193817 meters Centerline goodness : 0.914575 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.35, Z:-1.18 [[ 9.99961819e-01 -3.87093424e-03 -7.83424684e-03 7.14029800e+00] [ 3.78423358e-03 9.99931768e-01 -1.10516069e-02 -3.51675038e-01] [ 7.87649234e-03 1.10215383e-02 9.99908239e-01 -1.18429226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters Centerline goodness : 0.912626 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99985946e-01 -2.42283196e-03 -4.71564090e-03 7.15736534e+00] [ 2.34565312e-03 9.99864332e-01 -1.63038486e-02 -3.49327397e-01] [ 4.75450262e-03 1.62925583e-02 9.99855963e-01 -1.18512903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.891193817 meters Centerline goodness : 0.910995 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99986005e-01 2.42373478e-04 -5.28505870e-03 7.15921836e+00] [-3.12569239e-04 9.99911700e-01 -1.32851483e-02 -3.49015825e-01] [ 5.28137206e-03 1.32866143e-02 9.99897781e-01 -1.18558977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.921193817 meters Centerline goodness : 0.914041 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.35, Z:-1.19 [[ 9.99977763e-01 3.13882747e-03 -5.88391567e-03 7.16099120e+00] [-3.19989375e-03 9.99940820e-01 -1.03979885e-02 -3.47510102e-01] [ 5.85092996e-03 1.04165852e-02 9.99928628e-01 -1.18607256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.951193817 meters Centerline goodness : 0.912194 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.34, Z:-1.19 [[ 9.99950885e-01 9.65959263e-03 -2.21809906e-03 7.17788502e+00] [-9.68877913e-03 9.99861281e-01 -1.35479071e-02 -3.38564323e-01] [ 2.08692410e-03 1.35687324e-02 9.99905763e-01 -1.19026451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981193817 meters Centerline goodness : 0.911837 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.34, Z:-1.19 [[ 9.99906944e-01 1.33923715e-02 -2.59750506e-03 7.17862985e+00] [-1.34184517e-02 9.99856945e-01 -1.02973364e-02 -3.36105918e-01] [ 2.45922772e-03 1.03312327e-02 9.99943607e-01 -1.19002984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.011193817 meters Centerline goodness : 0.911060 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.33, Z:-1.19 [[ 9.99847114e-01 1.72573195e-02 -2.81648292e-03 7.17902347e+00] [-1.72760222e-02 9.99827926e-01 -6.75699018e-03 -3.34816804e-01] [ 2.69939074e-03 6.80461476e-03 9.99973205e-01 -1.18966593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041193817 meters Centerline goodness : 0.908084 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.33, Z:-1.19 [[ 9.99729119e-01 2.31985160e-02 1.87568538e-03 7.19193447e+00] [-2.31735109e-02 9.99654497e-01 -1.24046604e-02 -3.29978315e-01] [-2.16280704e-03 1.23578340e-02 9.99921300e-01 -1.19380419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07119381700001 meters Centerline goodness : 0.907015 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.33, Z:-1.20 [[ 9.99652535e-01 2.63235085e-02 1.37219552e-03 7.19428208e+00] [-2.63095898e-02 9.99610305e-01 -9.32971066e-03 -3.29250520e-01] [-1.61725150e-03 9.29036700e-03 9.99955536e-01 -1.19523044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10119381700001 meters Centerline goodness : 0.905854 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99577893e-01 2.90404471e-02 8.29319093e-04 7.19701601e+00] [-2.90345671e-02 9.99557983e-01 -6.38996843e-03 -3.29018478e-01] [-1.01452006e-03 6.36319226e-03 9.99979240e-01 -1.19696631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131193817 meters Centerline goodness : 0.906102 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99580577e-01 2.89554281e-02 5.03648887e-04 7.19824081e+00] [-2.89512518e-02 9.99556843e-01 -6.92402178e-03 -3.27210748e-01] [-7.03913706e-04 6.90653642e-03 9.99975902e-01 -1.19782494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161193817 meters Centerline goodness : 0.906000 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99581547e-01 2.89259957e-02 1.35392162e-04 7.19920729e+00] [-2.89242668e-02 9.99555570e-01 -7.21455443e-03 -3.26124103e-01] [-3.44020160e-04 7.20761936e-03 9.99973966e-01 -1.19814066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191193817 meters Centerline goodness : 0.909749 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99585216e-01 2.87992219e-02 -5.89362124e-06 7.19955065e+00] [-2.87985338e-02 9.99559876e-01 -7.12035340e-03 -3.26915070e-01] [-1.99169610e-04 7.11756972e-03 9.99974650e-01 -1.19815883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221193817 meters Centerline goodness : 0.903383 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99599390e-01 2.83002039e-02 -3.96422157e-04 7.20054989e+00] [-2.83023093e-02 9.99574084e-01 -7.11553115e-03 -3.28176269e-01] [ 1.94882332e-04 7.12390027e-03 9.99974606e-01 -1.19824496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251193817 meters Centerline goodness : 0.908371 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.33, Z:-1.20 [[ 9.99632557e-01 2.70872863e-02 -1.01519310e-03 7.20259236e+00] [-2.70943575e-02 9.99602782e-01 -7.75719238e-03 -3.29856254e-01] [ 8.04668561e-04 7.78184805e-03 9.99969397e-01 -1.19905167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281193817 meters Centerline goodness : 0.909768 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.33, Z:-1.20 [[ 9.99673655e-01 2.54847636e-02 -1.76366240e-03 7.20546539e+00] [-2.54992735e-02 9.99636439e-01 -8.76224415e-03 -3.31931422e-01] [ 1.53971748e-03 8.80435675e-03 9.99960055e-01 -1.20060200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.311193817 meters Centerline goodness : 0.908865 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.20 [[ 9.99771266e-01 2.12237353e-02 -2.63984956e-03 7.20944802e+00] [-2.12551240e-02 9.99696033e-01 -1.24924544e-02 -3.35026585e-01] [ 2.37391058e-03 1.25457072e-02 9.99918482e-01 -1.20374552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341193817 meters Centerline goodness : 0.906464 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.21 [[ 9.99791000e-01 2.01747783e-02 -3.30680252e-03 7.21238279e+00] [-2.02165687e-02 9.99709363e-01 -1.31331316e-02 -3.36091539e-01] [ 3.04088343e-03 1.31972390e-02 9.99908289e-01 -1.20573549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.371193817 meters Centerline goodness : 0.907292 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.34, Z:-1.21 [[ 9.99803151e-01 1.94710660e-02 -3.81264910e-03 7.21441244e+00] [-1.95208390e-02 9.99718515e-01 -1.34843462e-02 -3.37354460e-01] [ 3.54902130e-03 1.35561180e-02 9.99901813e-01 -1.20689567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401193817 meters Centerline goodness : 0.909571 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.34, Z:-1.21 [[ 9.99813720e-01 1.88860773e-02 -3.98007087e-03 7.21532997e+00] [-1.89368450e-02 9.99734476e-01 -1.31291147e-02 -3.41319946e-01] [ 3.73105659e-03 1.32020390e-02 9.99905888e-01 -1.20738337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43119381700001 meters Centerline goodness : 0.908172 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.34, Z:-1.21 [[ 9.99823151e-01 1.82227339e-02 -4.64750217e-03 7.21723469e+00] [-1.82829237e-02 9.99744985e-01 -1.32551979e-02 -3.42918458e-01] [ 4.40477104e-03 1.33378237e-02 9.99901345e-01 -1.20791844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46119381700001 meters Centerline goodness : 0.910035 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99831302e-01 1.76352483e-02 -5.13465822e-03 7.21875895e+00] [-1.77011070e-02 9.99757808e-01 -1.30765512e-02 -3.45026945e-01] [ 4.90280642e-03 1.31652344e-02 9.99901315e-01 -1.20840585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491193817 meters Centerline goodness : 0.907568 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99845052e-01 1.65838405e-02 -5.90322763e-03 7.22110797e+00] [-1.66608170e-02 9.99773553e-01 -1.32385856e-02 -3.47370695e-01] [ 5.68234427e-03 1.33348869e-02 9.99894940e-01 -1.20915035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521193817 meters Centerline goodness : 0.908566 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.35, Z:-1.21 [[ 9.99904046e-01 1.24168705e-02 -6.14167945e-03 7.22168914e+00] [-1.25139831e-02 9.99793121e-01 -1.60348061e-02 -3.52499082e-01] [ 5.94130675e-03 1.61101244e-02 9.99852572e-01 -1.20909955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551193817 meters Centerline goodness : 0.910889 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.36, Z:-1.21 [[ 9.99902857e-01 1.24178288e-02 -6.33046751e-03 7.22204647e+00] [-1.25127448e-02 9.99806463e-01 -1.51811423e-02 -3.55774889e-01] [ 6.14072551e-03 1.52588791e-02 9.99864720e-01 -1.20876706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581193817 meters Centerline goodness : 0.907247 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.36, Z:-1.21 [[ 9.99903713e-01 1.20587152e-02 -6.86677761e-03 7.22388723e+00] [-1.21619319e-02 9.99810606e-01 -1.51933747e-02 -3.56911137e-01] [ 6.68226451e-03 1.52754251e-02 9.99860995e-01 -1.20968076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611193817 meters Centerline goodness : 0.904157 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99859955e-01 1.50591328e-02 -7.30020301e-03 7.22667208e+00] [-1.51441998e-02 9.99816385e-01 -1.17409262e-02 -3.58353468e-01] [ 7.12205442e-03 1.18498376e-02 9.99904424e-01 -1.21193900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641193817 meters Centerline goodness : 0.904469 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99985415 0.01525174 -0.00768521 7.22769608] [-0.01534094 0.99981404 -0.01168536 -0.35844748] [ 0.00750556 0.01180155 0.99990219 -1.21238454] [ 0. 0. 0. 1. ]] SLAMing on 70.671193817 meters Centerline goodness : 0.904684 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99984103 0.01597194 -0.00792519 7.22789959] [-0.01605859 0.99981062 -0.01099274 -0.35940692] [ 0.00774811 0.01111826 0.99990817 -1.21206257] [ 0. 0. 0. 1. ]] SLAMing on 70.701193817 meters Centerline goodness : 0.903319 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99983018 0.01652003 -0.00816751 7.22791235] [-0.01660568 0.99980664 -0.01053265 -0.35996908] [ 0.00799193 0.01066648 0.99991117 -1.21141824] [ 0. 0. 0. 1. ]] SLAMing on 70.731193817 meters Centerline goodness : 0.908807 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.9998057 0.01795421 -0.00813741 7.22630756] [-0.01803018 0.99979363 -0.00935987 -0.36085442] [ 0.00796768 0.00950477 0.99992308 -1.20948671] [ 0. 0. 0. 1. ]] SLAMing on 70.761193817 meters Centerline goodness : 0.910807 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99761305e-01 2.00284761e-02 -8.72890936e-03 7.22870196e+00] [-2.00914691e-02 9.99772295e-01 -7.18965433e-03 -3.62070354e-01] [ 8.58292393e-03 7.36331480e-03 9.99936055e-01 -1.21074150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.791193817 meters Centerline goodness : 0.909193 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 0.99975694 0.02011472 -0.00902517 7.22959533] [-0.02018195 0.99976878 -0.00742074 -0.36127899] [ 0.00887381 0.00760109 0.99993174 -1.21120925] [ 0. 0. 0. 1. ]] SLAMing on 70.82119381700001 meters Centerline goodness : 0.908755 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99661694e-01 2.43282708e-02 -9.19965151e-03 7.23011731e+00] [-2.43578129e-02 9.99698458e-01 -3.11290778e-03 -3.62098457e-01] [ 9.12114577e-03 3.33593806e-03 9.99952837e-01 -1.21110864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85119381700001 meters Centerline goodness : 0.904383 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99578514e-01 2.73847609e-02 -9.63688363e-03 7.23209870e+00] [-2.73832589e-02 9.99624967e-01 2.87794369e-04 -3.63089826e-01] [ 9.64115066e-03 -2.37837875e-05 9.99953523e-01 -1.21199614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881193817 meters Centerline goodness : 0.907634 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99565174e-01 2.77965996e-02 -9.83929695e-03 7.23253522e+00] [-2.77962761e-02 9.99613594e-01 1.69655772e-04 -3.62186255e-01] [ 9.84021084e-03 1.03913813e-04 9.99951579e-01 -1.21217759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911193817 meters Centerline goodness : 0.904207 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.36, Z:-1.21 [[ 9.99545062e-01 2.84665870e-02 -9.96603728e-03 7.23253903e+00] [-2.84637524e-02 9.99594734e-01 4.26180653e-04 -3.62036408e-01] [ 9.97413029e-03 -1.42315951e-04 9.99950247e-01 -1.21194141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941193817 meters Centerline goodness : 0.910920 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.36, Z:-1.22 [[ 9.99430891e-01 3.33761222e-02 -4.89169762e-03 7.24301366e+00] [-3.34095929e-02 9.99417730e-01 -6.92825142e-03 -3.61921774e-01] [ 4.65761117e-03 7.08773811e-03 9.99964035e-01 -1.21597678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971193817 meters Centerline goodness : 0.912075 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.36, Z:-1.22 [[ 9.99410064e-01 3.39621609e-02 -5.10843442e-03 7.24353405e+00] [-3.39955805e-02 9.99400164e-01 -6.60400396e-03 -3.62156653e-01] [ 4.88108396e-03 6.77377221e-03 9.99965145e-01 -1.21621423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001193817 meters Centerline goodness : 0.913023 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.36, Z:-1.22 [[ 9.99346054e-01 3.57042603e-02 -5.71578491e-03 7.24596408e+00] [-3.57323529e-02 9.99349429e-01 -4.89061262e-03 -3.63839876e-01] [ 5.53745068e-03 5.09165286e-03 9.99971705e-01 -1.21776810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.031193817 meters Centerline goodness : 0.913192 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.37, Z:-1.22 [[ 9.99351014e-01 3.54744549e-02 -6.25409840e-03 7.24836894e+00] [-3.55023374e-02 9.99359885e-01 -4.40506218e-03 -3.69983741e-01] [ 6.09382788e-03 4.62423846e-03 9.99970740e-01 -1.21980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.061193817 meters Centerline goodness : 0.910887 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.37, Z:-1.22 [[ 9.99474963e-01 3.17358031e-02 -6.52975499e-03 7.24936442e+00] [-3.17864133e-02 9.99464259e-01 -7.79865937e-03 -3.73173794e-01] [ 6.27876001e-03 8.00212227e-03 9.99948270e-01 -1.22083944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.091193817 meters Centerline goodness : 0.914167 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.38, Z:-1.22 [[ 9.99574303e-01 2.83812153e-02 -6.76155005e-03 7.25023231e+00] [-2.84516786e-02 9.99539352e-01 -1.05634351e-02 -3.77040890e-01] [ 6.45863222e-03 1.07513157e-02 9.99921345e-01 -1.22170259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121193817 meters Centerline goodness : 0.915724 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.38, Z:-1.22 [[ 9.99599536e-01 2.73424629e-02 -7.29090675e-03 7.25222475e+00] [-2.74179068e-02 9.99569365e-01 -1.04566722e-02 -3.82734346e-01] [ 7.00185587e-03 1.06523861e-02 9.99918747e-01 -1.22265175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.151193817 meters Centerline goodness : 0.922592 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.39, Z:-1.22 [[ 9.99684838e-01 2.41027976e-02 -7.02001025e-03 7.25114206e+00] [-2.41800987e-02 9.99645515e-01 -1.11430766e-02 -3.92932091e-01] [ 6.74894244e-03 1.13093093e-02 9.99913272e-01 -1.22119818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18119381700001 meters Centerline goodness : 0.923756 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.40, Z:-1.22 [[ 0.99969517 0.02348776 -0.00760852 7.25298242] [-0.02356653 0.99966782 -0.01043447 -0.39824312] [ 0.00736091 0.0106106 0.99991661 -1.22168136] [ 0. 0. 0. 1. ]] SLAMing on 71.21119381700001 meters Centerline goodness : 0.922145 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.40, Z:-1.22 [[ 0.99971233 0.02255414 -0.00815917 7.25524556] [-0.02263638 0.99969242 -0.01013172 -0.40333404] [ 0.00792814 0.0103135 0.99991538 -1.22280169] [ 0. 0. 0. 1. ]] SLAMing on 71.241193817 meters Centerline goodness : 0.923926 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.41, Z:-1.22 [[ 0.99975598 0.02046625 -0.00831387 7.25690599] [-0.02055954 0.99972482 -0.01129567 -0.40790117] [ 0.0080804 0.01146385 0.99990164 -1.22432812] [ 0. 0. 0. 1. ]] SLAMing on 71.271193817 meters Centerline goodness : 0.923929 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.42, Z:-1.23 [[ 0.99983184 0.01617155 -0.00864666 7.25877767] [-0.01628657 0.99977755 -0.01340143 -0.41683739] [ 0.00842801 0.01354 0.99987281 -1.22549317] [ 0. 0. 0. 1. ]] SLAMing on 71.301193817 meters Centerline goodness : 0.921667 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.42, Z:-1.23 [[ 0.99984748 0.01481012 -0.00925586 7.26145323] [-0.01493534 0.99979584 -0.01360935 -0.42130967] [ 0.00905242 0.01374551 0.99986455 -1.22694574] [ 0. 0. 0. 1. ]] SLAMing on 71.331193817 meters Centerline goodness : 0.925799 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.43, Z:-1.23 [[ 0.9998641 0.01324746 -0.00981282 7.26410149] [-0.01338429 0.99981225 -0.01401187 -0.42563541] [ 0.00962536 0.0141413 0.99985368 -1.22848636] [ 0. 0. 0. 1. ]] SLAMing on 71.361193817 meters Centerline goodness : 0.924719 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.43, Z:-1.23 [[ 9.99923520e-01 1.11543218e-03 -1.23170302e-02 7.26099307e+00] [-1.20801224e-03 9.99971058e-01 -7.51154787e-03 -4.34073025e-01] [ 1.23082951e-02 7.52585251e-03 9.99895928e-01 -1.22613470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.391193817 meters Centerline goodness : 0.924205 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99912189e-01 -3.75037327e-03 -1.27101575e-02 7.26306147e+00] [ 3.60263912e-03 9.99925922e-01 -1.16263449e-02 -4.36148162e-01] [ 1.27528190e-02 1.15795338e-02 9.99851629e-01 -1.22752761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.421193817 meters Centerline goodness : 0.924270 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.44, Z:-1.23 [[ 9.99894858e-01 -6.25375746e-03 -1.30829694e-02 7.26577632e+00] [ 6.08438756e-03 9.99897688e-01 -1.29458219e-02 -4.38316680e-01] [ 1.31625909e-02 1.28648589e-02 9.99830606e-01 -1.22913559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.451193817 meters Centerline goodness : 0.925526 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.44, Z:-1.23 [[ 0.9998853 -0.00753475 -0.01313824 7.26670751] [ 0.00736406 0.99988848 -0.01299202 -0.44024787] [ 0.01323467 0.01289378 0.99982928 -1.22935556] [ 0. 0. 0. 1. ]] SLAMing on 71.481193817 meters Centerline goodness : 0.926180 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99762733e-01 -2.07593890e-02 -6.59739686e-03 7.26370948e+00] [ 2.07017585e-02 9.99747957e-01 -8.68676399e-03 -4.40959980e-01] [ 6.77606595e-03 8.54812519e-03 9.99940505e-01 -1.22888474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.511193817 meters Centerline goodness : 0.925622 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99734444e-01 -2.21080484e-02 -6.50199898e-03 7.26397520e+00] [ 2.20494654e-02 9.99716839e-01 -8.94773735e-03 -4.42147404e-01] [ 6.69797488e-03 8.80199562e-03 9.99938829e-01 -1.22845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.541193817 meters Centerline goodness : 0.925622 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99734444e-01 -2.21080484e-02 -6.50199898e-03 7.26397520e+00] [ 2.20494654e-02 9.99716839e-01 -8.94773735e-03 -4.42147404e-01] [ 6.69797488e-03 8.80199562e-03 9.99938829e-01 -1.22845943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57119381700001 meters Centerline goodness : 0.922955 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99710545e-01 -2.31724011e-02 -6.47037825e-03 7.26395171e+00] [ 2.31119153e-02 9.99689892e-01 -9.27143521e-03 -4.42459702e-01] [ 6.68321315e-03 9.11920871e-03 9.99936085e-01 -1.22775183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60119381700001 meters Centerline goodness : 0.920285 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.44, Z:-1.23 [[ 9.99652220e-01 -2.55825588e-02 -6.40087019e-03 7.26407058e+00] [ 2.55073642e-02 9.99607728e-01 -1.15656541e-02 -4.37608816e-01] [ 6.69423833e-03 1.13983625e-02 9.99912628e-01 -1.22719868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631193817 meters Centerline goodness : 0.917989 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.43, Z:-1.23 [[ 9.99717147e-01 -2.36327292e-02 -2.66823392e-03 7.28113829e+00] [ 2.35841685e-02 9.99577956e-01 -1.69616080e-02 -4.32691030e-01] [ 3.06795690e-03 1.68938823e-02 9.99852581e-01 -1.22979099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661193817 meters Centerline goodness : 0.916710 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.43, Z:-1.23 [[ 9.99778686e-01 -2.10243477e-02 7.45719017e-04 7.29890526e+00] [ 2.10356487e-02 9.99538080e-01 -2.19346343e-02 -4.26464683e-01] [-2.84213178e-04 2.19454665e-02 9.99759129e-01 -1.23311214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691193817 meters Centerline goodness : 0.908393 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.41, Z:-1.23 [[ 9.99835226e-01 -1.81027920e-02 -1.34550896e-03 7.30480671e+00] [ 1.80748163e-02 9.99665402e-01 -1.85036591e-02 -4.14052089e-01] [ 1.68002665e-03 1.84762903e-02 9.99827887e-01 -1.23366094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721193817 meters Centerline goodness : 0.905723 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.41, Z:-1.23 [[ 9.99873289e-01 -1.58013895e-02 -1.92921176e-03 7.30672971e+00] [ 1.57672576e-02 9.99738162e-01 -1.65831379e-02 -4.08896908e-01] [ 2.19074324e-03 1.65506182e-02 9.99860629e-01 -1.23444064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751193817 meters Centerline goodness : 0.903538 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.40, Z:-1.24 [[ 9.99900864e-01 -1.38326243e-02 -2.63070812e-03 7.30897326e+00] [ 1.37914982e-02 9.99791525e-01 -1.50565965e-02 -4.03577857e-01] [ 2.83843193e-03 1.50188225e-02 9.99883182e-01 -1.23532569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.781193817 meters Centerline goodness : 0.901509 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.40, Z:-1.24 [[ 9.99928012e-01 -1.15485657e-02 -3.25596595e-03 7.31082302e+00] [ 1.15043959e-02 9.99845727e-01 -1.32729525e-02 -3.98122717e-01] [ 3.40874720e-03 1.32345391e-02 9.99906609e-01 -1.23589233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.811193817 meters Centerline goodness : 0.901105 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.38, Z:-1.24 [[ 9.99956572e-01 -9.29592384e-03 -6.63919960e-04 7.33249293e+00] [ 9.28135135e-03 9.99769971e-01 -1.93355099e-02 -3.79761458e-01] [ 8.43508666e-04 1.93285081e-02 9.99812831e-01 -1.24176542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.841193817 meters Centerline goodness : 0.896731 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.37, Z:-1.24 [[ 9.99977668e-01 -6.60318768e-03 -1.03058951e-03 7.33361996e+00] [ 6.58415141e-03 9.99825281e-01 -1.74944634e-02 -3.71087654e-01] [ 1.14592867e-03 1.74872871e-02 9.99846429e-01 -1.24201202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.871193817 meters Centerline goodness : 0.895258 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-1.24 [[ 9.99996976e-01 -1.50612589e-03 -1.94413899e-03 7.33675771e+00] [ 1.48103493e-03 9.99916422e-01 -1.28435066e-02 -3.64222039e-01] [ 1.96332044e-03 1.28405884e-02 9.99915629e-01 -1.24327030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.901193817 meters Centerline goodness : 0.892705 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-1.24 [[ 9.99995652e-01 7.26425662e-04 -2.85795110e-03 7.33954171e+00] [-7.60303466e-04 9.99929252e-01 -1.18707042e-02 -3.56073987e-01] [ 2.84912572e-03 1.18728255e-02 9.99925456e-01 -1.24450634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93119381700001 meters Centerline goodness : 0.889765 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.34, Z:-1.25 [[ 9.99986493e-01 5.09964927e-03 -1.00360830e-03 7.36020812e+00] [-5.11776274e-03 9.99807157e-01 -1.89593627e-02 -3.37271752e-01] [ 9.06728659e-04 1.89642428e-02 9.99819751e-01 -1.25112860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96119381700001 meters Centerline goodness : 0.892968 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.33, Z:-1.25 [[ 9.99940923e-01 1.07626691e-02 -1.52189481e-03 7.36209905e+00] [-1.07828921e-02 9.99844260e-01 -1.39708664e-02 -3.30346521e-01] [ 1.37129398e-03 1.39864514e-02 9.99901244e-01 -1.25165003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991193817 meters Centerline goodness : 0.888659 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.32, Z:-1.25 [[ 9.99871472e-01 1.59414095e-02 -1.70620894e-03 7.36325405e+00] [-1.59572444e-02 9.99825538e-01 -9.70871118e-03 -3.22329183e-01] [ 1.55114073e-03 9.73468974e-03 9.99951414e-01 -1.25201689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021193817 meters Centerline goodness : 0.881076 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.30, Z:-1.26 [[ 9.99746533e-01 2.24907017e-02 1.01929739e-03 7.38099558e+00] [-2.24733068e-02 9.99639403e-01 -1.46973974e-02 -3.02410740e-01] [-1.34948461e-03 1.46707651e-02 9.99891468e-01 -1.25681910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051193817 meters Centerline goodness : 0.882394 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.29, Z:-1.26 [[ 9.99653892e-01 2.60760653e-02 3.48350996e-03 7.40046894e+00] [-2.60039299e-02 9.99474413e-01 -1.93569835e-02 -2.93180236e-01] [-3.98643304e-03 1.92596989e-02 9.99806567e-01 -1.26054398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters Centerline goodness : 0.882077 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-1.26 [[ 9.99578130e-01 2.88805531e-02 3.07821103e-03 7.40179143e+00] [-2.88200846e-02 9.99419815e-01 -1.81503854e-02 -2.84562201e-01] [-3.60061826e-03 1.80540140e-02 9.99830530e-01 -1.26068342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111193817 meters Centerline goodness : 0.881724 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.28, Z:-1.26 [[ 9.99499975e-01 3.15092621e-02 2.63946324e-03 7.40342638e+00] [-3.14602187e-02 9.99361755e-01 -1.69215220e-02 -2.76545576e-01] [-3.17096329e-03 1.68300228e-02 9.99853337e-01 -1.26116717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141193817 meters Centerline goodness : 0.886198 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.26, Z:-1.26 [[ 9.99457429e-01 3.27149337e-02 3.81846105e-03 7.42921394e+00] [-3.26304708e-02 9.99259100e-01 -2.04084163e-02 -2.59497390e-01] [-4.48329194e-03 2.02727451e-02 9.99784435e-01 -1.26383486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.171193817 meters Centerline goodness : 0.886283 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.25, Z:-1.26 [[ 9.99374819e-01 3.51813079e-02 3.49960354e-03 7.43089937e+00] [-3.51088115e-02 9.99203282e-01 -1.89782059e-02 -2.52899080e-01] [-4.16449345e-03 1.88434742e-02 9.99813773e-01 -1.26457627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.201193817 meters Centerline goodness : 0.888354 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.25, Z:-1.26 [[ 9.99280348e-01 3.77959230e-02 3.20218879e-03 7.43220945e+00] [-3.77347317e-02 9.99136363e-01 -1.73959506e-02 -2.45872668e-01] [-3.85691927e-03 1.72625979e-02 9.99843551e-01 -1.26479532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.231193817 meters Centerline goodness : 0.887030 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.99180738e-01 3.99489553e-02 6.47556057e-03 7.44972372e+00] [-3.97863510e-02 9.98930711e-01 -2.35474169e-02 -2.31677105e-01] [-7.40933103e-03 2.32704865e-02 9.99701749e-01 -1.26670743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.261193817 meters Centerline goodness : 0.887922 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.99093330e-01 4.20293888e-02 6.78591265e-03 7.44918679e+00] [-4.18716695e-02 9.98882603e-01 -2.19159287e-02 -2.28233461e-01] [-7.69944319e-03 2.16119207e-02 9.99736787e-01 -1.26587673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.291193817 meters Centerline goodness : 0.889173 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.27 [[ 9.98994229e-01 4.43714992e-02 6.45755437e-03 7.45082958e+00] [-4.42360453e-02 9.98825028e-01 -1.97923132e-02 -2.25479793e-01] [-7.32818154e-03 1.94867500e-02 9.99783259e-01 -1.26652123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32119381700001 meters Centerline goodness : 0.890683 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.22, Z:-1.27 [[ 9.98913587e-01 4.61106093e-02 6.74224282e-03 7.45174625e+00] [-4.59680315e-02 9.98743469e-01 -1.99605205e-02 -2.15887089e-01] [-7.65416275e-03 1.96289075e-02 9.99778035e-01 -1.26697141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35119381700001 meters Centerline goodness : 0.890009 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98802634e-01 4.83857106e-02 7.21951096e-03 7.45193373e+00] [-4.82512327e-02 9.98677248e-01 -1.77643708e-02 -2.12251616e-01] [-8.06950304e-03 1.73947500e-02 9.99816136e-01 -1.26775142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters Centerline goodness : 0.890995 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98793347e-01 4.86609923e-02 6.63010156e-03 7.45346649e+00] [-4.85245113e-02 9.98633784e-01 -1.93891061e-02 -2.07943179e-01] [-7.56453656e-03 1.90439878e-02 9.99790030e-01 -1.26736368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411193817 meters Centerline goodness : 0.891635 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.21, Z:-1.27 [[ 9.98650686e-01 5.14791028e-02 6.83435248e-03 7.45384332e+00] [-5.13620556e-02 9.98546739e-01 -1.63202267e-02 -2.06773711e-01] [-7.66457100e-03 1.59471792e-02 9.99843459e-01 -1.26785021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters Centerline goodness : 0.888152 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.27 [[ 9.98483535e-01 5.46205560e-02 6.87207178e-03 7.45417832e+00] [-5.45170405e-02 9.98408379e-01 -1.44430174e-02 -2.02863953e-01] [-7.65001969e-03 1.40464700e-02 9.99872079e-01 -1.26718941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471193817 meters Centerline goodness : 0.889467 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.20, Z:-1.27 [[ 9.98479673e-01 5.47636229e-02 6.26809232e-03 7.45527430e+00] [-5.46595252e-02 9.98381260e-01 -1.57224843e-02 -2.00242741e-01] [-7.11896611e-03 1.53559700e-02 9.99856747e-01 -1.26640874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501193817 meters Centerline goodness : 0.891152 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98326244e-01 5.74618408e-02 6.54584533e-03 7.45365044e+00] [-5.73711289e-02 9.98264430e-01 -1.32921210e-02 -1.99872095e-01] [-7.29827430e-03 1.28943307e-02 9.99890230e-01 -1.26439126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.531193817 meters Centerline goodness : 0.891037 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98135113e-01 6.06673680e-02 6.76507759e-03 7.45330985e+00] [-6.05940545e-02 9.98106617e-01 -1.05612919e-02 -1.97620006e-01] [-7.39299449e-03 1.01316728e-02 9.99921343e-01 -1.26352286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.561193817 meters Centerline goodness : 0.892862 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.20, Z:-1.26 [[ 9.98133946e-01 6.07521234e-02 6.14857016e-03 7.45443507e+00] [-6.06774102e-02 9.98089032e-01 -1.16848583e-02 -1.95182770e-01] [-6.84670039e-03 1.12899744e-02 9.99912826e-01 -1.26280951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.591193817 meters Centerline goodness : 0.894102 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98118838e-01 6.10114687e-02 6.03203619e-03 7.45449465e+00] [-6.09354672e-02 9.98068737e-01 -1.20691907e-02 -1.93802741e-01] [-6.75674579e-03 1.16789217e-02 9.99908970e-01 -1.26223163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.621193817 meters Centerline goodness : 0.895299 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.19, Z:-1.26 [[ 9.98131986e-01 6.08349301e-02 5.62583686e-03 7.45537618e+00] [-6.07606501e-02 9.98073510e-01 -1.25463729e-02 -1.93158863e-01] [-6.37825646e-03 1.21811066e-02 9.99905465e-01 -1.26220516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.651193817 meters Centerline goodness : 0.893694 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98453181e-01 5.54985025e-02 -3.34100247e-03 7.44767645e+00] [-5.55350442e-02 9.98383732e-01 -1.20740564e-02 -1.91186890e-01] [ 2.66551046e-03 1.22409228e-02 9.99921524e-01 -1.25750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68119381700001 meters Centerline goodness : 0.891875 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.26 [[ 9.98488780e-01 5.48437508e-02 -3.50976658e-03 7.44864407e+00] [-5.48836068e-02 9.98414528e-01 -1.24988368e-02 -1.90660463e-01] [ 2.81871885e-03 1.26725770e-02 9.99915727e-01 -1.25846108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71119381700001 meters Centerline goodness : 0.893573 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.19, Z:-1.25 [[ 0.99864986 0.04997334 -0.01418189 7.44306687] [-0.05015512 0.99865986 -0.01276497 -0.18717718] [ 0.01352498 0.01345903 0.99981795 -1.25350153] [ 0. 0. 0. 1. ]] SLAMing on 72.741193817 meters Centerline goodness : 0.892743 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99872427 0.04847325 -0.01414838 7.44376877] [-0.04868114 0.99870562 -0.01473882 -0.18310782] [ 0.01341562 0.01540878 0.99979127 -1.25419979] [ 0. 0. 0. 1. ]] SLAMing on 72.771193817 meters Centerline goodness : 0.896408 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99874487 0.04810236 -0.01395897 7.44303544] [-0.04831857 0.99871033 -0.01558853 -0.1810603 ] [ 0.01319112 0.01624344 0.99978105 -1.25338274] [ 0. 0. 0. 1. ]] SLAMing on 72.801193817 meters Centerline goodness : 0.895622 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.9987598 0.04770991 -0.01423487 7.44332079] [-0.04794463 0.99871154 -0.01663023 -0.17955669] [ 0.0134231 0.01729209 0.99976037 -1.25265562] [ 0. 0. 0. 1. ]] SLAMing on 72.831193817 meters Centerline goodness : 0.893667 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99877434 0.0472455 -0.01475372 7.44367724] [-0.04750693 0.99871046 -0.01790254 -0.17809609] [ 0.01388888 0.0185815 0.99973088 -1.25136241] [ 0. 0. 0. 1. ]] SLAMing on 72.861193817 meters Centerline goodness : 0.896306 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.18, Z:-1.25 [[ 0.99873815 0.04779667 -0.01541386 7.44421123] [-0.04809092 0.99865609 -0.01932035 -0.17543024] [ 0.0144697 0.02003724 0.99969452 -1.24950579] [ 0. 0. 0. 1. ]] SLAMing on 72.891193817 meters Centerline goodness : 0.897760 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.17, Z:-1.25 [[ 0.99855168 0.05156934 -0.01533458 7.44476095] [-0.05181112 0.99853173 -0.01581102 -0.1747337 ] [ 0.01449671 0.01658262 0.9997574 -1.24972649] [ 0. 0. 0. 1. ]] SLAMing on 72.921193817 meters Centerline goodness : 0.892848 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 0.99832721 0.05570704 -0.01547602 7.4458226 ] [-0.05590169 0.99835874 -0.01244264 -0.17315181] [ 0.01475748 0.01328696 0.99980282 -1.24982145] [ 0. 0. 0. 1. ]] SLAMing on 72.951193817 meters Centerline goodness : 0.896484 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 0.99805666 0.06026272 -0.01585287 7.44709117] [-0.06041394 0.99813065 -0.00923945 -0.17125687] [ 0.01526644 0.01017923 0.99983165 -1.24929899] [ 0. 0. 0. 1. ]] SLAMing on 72.981193817 meters Centerline goodness : 0.885913 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97405784e-01 7.01488763e-02 -1.61504318e-02 7.44825267e+00] [-7.01712135e-02 9.97534625e-01 -8.19864966e-04 -1.71689276e-01] [ 1.60531023e-02 1.95103346e-03 9.99869237e-01 -1.24814288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.011193817 meters Centerline goodness : 0.886869 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97297125e-01 7.14359483e-02 -1.71857467e-02 7.45036725e+00] [-7.14576224e-02 9.97443425e-01 -6.49633965e-04 -1.71854780e-01] [ 1.70954028e-02 1.87593068e-03 9.99852103e-01 -1.24779102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.041193817 meters Centerline goodness : 0.884640 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.17, Z:-1.25 [[ 9.97194316e-01 7.26331556e-02 -1.81086059e-02 7.45204936e+00] [-7.26420475e-02 9.97358063e-01 1.67133412e-04 -1.73859835e-01] [ 1.80729035e-02 1.14878172e-03 9.99836012e-01 -1.24750157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07119381700001 meters Centerline goodness : 0.888604 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.18, Z:-1.25 [[ 9.97285795e-01 7.09276378e-02 -1.97563592e-02 7.45494213e+00] [-7.09946984e-02 9.97473003e-01 -2.71306874e-03 -1.75340935e-01] [ 1.95140034e-02 4.10830168e-03 9.99801143e-01 -1.24737046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10119381700001 meters Centerline goodness : 0.896469 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.19, Z:-1.24 [[ 9.97176016e-01 6.99435870e-02 -2.73475281e-02 7.44428229e+00] [-6.98522051e-02 9.97548153e-01 4.28384187e-03 -1.85782377e-01] [ 2.75801034e-02 -2.36145923e-03 9.99616807e-01 -1.24335418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131193817 meters Centerline goodness : 0.888132 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97318888e-01 6.73187900e-02 -2.86917493e-02 7.44636611e+00] [-6.73001049e-02 9.97731467e-01 1.61751601e-03 -1.88410413e-01] [ 2.87355504e-02 3.17778473e-04 9.99586998e-01 -1.24334304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161193817 meters Centerline goodness : 0.891297 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97441719e-01 6.48676948e-02 -3.00366229e-02 7.44886660e+00] [-6.49310984e-02 9.97889099e-01 -1.13930671e-03 -1.90986060e-01] [ 2.98993144e-02 3.08670297e-03 9.99548150e-01 -1.24380542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191193817 meters Centerline goodness : 0.887766 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.19, Z:-1.24 [[ 9.97533330e-01 6.26856717e-02 -3.15873607e-02 7.45190187e+00] [-6.28339733e-02 9.98017048e-01 -3.72343770e-03 -1.93860510e-01] [ 3.12913182e-02 5.69901259e-03 9.99494059e-01 -1.24434853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221193817 meters Centerline goodness : 0.888781 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.21, Z:-1.24 [[ 9.97318098e-01 6.22542769e-02 -3.84839669e-02 7.44035466e+00] [-6.20951529e-02 9.98056069e-01 5.31751540e-03 -2.07022487e-01] [ 3.87401947e-02 -2.91358654e-03 9.99245069e-01 -1.24024307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251193817 meters Centerline goodness : 0.887787 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.21, Z:-1.24 [[ 9.97449461e-01 5.94226636e-02 -3.95413664e-02 7.44206701e+00] [-5.93511220e-02 9.98232715e-01 2.98174343e-03 -2.11049717e-01] [ 3.96486687e-02 -6.27313916e-04 9.99213485e-01 -1.24058465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.281193817 meters Centerline goodness : 0.888329 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.22, Z:-1.24 [[ 9.97576388e-01 5.66398734e-02 -4.04138047e-02 7.44342456e+00] [-5.66494501e-02 9.98393717e-01 9.09095312e-04 -2.15133664e-01] [ 4.04003797e-02 1.38252779e-03 9.99182615e-01 -1.24097717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.311193817 meters Centerline goodness : 0.883762 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.24 [[ 9.97720991e-01 5.27559424e-02 -4.20670248e-02 7.44760188e+00] [-5.28189914e-02 9.98604027e-01 -3.87950210e-04 -2.25816084e-01] [ 4.19878337e-02 2.60900389e-03 9.99114716e-01 -1.24407342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.341193817 meters Centerline goodness : 0.881448 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.23, Z:-1.24 [[ 9.97857227e-01 4.96518691e-02 -4.26104010e-02 7.44845803e+00] [-4.97849122e-02 9.98757825e-01 -2.06620137e-03 -2.30942568e-01] [ 4.24548806e-02 4.18312904e-03 9.99089628e-01 -1.24487214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.371193817 meters Centerline goodness : 0.886367 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.24, Z:-1.25 [[ 9.98358693e-01 4.47689396e-02 -3.57164053e-02 7.45938518e+00] [-4.47815352e-02 9.98996704e-01 4.47638927e-04 -2.37390841e-01] [ 3.57006115e-02 1.15253125e-03 9.99361865e-01 -1.24827965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.401193817 meters Centerline goodness : 0.886214 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.25, Z:-1.25 [[ 9.99062375e-01 3.54710082e-02 -2.48229255e-02 7.46244072e+00] [-3.55678295e-02 9.99361241e-01 -3.46975380e-03 -2.48276046e-01] [ 2.46839940e-02 4.34939806e-03 9.99685842e-01 -1.24970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43119381700001 meters Centerline goodness : 0.886214 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.25, Z:-1.25 [[ 9.99062375e-01 3.54710082e-02 -2.48229255e-02 7.46244072e+00] [-3.55678295e-02 9.99361241e-01 -3.46975380e-03 -2.48276046e-01] [ 2.46839940e-02 4.34939806e-03 9.99685842e-01 -1.24970166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46119381700001 meters Centerline goodness : 0.886367 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.25, Z:-1.25 [[ 9.99402724e-01 2.92874139e-02 -1.83423801e-02 7.47115889e+00] [-2.93108076e-02 9.99569838e-01 -1.00779737e-03 -2.54333928e-01] [ 1.83049741e-02 1.54482541e-03 9.99831256e-01 -1.25183677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491193817 meters Centerline goodness : 0.889986 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.26, Z:-1.25 [[ 9.99606706e-01 2.50393402e-02 -1.26279707e-02 7.48167177e+00] [-2.49952292e-02 9.99680947e-01 3.63895419e-03 -2.60570811e-01] [ 1.27150588e-02 -3.32188398e-03 9.99913642e-01 -1.25465009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521193817 meters Centerline goodness : 0.890570 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.26, Z:-1.26 [[ 9.99692134e-01 2.11876568e-02 -1.29120043e-02 7.48243811e+00] [-2.11872657e-02 9.99775511e-01 1.67099929e-04 -2.62473559e-01] [ 1.29126461e-02 1.06521581e-04 9.99916623e-01 -1.25513236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551193817 meters Centerline goodness : 0.889206 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.27, Z:-1.26 [[ 9.99718073e-01 1.96239420e-02 -1.33669283e-02 7.48401976e+00] [-1.96337154e-02 9.99807060e-01 -6.00318392e-04 -2.67904510e-01] [ 1.33525687e-02 8.62591613e-04 9.99910478e-01 -1.25606314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581193817 meters Centerline goodness : 0.890669 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.27, Z:-1.26 [[ 0.99975084 0.02068559 -0.0083884 7.4965024 ] [-0.02076807 0.99973563 -0.00986733 -0.26888671] [ 0.00818207 0.01003908 0.99991613 -1.2608436 ] [ 0. 0. 0. 1. ]] SLAMing on 73.611193817 meters Centerline goodness : 0.885861 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.27, Z:-1.26 [[ 0.99973738 0.02117548 -0.008762 7.49746105] [-0.021254 0.99973388 -0.0089682 -0.27199601] [ 0.00856976 0.00915207 0.9999214 -1.26108761] [ 0. 0. 0. 1. ]] SLAMing on 73.641193817 meters Centerline goodness : 0.890606 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99703629e-01 2.27234996e-02 -8.73474958e-03 7.49761537e+00] [-2.27847489e-02 9.99716043e-01 -6.97777265e-03 -2.77402269e-01] [ 8.57370987e-03 7.17472372e-03 9.99937505e-01 -1.26153550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.671193817 meters Centerline goodness : 0.887908 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99687128e-01 2.33233832e-02 -9.03695475e-03 7.49843931e+00] [-2.33778087e-02 9.99708909e-01 -5.96444498e-03 -2.80404253e-01] [ 8.89521314e-03 6.17384307e-03 9.99941378e-01 -1.26181167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.701193817 meters Centerline goodness : 0.887994 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.28, Z:-1.26 [[ 9.99677673e-01 2.35891230e-02 -9.38637939e-03 7.49955288e+00] [-2.36380239e-02 9.99707403e-01 -5.13337672e-03 -2.83546797e-01] [ 9.26254111e-03 5.35359755e-03 9.99942771e-01 -1.26229043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.731193817 meters Centerline goodness : 0.890382 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.29, Z:-1.26 [[ 9.99670462e-01 2.37324082e-02 -9.78465484e-03 7.50073791e+00] [-2.37760168e-02 9.99707782e-01 -4.36484194e-03 -2.86598395e-01] [ 9.67820737e-03 4.59604368e-03 9.99942603e-01 -1.26268271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.761193817 meters Centerline goodness : 0.894382 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.29, Z:-1.26 [[ 9.99676719e-01 2.33757111e-02 -1.00016727e-02 7.50174885e+00] [-2.34117965e-02 9.99719758e-01 -3.50618644e-03 -2.92448306e-01] [ 9.91691017e-03 3.73921008e-03 9.99943835e-01 -1.26319921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.791193817 meters Centerline goodness : 0.890454 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.30, Z:-1.26 [[ 9.99695310e-01 2.23185982e-02 -1.05435463e-02 7.50366643e+00] [-2.23604743e-02 9.99742480e-01 -3.87066597e-03 -2.95844699e-01] [ 1.04544433e-02 4.10524531e-03 9.99936924e-01 -1.26408554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82119381700001 meters Centerline goodness : 0.893523 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99728730e-01 2.02951110e-02 -1.14269026e-02 7.50658248e+00] [-2.03594484e-02 9.99777362e-01 -5.54244221e-03 -2.99059927e-01] [ 1.13118740e-02 5.77358415e-03 9.99919350e-01 -1.26560323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85119381700001 meters Centerline goodness : 0.892736 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99760255e-01 1.82039564e-02 -1.21674970e-02 7.50974208e+00] [-1.82953161e-02 9.99804946e-01 -7.43983889e-03 -3.01666325e-01] [ 1.20296892e-02 7.66066343e-03 9.99898295e-01 -1.26780797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881193817 meters Centerline goodness : 0.890228 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.30, Z:-1.27 [[ 9.99738267e-01 1.87495277e-02 -1.31092776e-02 7.51447920e+00] [-1.88370247e-02 9.99800895e-01 -6.58311760e-03 -3.04952688e-01] [ 1.29832371e-02 6.82833436e-03 9.99892399e-01 -1.27151942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911193817 meters Centerline goodness : 0.890584 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.31, Z:-1.27 [[ 9.99723850e-01 1.92293243e-02 -1.35076680e-02 7.51574012e+00] [-1.93143856e-02 9.99794265e-01 -6.19528040e-03 -3.05573144e-01] [ 1.33857579e-02 6.45446188e-03 9.99889575e-01 -1.27214124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters Centerline goodness : 0.892693 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.30, Z:-1.28 [[ 0.99972801 0.0216915 -0.00856663 7.52967447] [-0.02180567 0.99967152 -0.01346704 -0.3048656 ] [ 0.0082717 0.01365017 0.99987262 -1.27716311] [ 0. 0. 0. 1. ]] SLAMing on 73.971193817 meters Centerline goodness : 0.893422 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99969274 0.0232034 -0.00871937 7.52983216] [-0.02330927 0.99965334 -0.01224225 -0.30695752] [ 0.00843229 0.01244173 0.99988704 -1.27727345] [ 0. 0. 0. 1. ]] SLAMing on 74.001193817 meters Centerline goodness : 0.893649 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99967388 0.02394566 -0.00887306 7.52983332] [-0.02404577 0.99964639 -0.01135283 -0.30822113] [ 0.00859807 0.01156248 0.99989619 -1.27682668] [ 0. 0. 0. 1. ]] SLAMing on 74.031193817 meters Centerline goodness : 0.895015 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99965911 0.02449148 -0.00904641 7.52969965] [-0.02458577 0.99964296 -0.01046357 -0.31022675] [ 0.00878691 0.01068242 0.99990433 -1.27607851] [ 0. 0. 0. 1. ]] SLAMing on 74.061193817 meters Centerline goodness : 0.894537 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.31, Z:-1.28 [[ 0.99964674 0.02493263 -0.00920605 7.52935542] [-0.0250197 0.99964214 -0.00946637 -0.31302786] [ 0.00896673 0.00969336 0.99991281 -1.27501649] [ 0. 0. 0. 1. ]] SLAMing on 74.091193817 meters Centerline goodness : 0.897147 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.32, Z:-1.27 [[ 0.9996922 0.02315551 -0.00890665 7.5270262 ] [-0.02324758 0.99967589 -0.01037652 -0.31954324] [ 0.00866349 0.01058039 0.9999065 -1.27295327] [ 0. 0. 0. 1. ]] SLAMing on 74.121193817 meters Centerline goodness : 0.899890 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.32, Z:-1.27 [[ 0.99970526 0.02235756 -0.00946181 7.52898471] [-0.02245534 0.99969419 -0.01035764 -0.32349405] [ 0.00922735 0.01056705 0.99990159 -1.27387333] [ 0. 0. 0. 1. ]] SLAMing on 74.151193817 meters Centerline goodness : 0.904929 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.33, Z:-1.27 [[ 0.99970443 0.02215004 -0.01002114 7.53052208] [-0.02224407 0.99970865 -0.00937152 -0.32806044] [ 0.00981064 0.00959166 0.99990587 -1.27409791] [ 0. 0. 0. 1. ]] SLAMing on 74.18119381700001 meters Centerline goodness : 0.905452 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.33, Z:-1.27 [[ 0.99976782 0.01890161 -0.01034548 7.53112473] [-0.0190269 0.99974514 -0.01215004 -0.33090932] [ 0.01011319 0.01234406 0.99987267 -1.2742166 ] [ 0. 0. 0. 1. ]] SLAMing on 74.21119381700001 meters Centerline goodness : 0.904568 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.34, Z:-1.27 [[ 0.99979956 0.01699642 -0.01058151 7.53106744] [-0.01712578 0.9997782 -0.01225769 -0.34211548] [ 0.01037083 0.01243645 0.99986888 -1.27347786] [ 0. 0. 0. 1. ]] SLAMing on 74.241193817 meters Centerline goodness : 0.905448 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.35, Z:-1.27 [[ 0.9997885 0.01754262 -0.01073401 7.53093239] [-0.01765525 0.9997891 -0.01049014 -0.34854083] [ 0.01054772 0.01067744 0.99988736 -1.27263477] [ 0. 0. 0. 1. ]] SLAMing on 74.271193817 meters Centerline goodness : 0.908788 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.35, Z:-1.27 [[ 0.9997851 0.01728752 -0.01144064 7.5329103 ] [-0.01739695 0.99980318 -0.00953623 -0.35390616] [ 0.01127353 0.00973321 0.99988908 -1.27300444] [ 0. 0. 0. 1. ]] SLAMing on 74.301193817 meters Centerline goodness : 0.908672 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.36, Z:-1.27 [[ 0.99982843 0.01447953 -0.0115526 7.53417536] [-0.01460097 0.99983829 -0.01049803 -0.36197315] [ 0.01139873 0.0106649 0.99987816 -1.27410362] [ 0. 0. 0. 1. ]] SLAMing on 74.331193817 meters Centerline goodness : 0.911770 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.37, Z:-1.27 [[ 0.99982969 0.01387049 -0.01217366 7.53641324] [-0.01398971 0.99985447 -0.00976309 -0.36707026] [ 0.01203647 0.00993173 0.99987823 -1.27495751] [ 0. 0. 0. 1. ]] SLAMing on 74.361193817 meters Centerline goodness : 0.908466 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.37, Z:-1.28 [[ 0.99986939 0.01014695 -0.01257909 7.53765679] [-0.01030705 0.99986586 -0.01272872 -0.37075416] [ 0.01244824 0.01285671 0.99983986 -1.27552419] [ 0. 0. 0. 1. ]] SLAMing on 74.391193817 meters Centerline goodness : 0.908021 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.38, Z:-1.28 [[ 9.99896798e-01 6.69502852e-03 -1.27110067e-02 7.53760506e+00] [-6.88856124e-03 9.99860084e-01 -1.52433678e-02 -3.75265239e-01] [ 1.26071734e-02 1.53293552e-02 9.99803016e-01 -1.27501959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.421193817 meters Centerline goodness : 0.912624 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.38, Z:-1.27 [[ 9.99912066e-01 3.07957224e-03 -1.28986766e-02 7.53797316e+00] [-3.31131983e-03 9.99832789e-01 -1.79841200e-02 -3.79401392e-01] [ 1.28411364e-02 1.80252502e-02 9.99755068e-01 -1.27487703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.451193817 meters Centerline goodness : 0.913571 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.39, Z:-1.28 [[ 9.99911617e-01 -1.83232772e-03 -1.31681900e-02 7.54040681e+00] [ 1.55327120e-03 9.99774667e-01 -2.11707846e-02 -3.85434903e-01] [ 1.32040146e-02 2.11484597e-02 9.99689150e-01 -1.27685127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.481193817 meters Centerline goodness : 0.910009 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.39, Z:-1.28 [[ 9.99894351e-01 -3.64961921e-03 -1.40701047e-02 7.54447178e+00] [ 3.34210752e-03 9.99756382e-01 -2.18175823e-02 -3.88134341e-01] [ 1.41463028e-02 2.17682535e-02 9.99662956e-01 -1.27920648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.511193817 meters Centerline goodness : 0.910063 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.39, Z:-1.28 [[ 9.99872697e-01 -5.99527753e-03 -1.47866862e-02 7.54836996e+00] [ 5.65379670e-03 9.99718822e-01 -2.30284753e-02 -3.90774960e-01] [ 1.49205906e-02 2.29419428e-02 9.99625451e-01 -1.28175597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.541193817 meters Centerline goodness : 0.909352 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.39, Z:-1.28 [[ 9.99852851e-01 -7.63662128e-03 -1.53609156e-02 7.55114863e+00] [ 7.27594014e-03 9.99699685e-01 -2.34008445e-02 -3.93946544e-01] [ 1.55350059e-02 2.32856359e-02 9.99608145e-01 -1.28315680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57119381700001 meters Centerline goodness : 0.910615 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.99978059 -0.01402677 -0.01555689 7.55306086] [ 0.01358251 0.99950707 -0.02830442 -0.39620023] [ 0.01594624 0.02808691 0.99947829 -1.28382872] [ 0. 0. 0. 1. ]] SLAMing on 74.60119381700001 meters Centerline goodness : 0.914851 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.9997598 -0.0150971 -0.01588782 7.55417837] [ 0.01463489 0.99947758 -0.02881641 -0.39640589] [ 0.01631457 0.02857697 0.99945845 -1.28387994] [ 0. 0. 0. 1. ]] SLAMing on 74.631193817 meters Centerline goodness : 0.911749 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.40, Z:-1.28 [[ 0.99974396 -0.01579885 -0.0161988 7.55490806] [ 0.01532091 0.9994557 -0.02921588 -0.3955783 ] [ 0.01665156 0.02896022 0.99944186 -1.28364932] [ 0. 0. 0. 1. ]] SLAMing on 74.661193817 meters Centerline goodness : 0.912595 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.39, Z:-1.28 [[ 0.99968045 -0.01692947 -0.01877191 7.56206608] [ 0.01640451 0.99947959 -0.02777475 -0.39011661] [ 0.01923235 0.02745793 0.99943793 -1.28312074] [ 0. 0. 0. 1. ]] SLAMing on 74.691193817 meters Centerline goodness : 0.913046 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.39, Z:-1.28 [[ 0.99969919 -0.01477073 -0.01957939 7.56481617] [ 0.01426858 0.99957188 -0.02554335 -0.38727579] [ 0.0199483 0.02525629 0.99948196 -1.28417438] [ 0. 0. 0. 1. ]] SLAMing on 74.721193817 meters Centerline goodness : 0.910738 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.38, Z:-1.29 [[ 0.99971021 -0.01256627 -0.0205325 7.56789783] [ 0.01208378 0.99965184 -0.02345601 -0.38364568] [ 0.02082011 0.0232011 0.999514 -1.2853479 ] [ 0. 0. 0. 1. ]] SLAMing on 74.751193817 meters Centerline goodness : 0.909851 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.38, Z:-1.29 [[ 0.99971689 -0.01035251 -0.02142352 7.57109242] [ 0.0098926 0.99972069 -0.0214634 -0.38014597] [ 0.02163973 0.02124539 0.99954007 -1.28687138] [ 0. 0. 0. 1. ]] SLAMing on 74.781193817 meters Centerline goodness : 0.909660 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99729040e-01 -7.67932762e-03 -2.19744094e-02 7.57213263e+00] [ 7.24232208e-03 9.99775785e-01 -1.98979682e-02 -3.73237900e-01] [ 2.21222854e-02 1.97334309e-02 9.99560502e-01 -1.28664415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.811193817 meters Centerline goodness : 0.910545 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99735329e-01 -4.72068177e-03 -2.25163745e-02 7.57300634e+00] [ 4.33689138e-03 9.99845003e-01 -1.70634288e-02 -3.71003597e-01] [ 2.25934356e-02 1.69612615e-02 9.99600846e-01 -1.28605281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.841193817 meters Centerline goodness : 0.909260 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.37, Z:-1.29 [[ 9.99732935e-01 -1.91863561e-03 -2.30299083e-02 7.57410112e+00] [ 1.58647689e-03 9.99894587e-01 -1.44325439e-02 -3.68476980e-01] [ 2.30551714e-02 1.43921530e-02 9.99630594e-01 -1.28581173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.871193817 meters Centerline goodness : 0.909942 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.36, Z:-1.29 [[ 9.99814853e-01 2.94745742e-03 -1.90150386e-02 7.59140491e+00] [-3.30174871e-03 9.99821037e-01 -1.86277544e-02 -3.57455367e-01] [ 1.89567311e-02 1.86870884e-02 9.99645655e-01 -1.29002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.901193817 meters Centerline goodness : 0.907998 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.35, Z:-1.29 [[ 9.99789978e-01 5.91114099e-03 -1.96229153e-02 7.59333049e+00] [-6.23212970e-03 9.99847117e-01 -1.63372021e-02 -3.52776298e-01] [ 1.95233438e-02 1.64560635e-02 9.99673965e-01 -1.29070992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93119381700001 meters Centerline goodness : 0.906506 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.35, Z:-1.30 [[ 9.99914383e-01 6.50889251e-03 -1.13516600e-02 7.60369233e+00] [-6.67231298e-03 9.99873790e-01 -1.44182166e-02 -3.47965976e-01] [ 1.12563807e-02 1.44927240e-02 9.99831613e-01 -1.29809403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96119381700001 meters Centerline goodness : 0.904499 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.35, Z:-1.30 [[ 0.99988111 0.00992725 -0.0117993 7.60461878] [-0.0100629 0.99988332 -0.01149315 -0.34550889] [ 0.01168383 0.01161052 0.99986433 -1.29792044] [ 0. 0. 0. 1. ]] SLAMing on 74.991193817 meters Centerline goodness : 0.903977 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.34, Z:-1.30 [[ 0.99984829 0.01529092 -0.00834219 7.62082253] [-0.01542774 0.99974333 -0.01659106 -0.33596083] [ 0.00808635 0.01671724 0.99982756 -1.30134061] [ 0. 0. 0. 1. ]] SLAMing on 75.021193817 meters Centerline goodness : 0.906258 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.33, Z:-1.30 [[ 0.99978891 0.01865755 -0.00860453 7.62197319] [-0.01877681 0.99972576 -0.01399394 -0.33222307] [ 0.00834108 0.01415255 0.99986506 -1.30186638] [ 0. 0. 0. 1. ]] SLAMing on 75.051193817 meters Centerline goodness : 0.905278 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.33, Z:-1.30 [[ 0.99972375 0.0216954 -0.00904045 7.62369686] [-0.02179888 0.99969613 -0.0115094 -0.32868595] [ 0.008788 0.01170329 0.9998929 -1.30266259] [ 0. 0. 0. 1. ]] SLAMing on 75.081193817 meters Centerline goodness : 0.904118 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.33, Z:-1.30 [[ 0.99964816 0.02478747 -0.00944131 7.62502206] [-0.02486943 0.99965316 -0.00866437 -0.32609154] [ 0.00922326 0.00889612 0.99991789 -1.3028887 ] [ 0. 0. 0. 1. ]] SLAMing on 75.111193817 meters Centerline goodness : 0.904744 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.31 [[ 9.99628549e-01 2.67293942e-02 -5.32003112e-03 7.64118710e+00] [-2.68093846e-02 9.99519148e-01 -1.55797886e-02 -3.17470711e-01] [ 4.90103466e-03 1.57166282e-02 9.99864475e-01 -1.30652105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141193817 meters Centerline goodness : 0.902794 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.32, Z:-1.31 [[ 9.99559332e-01 2.90951171e-02 -5.88357792e-03 7.64343054e+00] [-2.91706919e-02 9.99487345e-01 -1.31953587e-02 -3.15060884e-01] [ 5.49664117e-03 1.33611720e-02 9.99895628e-01 -1.30737757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.171193817 meters Centerline goodness : 0.902076 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.31 [[ 9.99480785e-01 3.15690607e-02 -6.44630600e-03 7.64570605e+00] [-3.16379070e-02 9.99440255e-01 -1.08729019e-02 -3.12411366e-01] [ 6.09945041e-03 1.10712042e-02 9.99920109e-01 -1.30840191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201193817 meters Centerline goodness : 0.901295 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.31, Z:-1.31 [[ 9.99404834e-01 3.37586307e-02 -7.09452745e-03 7.64823631e+00] [-3.38259789e-02 9.99381653e-01 -9.59763913e-03 -3.06602535e-01] [ 6.76613742e-03 9.83190628e-03 9.99928774e-01 -1.30963301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.231193817 meters Centerline goodness : 0.901219 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.30, Z:-1.31 [[ 9.99421657e-01 3.31050388e-02 -7.77229004e-03 7.65011533e+00] [-3.31889225e-02 9.99389396e-01 -1.09238289e-02 -3.03461351e-01] [ 7.40591048e-03 1.11754651e-02 9.99910127e-01 -1.31031396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261193817 meters Centerline goodness : 0.898242 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.30, Z:-1.31 [[ 0.99944899 0.03214039 -0.00828964 7.65212302] [-0.03224305 0.99940111 -0.01256234 -0.30008867] [ 0.00788091 0.01282271 0.99988673 -1.31155934] [ 0. 0. 0. 1. ]] SLAMing on 75.291193817 meters Centerline goodness : 0.897169 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.30, Z:-1.31 [[ 0.99941134 0.03308838 -0.00906308 7.65597696] [-0.03319353 0.99938036 -0.01170798 -0.29763694] [ 0.00867006 0.01200192 0.99989039 -1.31399901] [ 0. 0. 0. 1. ]] SLAMing on 75.32119381700001 meters Centerline goodness : 0.893025 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994539 0.03153659 -0.00986586 7.65897848] [-0.03167644 0.99939508 -0.01435536 -0.29136364] [ 0.00940718 0.01466003 0.99984828 -1.3159403 ] [ 0. 0. 0. 1. ]] SLAMing on 75.35119381700001 meters Centerline goodness : 0.893025 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994539 0.03153659 -0.00986586 7.65897848] [-0.03167644 0.99939508 -0.01435536 -0.29136364] [ 0.00940718 0.01466003 0.99984828 -1.3159403 ] [ 0. 0. 0. 1. ]] SLAMing on 75.381193817 meters Centerline goodness : 0.892926 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.9994842 0.03035422 -0.01048643 7.66145417] [-0.03051718 0.99941021 -0.01574587 -0.28947462] [ 0.01000229 0.01605776 0.99982104 -1.31747587] [ 0. 0. 0. 1. ]] SLAMing on 75.411193817 meters Centerline goodness : 0.891662 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.29, Z:-1.32 [[ 0.99950817 0.02930227 -0.01117134 7.66396456] [-0.0294869 0.99942502 -0.0167377 -0.28877477] [ 0.01067447 0.01705887 0.9997975 -1.31887598] [ 0. 0. 0. 1. ]] SLAMing on 75.441193817 meters Centerline goodness : 0.892969 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99951969 0.02874159 -0.01158937 7.66525556] [-0.02893797 0.99943408 -0.01714951 -0.28856141] [ 0.01108991 0.01747664 0.99978577 -1.31934256] [ 0. 0. 0. 1. ]] SLAMing on 75.471193817 meters Centerline goodness : 0.893367 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953306 0.02814857 -0.0118878 7.66528107] [-0.02835037 0.99945069 -0.0171629 -0.28882291] [ 0.01139815 0.01749191 0.99978203 -1.31832358] [ 0. 0. 0. 1. ]] SLAMing on 75.501193817 meters Centerline goodness : 0.894862 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953883 0.0277854 -0.01225136 7.66594998] [-0.02799442 0.99945952 -0.01723284 -0.28903347] [ 0.01176592 0.01756786 0.99977644 -1.3180799 ] [ 0. 0. 0. 1. ]] SLAMing on 75.531193817 meters Centerline goodness : 0.895125 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953768 0.02759938 -0.01275506 7.66690531] [-0.02781646 0.99946562 -0.01716742 -0.28953755] [ 0.01227444 0.01751429 0.99977127 -1.31792024] [ 0. 0. 0. 1. ]] SLAMing on 75.561193817 meters Centerline goodness : 0.896870 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99954226 0.02726529 -0.01310979 7.6674689 ] [-0.02748462 0.99948017 -0.01685187 -0.29153356] [ 0.01264351 0.01720447 0.99977205 -1.31757037] [ 0. 0. 0. 1. ]] SLAMing on 75.591193817 meters Centerline goodness : 0.897146 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.9995381 0.02724404 -0.01346683 7.66842855] [-0.02746752 0.99948323 -0.01669754 -0.29231798] [ 0.01300496 0.01705973 0.99976989 -1.31781301] [ 0. 0. 0. 1. ]] SLAMing on 75.621193817 meters Centerline goodness : 0.898347 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99953274 0.02725172 -0.01384341 7.66921259] [-0.027482 0.99948235 -0.01672622 -0.2922357 ] [ 0.01338042 0.01709885 0.99976427 -1.3178263 ] [ 0. 0. 0. 1. ]] SLAMing on 75.651193817 meters Centerline goodness : 0.898092 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99945978 0.02955086 -0.01438413 7.67135543] [-0.0297526 0.99945898 -0.01401917 -0.29268524] [ 0.01396207 0.01443956 0.99979826 -1.31865001] [ 0. 0. 0. 1. ]] SLAMing on 75.68119381700001 meters Centerline goodness : 0.898070 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99934818 0.03305976 -0.01450057 7.67164023] [-0.03321633 0.99939099 -0.01069238 -0.28981343] [ 0.01413825 0.01116707 0.99983769 -1.31812727] [ 0. 0. 0. 1. ]] SLAMing on 75.71119381700001 meters Centerline goodness : 0.897143 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99935554 0.03263059 -0.01495841 7.67246705] [-0.03280213 0.99939719 -0.01136964 -0.28797135] [ 0.0145784 0.01185298 0.99982347 -1.31792347] [ 0. 0. 0. 1. ]] SLAMing on 75.741193817 meters Centerline goodness : 0.897257 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99935882 0.03227392 -0.0155033 7.67313692] [-0.03245475 0.99940638 -0.01155786 -0.28807047] [ 0.01512108 0.0120536 0.99981301 -1.31728613] [ 0. 0. 0. 1. ]] SLAMing on 75.771193817 meters Centerline goodness : 0.898004 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.29, Z:-1.32 [[ 0.99937514 0.03154294 -0.01594887 7.67398005] [-0.03173614 0.99942413 -0.01200953 -0.28849985] [ 0.01556087 0.01250818 0.99980068 -1.3170748 ] [ 0. 0. 0. 1. ]] SLAMing on 75.801193817 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.29, Z:-1.32 [[ 0.99945092 0.02878106 -0.01641679 7.67519771] [-0.02901501 0.99947818 -0.01419509 -0.28743212] [ 0.01599967 0.01466363 0.99976447 -1.31706833] [ 0. 0. 0. 1. ]] SLAMing on 75.831193817 meters Centerline goodness : 0.899749 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.29, Z:-1.32 [[ 0.99948306 0.0273099 -0.01696438 7.67698121] [-0.02757433 0.99949874 -0.015554 -0.28536655] [ 0.01653109 0.01601374 0.99973511 -1.31781873] [ 0. 0. 0. 1. ]] SLAMing on 75.861193817 meters Centerline goodness : 0.899195 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.28, Z:-1.32 [[ 0.99954755 0.02421052 -0.01784775 7.67991947] [-0.02453973 0.99952834 -0.01846357 -0.28034132] [ 0.01739232 0.0188932 0.99967022 -1.31896606] [ 0. 0. 0. 1. ]] SLAMing on 75.891193817 meters Centerline goodness : 0.901169 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.28, Z:-1.32 [[ 0.99957357 0.02253951 -0.0185646 7.68233102] [-0.02291164 0.99953577 -0.02008258 -0.27808545] [ 0.01810333 0.02049936 0.99962595 -1.32004098] [ 0. 0. 0. 1. ]] SLAMing on 75.921193817 meters Centerline goodness : 0.893751 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.28, Z:-1.32 [[ 0.99959678 0.02077307 -0.01935851 7.6851175 ] [-0.02119493 0.99953662 -0.02184748 -0.27571638] [ 0.0188957 0.02224898 0.99957388 -1.32145062] [ 0. 0. 0. 1. ]] SLAMing on 75.951193817 meters Centerline goodness : 0.894761 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.27, Z:-1.32 [[ 0.99962127 0.01880247 -0.02009444 7.68782419] [-0.01927983 0.99953005 -0.02383203 -0.27288765] [ 0.0196369 0.02421042 0.99951401 -1.32281041] [ 0. 0. 0. 1. ]] SLAMing on 75.981193817 meters Centerline goodness : 0.897566 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.27, Z:-1.32 [[ 0.99965872 0.01548389 -0.02104024 7.69108349] [-0.01605895 0.99949437 -0.02744297 -0.26627246] [ 0.02060467 0.02777149 0.99940192 -1.32409432] [ 0. 0. 0. 1. ]] SLAMing on 76.011193817 meters Centerline goodness : 0.896915 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.26, Z:-1.33 [[ 0.99962788 0.01649827 -0.02172355 7.69414289] [-0.01706685 0.99950961 -0.02625369 -0.26283723] [ 0.02127976 0.02661467 0.99941925 -1.32557032] [ 0. 0. 0. 1. ]] SLAMing on 76.041193817 meters Centerline goodness : 0.896824 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.26, Z:-1.33 [[ 0.99957908 0.01860486 -0.0222603 7.69650784] [-0.0191521 0.99951321 -0.02462815 -0.25806989] [ 0.02179126 0.02504412 0.99944881 -1.32661844] [ 0. 0. 0. 1. ]] SLAMing on 76.07119381700001 meters Centerline goodness : 0.896532 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.25, Z:-1.33 [[ 0.9995125 0.02146687 -0.02267019 7.69762518] [-0.02197768 0.9995046 -0.02252842 -0.25274455] [ 0.02217534 0.02301567 0.99948914 -1.32646246] [ 0. 0. 0. 1. ]] SLAMing on 76.10119381700001 meters Centerline goodness : 0.894830 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.24, Z:-1.33 [[ 0.99946794 0.02774855 -0.01714226 7.71054852] [-0.02817198 0.99929107 -0.02497408 -0.2395627 ] [ 0.01643711 0.02544373 0.99954111 -1.32713511] [ 0. 0. 0. 1. ]] SLAMing on 76.131193817 meters Centerline goodness : 0.888243 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.23, Z:-1.33 [[ 0.99936519 0.03113888 -0.01730864 7.71104735] [-0.03152726 0.99924649 -0.02263793 -0.23418618] [ 0.01659068 0.02316925 0.99959389 -1.32669637] [ 0. 0. 0. 1. ]] SLAMing on 76.161193817 meters Centerline goodness : 0.897280 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.23, Z:-1.33 [[ 0.99925701 0.03432046 -0.01753669 7.71197283] [-0.03467552 0.9991912 -0.02036062 -0.22886141] [ 0.01682372 0.02095359 0.99963889 -1.32666091] [ 0. 0. 0. 1. ]] SLAMing on 76.191193817 meters Centerline goodness : 0.889538 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.22, Z:-1.33 [[ 0.99904447 0.0398106 -0.01803494 7.71445097] [-0.04010699 0.99906109 -0.01638165 -0.21803995] [ 0.01736585 0.01708932 0.99970315 -1.3272725 ] [ 0. 0. 0. 1. ]] SLAMing on 76.221193817 meters Centerline goodness : 0.891735 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.21, Z:-1.33 [[ 0.99892953 0.0424691 -0.01833487 7.71670601] [-0.0427368 0.99898166 -0.01446394 -0.21342975] [ 0.01770193 0.01523203 0.99972728 -1.32874386] [ 0. 0. 0. 1. ]] SLAMing on 76.251193817 meters Centerline goodness : 0.889359 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.21, Z:-1.33 [[ 0.99879666 0.04544248 -0.0184448 7.71828258] [-0.04568018 0.99887568 -0.01267687 -0.20891386] [ 0.01784799 0.01350418 0.99974951 -1.32944714] [ 0. 0. 0. 1. ]] SLAMing on 76.281193817 meters Centerline goodness : 0.889841 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.20, Z:-1.33 [[ 0.9986314 0.04876387 -0.01890529 7.72030557] [-0.04897503 0.99874083 -0.01087208 -0.20452273] [ 0.01835132 0.01178309 0.99976217 -1.32974432] [ 0. 0. 0. 1. ]] SLAMing on 76.311193817 meters Centerline goodness : 0.883206 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.19, Z:-1.33 [[ 0.99820759 0.05477333 -0.02411393 7.72945127] [-0.05513886 0.99836954 -0.01476342 -0.19161313] [ 0.02326597 0.01606657 0.9996002 -1.32990257] [ 0. 0. 0. 1. ]] SLAMing on 76.341193817 meters Centerline goodness : 0.883411 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.19, Z:-1.33 [[ 0.99794027 0.05894663 -0.02530829 7.73364288] [-0.05928531 0.99815842 -0.0128464 -0.18704841] [ 0.02450443 0.01432035 0.99959715 -1.33091084] [ 0. 0. 0. 1. ]] SLAMing on 76.371193817 meters Centerline goodness : 0.882509 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.18, Z:-1.33 [[ 0.99767283 0.0628829 -0.02635661 7.73768413] [-0.06317857 0.99794659 -0.01053862 -0.18381279] [ 0.02563979 0.01217927 0.99959705 -1.33220638] [ 0. 0. 0. 1. ]] SLAMing on 76.401193817 meters Centerline goodness : 0.881359 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.18, Z:-1.33 [[ 0.99723995 0.06365779 -0.03821221 7.73308859] [-0.06408183 0.99789479 -0.00997557 -0.17782502] [ 0.03749674 0.01239674 0.99921985 -1.32829539] [ 0. 0. 0. 1. ]] SLAMing on 76.43119381700001 meters Centerline goodness : 0.875081 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 9.96904553e-01 6.83721305e-02 -3.88144810e-02 7.73805970e+00] [-6.86850334e-02 9.97615325e-01 -6.78451038e-03 -1.71144347e-01] [ 3.82580497e-02 9.42948322e-03 9.99223402e-01 -1.33146701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46119381700001 meters Centerline goodness : 0.876649 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 0.99689034 0.06811132 -0.03962953 7.74022829] [-0.06850279 0.99761382 -0.008604 -0.16692837] [ 0.03894894 0.01129198 0.9991774 -1.33151788] [ 0. 0. 0. 1. ]] SLAMing on 76.49119381700001 meters Centerline goodness : 0.875396 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99687519 0.0680115 -0.04017823 7.74131442] [-0.06844545 0.9976094 -0.0095239 -0.16488146] [ 0.03943445 0.01224416 0.99914714 -1.33111587] [ 0. 0. 0. 1. ]] SLAMing on 76.521193817 meters Centerline goodness : 0.876632 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99706066 0.06487717 -0.04075532 7.73999545] [-0.06549843 0.9977531 -0.01409664 -0.16352559] [ 0.03974919 0.01672462 0.99906971 -1.32794158] [ 0. 0. 0. 1. ]] SLAMing on 76.551193817 meters Centerline goodness : 0.879382 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99708721 0.06430491 -0.04101194 7.73972843] [-0.06495614 0.99777913 -0.01474796 -0.16336206] [ 0.03997249 0.01736898 0.99904981 -1.32681988] [ 0. 0. 0. 1. ]] SLAMing on 76.581193817 meters Centerline goodness : 0.880683 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99711095 0.06374923 -0.04130125 7.73955855] [-0.0644412 0.99779888 -0.01564378 -0.16223713] [ 0.04021306 0.01826008 0.99902426 -1.32557628] [ 0. 0. 0. 1. ]] SLAMing on 76.611193817 meters Centerline goodness : 0.886237 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99716825 0.06277074 -0.04141625 7.73839167] [-0.06353475 0.99782801 -0.01739506 -0.15903365] [ 0.0402344 0.01997718 0.99899054 -1.32326845] [ 0. 0. 0. 1. ]] SLAMing on 76.641193817 meters Centerline goodness : 0.886080 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99716324 0.06272102 -0.04161191 7.738363 ] [-0.06349701 0.99782691 -0.01759525 -0.15874901] [ 0.04041789 0.02018756 0.99897891 -1.32256216] [ 0. 0. 0. 1. ]] SLAMing on 76.671193817 meters Centerline goodness : 0.884529 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99715751 0.06279177 -0.04164245 7.7379058 ] [-0.06355243 0.99783027 -0.01720026 -0.16000834] [ 0.04047206 0.01979785 0.99898451 -1.32195219] [ 0. 0. 0. 1. ]] SLAMing on 76.701193817 meters Centerline goodness : 0.887616 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.32 [[ 0.99715857 0.06268304 -0.04178066 7.7376271 ] [-0.06342443 0.99784756 -0.01666071 -0.16200459] [ 0.04064638 0.01926328 0.99898789 -1.32142997] [ 0. 0. 0. 1. ]] SLAMing on 76.731193817 meters Centerline goodness : 0.893384 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.16, Z:-1.32 [[ 0.99740299 0.05910278 -0.04115991 7.73412252] [-0.059953 0.99800606 -0.0197367 -0.16311604] [ 0.03991135 0.0221531 0.99895762 -1.31905719] [ 0. 0. 0. 1. ]] SLAMing on 76.761193817 meters Centerline goodness : 0.894423 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99745344 0.05846593 -0.04084572 7.73295003] [-0.05928404 0.99805817 -0.0191126 -0.1652757 ] [ 0.03964897 0.02148543 0.99898265 -1.31872913] [ 0. 0. 0. 1. ]] SLAMing on 76.791193817 meters Centerline goodness : 0.896420 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99753076 0.05724509 -0.04068635 7.73236337] [-0.05804058 0.99814008 -0.0186462 -0.16792984] [ 0.03954327 0.02096162 0.99899797 -1.31898138] [ 0. 0. 0. 1. ]] SLAMing on 76.82119381700001 meters Centerline goodness : 0.895367 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99762153 0.055806 -0.04045948 7.73196209] [-0.05657568 0.99823362 -0.01813385 -0.17059907] [ 0.03937604 0.02037974 0.99901661 -1.31978512] [ 0. 0. 0. 1. ]] SLAMing on 76.85119381700001 meters Centerline goodness : 0.899057 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.9981825 0.04550206 -0.03951285 7.72960252] [-0.04588381 0.99890795 -0.00880861 -0.17383978] [ 0.03906889 0.0106056 0.99918024 -1.31987658] [ 0. 0. 0. 1. ]] SLAMing on 76.881193817 meters Centerline goodness : 0.896450 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99823396 0.04441722 -0.03944697 7.72947243] [-0.04480757 0.99895449 -0.00906671 -0.17429677] [ 0.03900301 0.01081822 0.99918053 -1.32013146] [ 0. 0. 0. 1. ]] SLAMing on 76.911193817 meters Centerline goodness : 0.901116 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99826696 0.04397225 -0.03910917 7.72890806] [-0.04435648 0.99897513 -0.00901119 -0.17445839] [ 0.03867285 0.01073032 0.99919431 -1.32034852] [ 0. 0. 0. 1. ]] SLAMing on 76.941193817 meters Centerline goodness : 0.902185 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99828941 0.04333956 -0.03924202 7.7295303 ] [-0.04375194 0.99899523 -0.009711 -0.17328876] [ 0.03878172 0.0114113 0.99918255 -1.3207161 ] [ 0. 0. 0. 1. ]] SLAMing on 76.971193817 meters Centerline goodness : 0.889178 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 9.98221951e-01 4.50213629e-02 -3.90642176e-02 7.73120974e+00] [-4.53515520e-02 9.98942122e-01 -7.60744533e-03 -1.71015670e-01] [ 3.86803948e-02 9.36554181e-03 9.99207743e-01 -1.32295272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001193817 meters Centerline goodness : 0.891402 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.17, Z:-1.32 [[ 0.99821338 0.04462642 -0.03973063 7.7339872 ] [-0.04501593 0.99894606 -0.00896315 -0.16805225] [ 0.03928876 0.01073565 0.99917023 -1.32446508] [ 0. 0. 0. 1. ]] SLAMing on 77.031193817 meters Centerline goodness : 0.888127 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.17, Z:-1.33 [[ 0.99818331 0.04534735 -0.03966993 7.73556102] [-0.04572339 0.99891692 -0.00862347 -0.16504559] [ 0.03923591 0.01042165 0.99917563 -1.32598585] [ 0. 0. 0. 1. ]] SLAMing on 77.061193817 meters Centerline goodness : 0.888543 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99817411 0.04524626 -0.0400152 7.7369239 ] [-0.04569095 0.99890284 -0.01026859 -0.16069399] [ 0.03950669 0.01207818 0.99914631 -1.32615221] [ 0. 0. 0. 1. ]] SLAMing on 77.091193817 meters Centerline goodness : 0.889899 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.16, Z:-1.33 [[ 0.99814758 0.0455897 -0.04028623 7.73748435] [-0.04610342 0.9988656 -0.01191553 -0.15574417] [ 0.0396973 0.01375079 0.99911713 -1.32525769] [ 0. 0. 0. 1. ]] SLAMing on 77.121193817 meters Centerline goodness : 0.887913 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.15, Z:-1.33 [[ 0.99792495 0.04958303 -0.04107698 7.74055159] [-0.05008063 0.99868267 -0.0111742 -0.14774953] [ 0.04046882 0.01320817 0.9990935 -1.32558425] [ 0. 0. 0. 1. ]] SLAMing on 77.151193817 meters Centerline goodness : 0.888285 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.14, Z:-1.33 [[ 0.9977178 0.05325765 -0.04150675 7.74235004] [-0.05367284 0.99851844 -0.00895291 -0.14421251] [ 0.04096845 0.01116027 0.99909811 -1.32571243] [ 0. 0. 0. 1. ]] SLAMing on 77.18119381700001 meters Centerline goodness : 0.887918 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.14, Z:-1.32 [[ 0.99763913 0.05424276 -0.04211761 7.74381648] [-0.05473337 0.99844492 -0.01058338 -0.13822127] [ 0.04147804 0.01286363 0.9990566 -1.32482785] [ 0. 0. 0. 1. ]] SLAMing on 77.21119381700001 meters Centerline goodness : 0.888574 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.13, Z:-1.32 [[ 0.99757712 0.05507018 -0.04251065 7.74428223] [-0.05563575 0.99837614 -0.01223678 -0.13225265] [ 0.04176774 0.01457224 0.99902107 -1.32325889] [ 0. 0. 0. 1. ]] SLAMing on 77.24119381700001 meters Centerline goodness : 0.888574 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.13, Z:-1.32 [[ 0.99757712 0.05507018 -0.04251065 7.74428223] [-0.05563575 0.99837614 -0.01223678 -0.13225265] [ 0.04176774 0.01457224 0.99902107 -1.32325889] [ 0. 0. 0. 1. ]] SLAMing on 77.271193817 meters Centerline goodness : 0.893009 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99761713 0.06031625 -0.03349633 7.75225184] [-0.06079074 0.9980615 -0.0133316 -0.12329109] [ 0.03262729 0.0153361 0.99934992 -1.32398957] [ 0. 0. 0. 1. ]] SLAMing on 77.301193817 meters Centerline goodness : 0.893219 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99762558 0.06013085 -0.03357816 7.75182062] [-0.06065914 0.9980467 -0.01494181 -0.1189235 ] [ 0.0326141 0.01694316 0.9993244 -1.32251785] [ 0. 0. 0. 1. ]] SLAMing on 77.331193817 meters Centerline goodness : 0.892883 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99743872 0.06320017 -0.0334923 7.75168136] [-0.06362644 0.99790382 -0.01181702 -0.11801513] [ 0.03267526 0.01391775 0.99936911 -1.32189141] [ 0. 0. 0. 1. ]] SLAMing on 77.361193817 meters Centerline goodness : 0.895742 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.12, Z:-1.32 [[ 0.99744763 0.06298392 -0.03363422 7.75165832] [-0.06344468 0.99790312 -0.01281134 -0.11561223] [ 0.03275678 0.01491255 0.99935209 -1.32110905] [ 0. 0. 0. 1. ]] SLAMing on 77.391193817 meters Centerline goodness : 0.893146 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99740238 0.06361937 -0.03377977 7.7514882 ] [-0.06409127 0.99785839 -0.01307463 -0.11441708] [ 0.03287563 0.01520565 0.99934378 -1.32002167] [ 0. 0. 0. 1. ]] SLAMing on 77.421193817 meters Centerline goodness : 0.884001 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99738071 0.06387961 -0.03392816 7.75149961] [-0.06436322 0.99783714 -0.01335728 -0.11411002] [ 0.03300152 0.01550602 0.99933501 -1.31932248] [ 0. 0. 0. 1. ]] SLAMing on 77.451193817 meters Centerline goodness : 0.897177 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.11, Z:-1.32 [[ 0.99707157 0.06856598 -0.03386732 7.75261709] [-0.06891135 0.99758095 -0.00913666 -0.11394098] [ 0.03315893 0.01144375 0.99938457 -1.3201235 ] [ 0. 0. 0. 1. ]] SLAMing on 77.481193817 meters Centerline goodness : 0.884369 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96882146e-01 7.11035393e-02 -3.42092759e-02 7.75538305e+00] [-7.13640150e-02 9.97429465e-01 -6.45284595e-03 -1.14112074e-01] [ 3.36625195e-02 8.87403819e-03 9.99393859e-01 -1.32223348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.511193817 meters Centerline goodness : 0.893152 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96843277e-01 7.14597821e-02 -3.45974027e-02 7.75654364e+00] [-7.17204895e-02 9.97404541e-01 -6.35240484e-03 -1.13774315e-01] [ 3.40536651e-02 8.81369472e-03 9.99381142e-01 -1.32263375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.541193817 meters Centerline goodness : 0.890547 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.11, Z:-1.32 [[ 9.96831238e-01 7.15227420e-02 -3.48135054e-02 7.75706362e+00] [-7.17761394e-02 9.97402220e-01 -6.08259011e-03 -1.14625106e-01] [ 3.42880240e-02 8.56209485e-03 9.99375316e-01 -1.32282760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57119381700001 meters Centerline goodness : 0.879152 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.12, Z:-1.32 [[ 0.99698277 0.06918397 -0.03519863 7.75725031] [-0.06950204 0.99755058 -0.00789311 -0.1192494 ] [ 0.03456634 0.01031567 0.99934917 -1.32301077] [ 0. 0. 0. 1. ]] SLAMing on 77.60119381700001 meters Centerline goodness : 0.880029 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.12, Z:-1.32 [[ 9.96921655e-01 6.98959291e-02 -3.55214333e-02 7.75835426e+00] [-7.01677544e-02 9.97514270e-01 -6.46277923e-03 -1.23039912e-01] [ 3.49814147e-02 8.93534378e-03 9.99348018e-01 -1.32393070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631193817 meters Centerline goodness : 0.877484 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 9.96841366e-01 7.08006118e-02 -3.59800483e-02 7.75981037e+00] [-7.10245328e-02 9.97462126e-01 -4.98230376e-03 -1.26366772e-01] [ 3.55359853e-02 7.52203260e-03 9.99340089e-01 -1.32491113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters Centerline goodness : 0.879654 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 0.99697567 0.06856169 -0.03658964 7.76069659] [-0.06888905 0.99759414 -0.00776083 -0.12700732] [ 0.03596951 0.01025798 0.99930024 -1.32496813] [ 0. 0. 0. 1. ]] SLAMing on 77.691193817 meters Centerline goodness : 0.879633 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.13, Z:-1.32 [[ 9.96967871e-01 6.90171612e-02 -3.59401813e-02 7.75835551e+00] [-6.92332695e-02 9.97588940e-01 -4.80210424e-03 -1.34839112e-01] [ 3.55220997e-02 7.27579989e-03 9.99342405e-01 -1.32420601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters Centerline goodness : 0.878603 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.14, Z:-1.32 [[ 9.97189479e-01 6.55960200e-02 -3.61981311e-02 7.75791055e+00] [-6.59074716e-02 9.97797720e-01 -7.47767995e-03 -1.37630269e-01] [ 3.56279066e-02 9.84239107e-03 9.99316656e-01 -1.32386273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751193817 meters Centerline goodness : 0.875656 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.14, Z:-1.32 [[ 0.99740667 0.06208684 -0.03640275 7.75762 ] [-0.06247713 0.99799943 -0.00968265 -0.14186596] [ 0.03572876 0.01193188 0.99929029 -1.32404897] [ 0. 0. 0. 1. ]] SLAMing on 77.781193817 meters Centerline goodness : 0.877147 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.15, Z:-1.33 [[ 0.99780747 0.05502776 -0.03677227 7.75769934] [-0.05556434 0.99836067 -0.01373213 -0.15107594] [ 0.03595633 0.01574525 0.99922932 -1.32553497] [ 0. 0. 0. 1. ]] SLAMing on 77.811193817 meters Centerline goodness : 0.877881 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.15, Z:-1.33 [[ 0.99798455 0.05152648 -0.03703874 7.75798687] [-0.05214924 0.99851035 -0.01604828 -0.15472603] [ 0.03615665 0.01794747 0.99918496 -1.32617698] [ 0. 0. 0. 1. ]] SLAMing on 77.841193817 meters Centerline goodness : 0.883646 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:-1.33 [[ 0.99801373 0.05131918 -0.03653675 7.75700221] [-0.05186197 0.9985552 -0.01406588 -0.15976165] [ 0.03576211 0.01593281 0.99923331 -1.32696612] [ 0. 0. 0. 1. ]] SLAMing on 77.871193817 meters Centerline goodness : 0.883023 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.16, Z:-1.33 [[ 0.99804469 0.05075391 -0.03648054 7.7571272 ] [-0.0512535 0.99860246 -0.01289193 -0.16341452] [ 0.03577525 0.01473647 0.9992512 -1.32796263] [ 0. 0. 0. 1. ]] SLAMing on 77.901193817 meters Centerline goodness : 0.876862 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99821812 0.04710597 -0.03662805 7.75669986] [-0.04768278 0.99874935 -0.01503648 -0.16761251] [ 0.03587393 0.01675622 0.99921584 -1.32808801] [ 0. 0. 0. 1. ]] SLAMing on 77.93119381700001 meters Centerline goodness : 0.879755 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99822053 0.04686192 -0.03687447 7.75676515] [-0.04741911 0.99877152 -0.01438341 -0.17037372] [ 0.03615513 0.01610637 0.99921639 -1.32787979] [ 0. 0. 0. 1. ]] SLAMing on 77.96119381700001 meters Centerline goodness : 0.879965 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99819906 0.04724381 -0.03696823 7.75623472] [-0.04776399 0.99876988 -0.01331633 -0.17335818] [ 0.03629364 0.0150581 0.99922771 -1.32720377] [ 0. 0. 0. 1. ]] SLAMing on 77.99119381700001 meters Centerline goodness : 0.883845 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99816792 0.0475901 -0.03736285 7.75578312] [-0.04809603 0.9987612 -0.01276041 -0.176156 ] [ 0.0367093 0.01453404 0.99922029 -1.32565377] [ 0. 0. 0. 1. ]] SLAMing on 78.021193817 meters Centerline goodness : 0.880614 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99815376 0.04768151 -0.03762369 7.75550548] [-0.04820461 0.9987513 -0.01312065 -0.17596696] [ 0.0369511 0.01491006 0.99920584 -1.32440423] [ 0. 0. 0. 1. ]] SLAMing on 78.051193817 meters Centerline goodness : 0.883822 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814694 0.04762807 -0.03787159 7.75559503] [-0.04816585 0.99874924 -0.01341631 -0.17560814] [ 0.03718523 0.01521556 0.99919255 -1.32375764] [ 0. 0. 0. 1. ]] SLAMing on 78.081193817 meters Centerline goodness : 0.877282 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814261 0.04772943 -0.03785793 7.75515285] [-0.04826922 0.99874347 -0.01347425 -0.17546717] [ 0.03716724 0.01527659 0.99919228 -1.32308408] [ 0. 0. 0. 1. ]] SLAMing on 78.111193817 meters Centerline goodness : 0.882534 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99812771 0.04795183 -0.03796975 7.75532198] [-0.04848178 0.99873735 -0.01316119 -0.17602268] [ 0.03729071 0.01497739 0.99919221 -1.32303198] [ 0. 0. 0. 1. ]] SLAMing on 78.141193817 meters Centerline goodness : 0.882641 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99812386 0.04811473 -0.03786469 7.75554493] [-0.04859545 0.9987479 -0.01187907 -0.17858798] [ 0.03724572 0.01369683 0.99921227 -1.32406269] [ 0. 0. 0. 1. ]] SLAMing on 78.171193817 meters Centerline goodness : 0.878620 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.32 [[ 0.99814712 0.04763934 -0.03785249 7.75578052] [-0.04810277 0.99877702 -0.0114275 -0.18028506] [ 0.0372618 0.01322713 0.99921799 -1.32480413] [ 0. 0. 0. 1. ]] SLAMing on 78.201193817 meters Centerline goodness : 0.879401 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99815713 0.04737862 -0.03791592 7.75617263] [-0.04781398 0.99879939 -0.01065849 -0.1822466 ] [ 0.03736541 0.01245176 0.99922409 -1.32555901] [ 0. 0. 0. 1. ]] SLAMing on 78.231193817 meters Centerline goodness : 0.885145 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99817861 0.04638345 -0.03857516 7.75906578] [-0.04683701 0.99884266 -0.01093785 -0.18345213] [ 0.03802318 0.01272468 0.99919584 -1.32794831] [ 0. 0. 0. 1. ]] SLAMing on 78.261193817 meters Centerline goodness : 0.880768 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.33 [[ 0.9981647 0.04620783 -0.03914162 7.76369585] [-0.04660289 0.99887075 -0.00924113 -0.18654998] [ 0.03867041 0.01104828 0.99919094 -1.33326482] [ 0. 0. 0. 1. ]] SLAMing on 78.291193817 meters Centerline goodness : 0.881363 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.33 [[ 0.99817113 0.04616366 -0.03902957 7.76423206] [-0.04653039 0.99888037 -0.00854023 -0.1874967 ] [ 0.03859163 0.01034067 0.99920156 -1.33455586] [ 0. 0. 0. 1. ]] SLAMing on 78.32119381700001 meters Centerline goodness : 0.876746 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.19, Z:-1.34 [[ 0.9981885 0.04577265 -0.03904587 7.76475116] [-0.04614094 0.99889806 -0.00858353 -0.187659 ] [ 0.03860995 0.0103696 0.99920055 -1.33532046] [ 0. 0. 0. 1. ]] SLAMing on 78.35119381700001 meters Centerline goodness : 0.875476 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.19, Z:-1.33 [[ 0.99812864 0.04651798 -0.0396901 7.76590941] [-0.04690169 0.99886082 -0.00879162 -0.1872325 ] [ 0.03923592 0.0106367 0.99917336 -1.33481426] [ 0. 0. 0. 1. ]] SLAMing on 78.381193817 meters Centerline goodness : 0.875052 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.19, Z:-1.33 [[ 0.99807754 0.04712211 -0.04025824 7.76709088] [-0.04754559 0.99882268 -0.00962668 -0.18518884] [ 0.03975722 0.01152227 0.99914293 -1.33431633] [ 0. 0. 0. 1. ]] SLAMing on 78.411193817 meters Centerline goodness : 0.876087 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99801936 0.04790998 -0.04076759 7.76834962] [-0.04836264 0.99877786 -0.01018991 -0.18292907] [ 0.04022957 0.01214135 0.99911669 -1.33403566] [ 0. 0. 0. 1. ]] SLAMing on 78.441193817 meters Centerline goodness : 0.875515 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99799237 0.04832003 -0.04094383 7.76860767] [-0.04880403 0.99874885 -0.01090454 -0.18067173] [ 0.04036569 0.01288087 0.99910194 -1.33339271] [ 0. 0. 0. 1. ]] SLAMing on 78.471193817 meters Centerline goodness : 0.875293 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99798887 0.04821681 -0.04115044 7.76888439] [-0.04873626 0.99874299 -0.01171434 -0.17902676] [ 0.04053389 0.0136963 0.99908429 -1.33285227] [ 0. 0. 0. 1. ]] SLAMing on 78.501193817 meters Centerline goodness : 0.875281 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.99807666 0.04672185 -0.04074376 7.76662532] [-0.04730607 0.99878929 -0.01349404 -0.17710294] [ 0.04006396 0.01539551 0.9990785 -1.3307675 ] [ 0. 0. 0. 1. ]] SLAMing on 78.531193817 meters Centerline goodness : 0.874930 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.18, Z:-1.33 [[ 0.998119 0.04608795 -0.04042735 7.765291 ] [-0.04669347 0.99880885 -0.01416327 -0.1760586 ] [ 0.03972644 0.01602432 0.99908209 -1.32967458] [ 0. 0. 0. 1. ]] SLAMing on 78.561193817 meters Centerline goodness : 0.869558 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99815049 0.0456927 -0.04009719 7.76445079] [-0.04629673 0.99882585 -0.0142667 -0.17576719] [ 0.03939822 0.01609669 0.99909393 -1.32941657] [ 0. 0. 0. 1. ]] SLAMing on 78.591193817 meters Centerline goodness : 0.867400 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.18, Z:-1.33 [[ 0.99819112 0.04513124 -0.03971983 7.76378883] [-0.04573992 0.9988474 -0.01455088 -0.17519812] [ 0.03901735 0.01634134 0.9991049 -1.32955389] [ 0. 0. 0. 1. ]] SLAMing on 78.621193817 meters Centerline goodness : 0.867955 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.17, Z:-1.33 [[ 0.99829333 0.04270324 -0.03983535 7.76557056] [-0.04337242 0.99892943 -0.01608807 -0.17365511] [ 0.03910569 0.01778836 0.99907673 -1.33182328] [ 0. 0. 0. 1. ]] SLAMing on 78.651193817 meters Centerline goodness : 0.867112 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.17, Z:-1.33 [[ 0.99834211 0.04176015 -0.03961218 7.76526415] [-0.04245198 0.99895746 -0.01678747 -0.17255108] [ 0.03886984 0.01844126 0.9990741 -1.33199968] [ 0. 0. 0. 1. ]] SLAMing on 78.68119381700001 meters Centerline goodness : 0.868806 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99838066 0.04098397 -0.03945099 7.76454276] [-0.04171177 0.99897102 -0.01780516 -0.17078006] [ 0.03868067 0.0194219 0.99906286 -1.33125827] [ 0. 0. 0. 1. ]] SLAMing on 78.71119381700001 meters Centerline goodness : 0.871514 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99832778 0.04269521 -0.03897119 7.76290938] [-0.04337569 0.99891781 -0.0167856 -0.16693539] [ 0.03821235 0.01844793 0.99909934 -1.32958636] [ 0. 0. 0. 1. ]] SLAMing on 78.74119381700001 meters Centerline goodness : 0.867705 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.17, Z:-1.33 [[ 0.99819076 0.04596095 -0.03876598 7.76313595] [-0.04652073 0.99882388 -0.01366317 -0.16574004] [ 0.03809242 0.01544187 0.9991549 -1.32991916] [ 0. 0. 0. 1. ]] SLAMing on 78.771193817 meters Centerline goodness : 0.865046 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.16, Z:-1.33 [[ 0.99805016 0.0485013 -0.03928755 7.76624542] [-0.04899351 0.998731 -0.01166331 -0.16301204] [ 0.03867201 0.0135654 0.99915987 -1.3318792 ] [ 0. 0. 0. 1. ]] SLAMing on 78.801193817 meters Centerline goodness : 0.870321 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.16, Z:-1.33 [[ 0.99786112 0.05182565 -0.03984076 7.76926938] [-0.05223438 0.99859167 -0.00928677 -0.15961654] [ 0.03930335 0.01134797 0.99916288 -1.33347159] [ 0. 0. 0. 1. ]] SLAMing on 78.831193817 meters Centerline goodness : 0.863150 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.15, Z:-1.34 [[ 9.97407925e-01 5.91476145e-02 -4.09754806e-02 7.77461139e+00] [-5.93799908e-02 9.98225415e-01 -4.47636866e-03 -1.52994419e-01] [ 4.06379996e-02 6.89788924e-03 9.99150125e-01 -1.33580062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861193817 meters Centerline goodness : 0.863814 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97340199e-01 5.95946660e-02 -4.19643174e-02 7.77718478e+00] [-5.98956697e-02 9.98186901e-01 -5.95134512e-03 -1.49045986e-01] [ 4.15335635e-02 8.44899662e-03 9.99101385e-01 -1.33586683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.891193817 meters Centerline goodness : 0.863760 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97321779e-01 5.95694563e-02 -4.24352327e-02 7.77841050e+00] [-5.99258712e-02 9.98177036e-01 -7.17595141e-03 -1.46128036e-01] [ 4.19304073e-02 9.69970092e-03 9.99073449e-01 -1.33573580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921193817 meters Centerline goodness : 0.862662 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.15, Z:-1.34 [[ 9.97192400e-01 6.17398259e-02 -4.23734751e-02 7.77889469e+00] [-6.19947171e-02 9.98065285e-01 -4.72662880e-03 -1.45355036e-01] [ 4.19996733e-02 7.34028992e-03 9.99090660e-01 -1.33599605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.951193817 meters Centerline goodness : 0.861153 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.14, Z:-1.34 [[ 9.97211607e-01 6.13120679e-02 -4.25422232e-02 7.77885195e+00] [-6.16273664e-02 9.98080349e-01 -6.13872492e-03 -1.42475709e-01] [ 4.20841791e-02 8.74337292e-03 9.99075811e-01 -1.33509856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981193817 meters Centerline goodness : 0.855588 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.14, Z:-1.33 [[ 9.97042009e-01 6.42132280e-02 -4.22361612e-02 7.77806705e+00] [-6.44772764e-02 9.97907057e-01 -4.91805638e-03 -1.36936783e-01] [ 4.18319590e-02 7.62678145e-03 9.99095551e-01 -1.33343398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.011193817 meters Centerline goodness : 0.856012 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97019158e-01 6.43679531e-02 -4.25389814e-02 7.77891924e+00] [-6.46790180e-02 9.97888228e-01 -5.97563418e-03 -1.33537402e-01] [ 4.20645094e-02 8.70920130e-03 9.99076937e-01 -1.33324363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041193817 meters Centerline goodness : 0.859702 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.96980283e-01 6.45836702e-02 -4.31191870e-02 7.78049825e+00] [-6.49148736e-02 9.97870765e-01 -6.32416110e-03 -1.32548571e-01] [ 4.26189386e-02 9.10414050e-03 9.99049919e-01 -1.33360196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07119381700001 meters Centerline goodness : 0.857895 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.96945502e-01 6.49162524e-02 -4.34228873e-02 7.78153026e+00] [-6.52306621e-02 9.97852995e-01 -5.86184539e-03 -1.33560991e-01] [ 4.29491291e-02 8.67644408e-03 9.99039585e-01 -1.33421734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10119381700001 meters Centerline goodness : 0.853924 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97003406e-01 6.43912164e-02 -4.28716763e-02 7.77956635e+00] [-6.47027344e-02 9.97887038e-01 -5.91734120e-03 -1.34399849e-01] [ 4.24000653e-02 8.67352401e-03 9.99063063e-01 -1.33314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131193817 meters Centerline goodness : 0.853924 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97003406e-01 6.43912164e-02 -4.28716763e-02 7.77956635e+00] [-6.47027344e-02 9.97887038e-01 -5.91734120e-03 -1.34399849e-01] [ 4.24000653e-02 8.67352401e-03 9.99063063e-01 -1.33314538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161193817 meters Centerline goodness : 0.854281 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97047322e-01 6.37062730e-02 -4.28736286e-02 7.77866120e+00] [-6.40687614e-02 9.97919993e-01 -7.13313693e-03 -1.32620026e-01] [ 4.23300256e-02 9.85893536e-03 9.99055039e-01 -1.33172745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191193817 meters Centerline goodness : 0.859867 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99704844 0.06348155 -0.04317984 7.77880027] [-0.06387871 0.99792656 -0.00787973 -0.13078202] [ 0.04259009 0.01061474 0.99903624 -1.33084258] [ 0. 0. 0. 1. ]] SLAMing on 79.221193817 meters Centerline goodness : 0.853342 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99711353 0.06244904 -0.04318247 7.77773244] [-0.06291798 0.99797267 -0.00958576 -0.12791387] [ 0.0424963 0.01227504 0.99902121 -1.32920639] [ 0. 0. 0. 1. ]] SLAMing on 79.251193817 meters Centerline goodness : 0.853649 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97357830e-01 6.06598430e-02 -3.99717797e-02 7.78407656e+00] [-6.06769699e-02 9.98157146e-01 7.85671633e-04 -1.31797527e-01] [ 3.99457763e-02 1.64177072e-03 9.99200500e-01 -1.32808971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.281193817 meters Centerline goodness : 0.853927 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 9.97593285e-01 5.64394849e-02 -4.02768092e-02 7.78400290e+00] [-5.66493941e-02 9.98385762e-01 -4.08863212e-03 -1.29992904e-01] [ 3.99810325e-02 6.36044879e-03 9.99180195e-01 -1.32749591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.311193817 meters Centerline goodness : 0.851539 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.13, Z:-1.33 [[ 0.99779353 0.05251679 -0.04062094 7.78464208] [-0.0529002 0.99856429 -0.00842143 -0.12890479] [ 0.04012035 0.0105517 0.99913914 -1.32771916] [ 0. 0. 0. 1. ]] SLAMing on 79.341193817 meters Centerline goodness : 0.852409 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99798704 0.04851485 -0.04084342 7.78620592] [-0.04904119 0.99872485 -0.0119844 -0.12904447] [ 0.04020992 0.01396329 0.99909368 -1.32962559] [ 0. 0. 0. 1. ]] SLAMing on 79.371193817 meters Centerline goodness : 0.851106 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99800636 0.04825635 -0.04067711 7.78638931] [-0.04877979 0.99873777 -0.01197466 -0.1292847 ] [ 0.04004791 0.01393501 0.99910059 -1.33027795] [ 0. 0. 0. 1. ]] SLAMing on 79.401193817 meters Centerline goodness : 0.854221 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99800598 0.04816708 -0.04079207 7.78751695] [-0.04869898 0.99873964 -0.01214689 -0.12821739] [ 0.04015558 0.0141092 0.99909382 -1.33132369] [ 0. 0. 0. 1. ]] SLAMing on 79.43119381700001 meters Centerline goodness : 0.854099 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.99799959 0.04811866 -0.04100514 7.78877054] [-0.04866894 0.99873639 -0.0125283 -0.12652078] [ 0.04035048 0.01449891 0.99908039 -1.3321553 ] [ 0. 0. 0. 1. ]] SLAMing on 79.46119381700001 meters Centerline goodness : 0.854037 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.33 [[ 0.9979425 0.04885447 -0.04152119 7.79174067] [-0.04937869 0.99871166 -0.01169451 -0.12636332] [ 0.04089637 0.01372071 0.99906918 -1.33444593] [ 0. 0. 0. 1. ]] SLAMing on 79.49119381700001 meters Centerline goodness : 0.855972 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.13, Z:-1.34 [[ 0.99789275 0.04953989 -0.04190303 7.79338845] [-0.05004138 0.99868652 -0.01100423 -0.12728392] [ 0.04130285 0.01307792 0.99906108 -1.33551812] [ 0. 0. 0. 1. ]] SLAMing on 79.521193817 meters Centerline goodness : 0.854467 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.13, Z:-1.34 [[ 0.99783663 0.050242 -0.04240048 7.79513732] [-0.05076017 0.99864769 -0.01123335 -0.12610823] [ 0.04177875 0.0133613 0.99903754 -1.33605173] [ 0. 0. 0. 1. ]] SLAMing on 79.551193817 meters Centerline goodness : 0.858807 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.97343152e-01 5.88347953e-02 -4.29546800e-02 7.79828534e+00] [-5.90700208e-02 9.98244895e-01 -4.22647143e-03 -1.23172754e-01] [ 4.26306264e-02 6.75257618e-03 9.99068082e-01 -1.33706990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters Centerline goodness : 0.858113 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.97053440e-01 6.33679078e-02 -4.32313139e-02 7.79960037e+00] [-6.34661284e-02 9.97983586e-01 -9.01886318e-04 -1.20835651e-01] [ 4.30869910e-02 3.64295297e-03 9.99064683e-01 -1.33688861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611193817 meters Centerline goodness : 0.860662 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.34 [[ 9.96963676e-01 6.45608440e-02 -4.35353458e-02 7.79993406e+00] [-6.46898071e-02 9.97904204e-01 -1.55851034e-03 -1.17352399e-01] [ 4.33434859e-02 4.37007133e-03 9.99050672e-01 -1.33567940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.641193817 meters Centerline goodness : 0.860165 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.12, Z:-1.33 [[ 9.96919475e-01 6.51249430e-02 -4.37070122e-02 7.79975386e+00] [-6.52805108e-02 9.97864658e-01 -2.14001281e-03 -1.15345604e-01] [ 4.34743146e-02 4.98663653e-03 9.99042100e-01 -1.33440164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.671193817 meters Centerline goodness : 0.861529 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97134027e-01 6.60489607e-02 -3.68953588e-02 7.81094537e+00] [-6.61557382e-02 9.97807896e-01 -1.67942781e-03 -1.17449134e-01] [ 3.67035559e-02 4.11545431e-03 9.99317723e-01 -1.33062981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701193817 meters Centerline goodness : 0.862744 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97158174e-01 6.57106430e-02 -3.68468212e-02 7.81044387e+00] [-6.58287123e-02 9.97828936e-01 -1.99902325e-03 -1.17519709e-01] [ 3.66354673e-02 4.41892117e-03 9.99318926e-01 -1.33013723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.731193817 meters Centerline goodness : 0.863240 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97167329e-01 6.54271209e-02 -3.71027047e-02 7.81113738e+00] [-6.55620431e-02 9.97845535e-01 -2.43019900e-03 -1.16802459e-01] [ 3.68637673e-02 4.85584417e-03 9.99308503e-01 -1.33023765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761193817 meters Centerline goodness : 0.868040 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.11, Z:-1.33 [[ 9.97196723e-01 6.48830010e-02 -3.72678363e-02 7.81122356e+00] [-6.50597290e-02 9.97875065e-01 -3.54782490e-03 -1.14233272e-01] [ 3.69584511e-02 5.96251470e-03 9.99299015e-01 -1.32970642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.791193817 meters Centerline goodness : 0.870018 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97166953e-01 6.52297312e-02 -3.74586529e-02 7.81158297e+00] [-6.53928219e-02 9.97854646e-01 -3.14401835e-03 -1.15177300e-01] [ 3.71732074e-02 5.58463821e-03 9.99293232e-01 -1.32962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82119381700001 meters Centerline goodness : 0.864606 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.11, Z:-1.33 [[ 9.97322622e-01 6.24204514e-02 -3.80956089e-02 7.81267066e+00] [-6.27364186e-02 9.98004486e-01 -7.15460409e-03 -1.14193097e-01] [ 3.75729949e-02 9.52543058e-03 9.99248486e-01 -1.32949649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85119381700001 meters Centerline goodness : 0.869529 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.12, Z:-1.33 [[ 9.97258404e-01 6.30822776e-02 -3.86820517e-02 7.81437491e+00] [-6.33871183e-02 9.97966495e-01 -6.70432366e-03 -1.15148219e-01] [ 3.81804676e-02 9.13788691e-03 9.99229078e-01 -1.33006263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters Centerline goodness : 0.873160 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97100996e-01 6.51055698e-02 -3.93810759e-02 7.81743804e+00] [-6.53609523e-02 9.97847975e-01 -5.23118263e-03 -1.16228992e-01] [ 3.89557477e-02 7.79000203e-03 9.99210571e-01 -1.33184698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911193817 meters Centerline goodness : 0.875231 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97062544e-01 6.54906400e-02 -3.97147213e-02 7.81847745e+00] [-6.57417086e-02 9.97823906e-01 -5.04772527e-03 -1.16391793e-01] [ 3.92977196e-02 7.64381143e-03 9.99198309e-01 -1.33216571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters Centerline goodness : 0.874326 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97015296e-01 6.61646243e-02 -3.97836915e-02 7.81866051e+00] [-6.63805647e-02 9.97785830e-01 -4.13017944e-03 -1.17997628e-01] [ 3.94223319e-02 6.75871598e-03 9.99199780e-01 -1.33215254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971193817 meters Centerline goodness : 0.873836 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.12, Z:-1.33 [[ 9.97149940e-01 6.40915522e-02 -3.98028976e-02 7.81696213e+00] [-6.43652002e-02 9.97910525e-01 -5.63077285e-03 -1.22849927e-01] [ 3.93588455e-02 8.17664628e-03 9.99191685e-01 -1.33072796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters Centerline goodness : 0.877818 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 0.99727966 0.06140759 -0.04077234 7.81835035] [-0.06180329 0.99805202 -0.00851533 -0.12504938] [ 0.04017001 0.01101203 0.99913218 -1.33053555] [ 0. 0. 0. 1. ]] SLAMing on 80.031193817 meters Centerline goodness : 0.876467 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 9.97229870e-01 6.20738609e-02 -4.09807561e-02 7.81847619e+00] [-6.24135466e-02 9.98025397e-01 -7.06095540e-03 -1.29046124e-01] [ 4.04615346e-02 9.59914997e-03 9.99134986e-01 -1.33043509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.061193817 meters Centerline goodness : 0.877881 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.13, Z:-1.33 [[ 9.97174013e-01 6.27655899e-02 -4.12852188e-02 7.81937515e+00] [-6.30463673e-02 9.97995260e-01 -5.53316299e-03 -1.33016405e-01] [ 4.08551605e-02 8.12040941e-03 9.99132081e-01 -1.33109447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.091193817 meters Centerline goodness : 0.877857 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.14, Z:-1.33 [[ 9.97127341e-01 6.32220192e-02 -4.17138185e-02 7.82157884e+00] [-6.33839407e-02 9.97985909e-01 -2.56931448e-03 -1.43039883e-01] [ 4.14673658e-02 5.20591991e-03 9.99126296e-01 -1.33402239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121193817 meters Centerline goodness : 0.878075 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.34 [[ 9.97263576e-01 6.06631953e-02 -4.22532457e-02 7.82302271e+00] [-6.08837386e-02 9.98137044e-01 -3.95123465e-03 -1.48107483e-01] [ 4.19348353e-02 6.51295796e-03 9.99099120e-01 -1.33548643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.151193817 meters Centerline goodness : 0.875252 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:-1.34 [[ 9.97389462e-01 5.81889488e-02 -4.27587192e-02 7.82423085e+00] [-5.84485915e-02 9.98278656e-01 -4.84634771e-03 -1.54628296e-01] [ 4.24031129e-02 7.33288304e-03 9.99073673e-01 -1.33691438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18119381700001 meters Centerline goodness : 0.876373 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.16, Z:-1.34 [[ 9.97523368e-01 5.54511185e-02 -4.32701173e-02 7.82507246e+00] [-5.57533456e-02 9.98427677e-01 -5.80848015e-03 -1.61490439e-01] [ 4.28799960e-02 8.20654849e-03 9.99046525e-01 -1.33790977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21119381700001 meters Centerline goodness : 0.883426 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.17, Z:-1.34 [[ 9.97769309e-01 5.16101984e-02 -4.23413820e-02 7.82191954e+00] [-5.18576926e-02 9.98643107e-01 -4.76709097e-03 -1.73447645e-01] [ 4.20378988e-02 6.95218344e-03 9.99091829e-01 -1.33757005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24119381700001 meters Centerline goodness : 0.882281 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.18, Z:-1.34 [[ 9.97807264e-01 5.07125605e-02 -4.25311606e-02 7.82232919e+00] [-5.09007410e-02 9.98698090e-01 -3.35264452e-03 -1.78792745e-01] [ 4.23057676e-02 5.51016065e-03 9.99089516e-01 -1.33851608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271193817 meters Centerline goodness : 0.882190 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.18, Z:-1.34 [[ 9.97841207e-01 4.97019151e-02 -4.29260528e-02 7.82402478e+00] [-4.98504204e-02 9.98753822e-01 -2.39542048e-03 -1.84006047e-01] [ 4.27535023e-02 4.53013104e-03 9.99075381e-01 -1.34049034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301193817 meters Centerline goodness : 0.880309 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.19, Z:-1.34 [[ 9.97992404e-01 4.57595507e-02 -4.37861325e-02 7.82675412e+00] [-4.59548619e-02 9.98937512e-01 -3.46391345e-03 -1.92653871e-01] [ 4.35811031e-02 5.46914498e-03 9.99034922e-01 -1.34354579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331193817 meters Centerline goodness : 0.883212 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.19, Z:-1.34 [[ 9.98149259e-01 4.19657730e-02 -4.40105640e-02 7.82630571e+00] [-4.23040722e-02 9.99081754e-01 -6.78337767e-03 -1.94645130e-01] [ 4.36854818e-02 8.63264947e-03 9.99008036e-01 -1.34290020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361193817 meters Centerline goodness : 0.885031 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.34 [[ 9.98224657e-01 4.07696908e-02 -4.34208051e-02 7.82384376e+00] [-4.10806815e-02 9.99136009e-01 -6.29382718e-03 -1.97811496e-01] [ 4.31266926e-02 8.06640975e-03 9.99037047e-01 -1.34178575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.391193817 meters Centerline goodness : 0.886056 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:-1.34 [[ 9.98243136e-01 3.99731927e-02 -4.37353917e-02 7.82404700e+00] [-4.02736515e-02 9.99170612e-01 -6.01016101e-03 -2.01093488e-01] [ 4.34588727e-02 7.76098590e-03 9.99025071e-01 -1.34118887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.421193817 meters Centerline goodness : 0.885407 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.20, Z:-1.34 [[ 0.9984602 0.03351612 -0.04420283 7.82560721] [-0.03404039 0.99935813 -0.01116155 -0.20396907] [ 0.04380037 0.01264905 0.99896022 -1.3421634 ] [ 0. 0. 0. 1. ]] SLAMing on 80.451193817 meters Centerline goodness : 0.886910 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99849368 0.03165014 -0.04481788 7.82832873] [-0.03222602 0.99940632 -0.01218546 -0.20545903] [ 0.0444056 0.0136114 0.99892085 -1.34377728] [ 0. 0. 0. 1. ]] SLAMing on 80.481193817 meters Centerline goodness : 0.889047 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99851543 0.03010604 -0.04539334 7.83040217] [-0.03072527 0.99944325 -0.01300572 -0.20628787] [ 0.04497652 0.01438113 0.99888453 -1.34471031] [ 0. 0. 0. 1. ]] SLAMing on 80.511193817 meters Centerline goodness : 0.888977 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.21, Z:-1.34 [[ 0.99853349 0.02955365 -0.04535915 7.83030674] [-0.03017235 0.99945995 -0.01301654 -0.20740363] [ 0.04494997 0.01436604 0.99888594 -1.34456294] [ 0. 0. 0. 1. ]] SLAMing on 80.541193817 meters Centerline goodness : 0.890020 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.21, Z:-1.35 [[ 9.98766518e-01 2.78554088e-02 -4.11037620e-02 7.84040861e+00] [-2.81090925e-02 9.99589138e-01 -5.60669787e-03 -2.08503258e-01] [ 4.09306971e-02 6.75517156e-03 9.99139152e-01 -1.34586129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57119381700001 meters Centerline goodness : 0.892398 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.21, Z:-1.35 [[ 0.99891951 0.03090817 -0.034706 7.85138695] [-0.03134328 0.99943588 -0.01206355 -0.20645369] [ 0.03431356 0.01313832 0.99932475 -1.34912313] [ 0. 0. 0. 1. ]] SLAMing on 80.60119381700001 meters Centerline goodness : 0.893331 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.20, Z:-1.35 [[ 0.99895618 0.03521144 -0.02909828 7.86367849] [-0.03572452 0.99921184 -0.01730475 -0.20446254] [ 0.02846602 0.01832621 0.99942675 -1.35263778] [ 0. 0. 0. 1. ]] SLAMing on 80.631193817 meters Centerline goodness : 0.894052 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.20, Z:-1.35 [[ 0.99880838 0.0391349 -0.02915946 7.86445707] [-0.03954778 0.99912348 -0.0137199 -0.20345145] [ 0.02859697 0.01485675 0.99948061 -1.35292667] [ 0. 0. 0. 1. ]] SLAMing on 80.661193817 meters Centerline goodness : 0.894194 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99877471 0.04323222 -0.02408449 7.87823068] [-0.04369273 0.99886558 -0.01893403 -0.20125717] [ 0.02323861 0.01996314 0.99953061 -1.35721869] [ 0. 0. 0. 1. ]] SLAMing on 80.691193817 meters Centerline goodness : 0.893144 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99856535 0.04763072 -0.02446523 7.87917456] [-0.0480354 0.99871379 -0.01622851 -0.19889787] [ 0.02366079 0.01738043 0.99956895 -1.35628584] [ 0. 0. 0. 1. ]] SLAMing on 80.721193817 meters Centerline goodness : 0.896591 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99836837 0.05153976 -0.02458144 7.88037551] [-0.05185748 0.99857667 -0.01246731 -0.198443 ] [ 0.02390389 0.0137217 0.99962009 -1.35698862] [ 0. 0. 0. 1. ]] SLAMing on 80.751193817 meters Centerline goodness : 0.895030 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:-1.36 [[ 0.99829559 0.052672 -0.0251311 7.88308585] [-0.05299603 0.99851766 -0.01240591 -0.19535129] [ 0.0244404 0.01371661 0.99960718 -1.35838078] [ 0. 0. 0. 1. ]] SLAMing on 80.781193817 meters Centerline goodness : 0.894360 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.19, Z:-1.36 [[ 0.99808245 0.05645948 -0.02537211 7.88465564] [-0.0567221 0.99834237 -0.00975266 -0.19189864] [ 0.02477942 0.01117312 0.9996305 -1.35873918] [ 0. 0. 0. 1. ]] SLAMing on 80.811193817 meters Centerline goodness : 0.893561 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.99806839 0.05645176 -0.02593638 7.88596964] [-0.0567441 0.99833166 -0.01067683 -0.19028971] [ 0.02529038 0.01212794 0.99960658 -1.35858859] [ 0. 0. 0. 1. ]] SLAMing on 80.841193817 meters Centerline goodness : 0.891429 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.99804111 0.05664125 -0.02656516 7.88704574] [-0.05695631 0.99831321 -0.01125668 -0.18926768] [ 0.02588276 0.01274769 0.9995837 -1.35804598] [ 0. 0. 0. 1. ]] SLAMing on 80.871193817 meters Centerline goodness : 0.891412 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:-1.36 [[ 0.9980262 0.05667624 -0.02704635 7.88795271] [-0.05701751 0.99830085 -0.01201758 -0.18762491] [ 0.02631928 0.01353598 0.99956194 -1.35760872] [ 0. 0. 0. 1. ]] SLAMing on 80.901193817 meters Centerline goodness : 0.891321 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99802593 0.05646295 -0.02749867 7.88892215] [-0.05686182 0.99828466 -0.01394513 -0.18335089] [ 0.02666411 0.01548123 0.99952457 -1.35689436] [ 0. 0. 0. 1. ]] SLAMing on 80.93119381700001 meters Centerline goodness : 0.889891 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99802604 0.05623035 -0.0279673 7.88959345] [-0.05666552 0.99828026 -0.01501816 -0.18163492] [ 0.02707473 0.01657329 0.99949602 -1.35621042] [ 0. 0. 0. 1. ]] SLAMing on 80.96119381700001 meters Centerline goodness : 0.892241 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99801875 0.05608559 -0.02851283 7.89067767] [-0.05655942 0.99826955 -0.01609179 -0.17936849] [ 0.02756097 0.01767258 0.99946389 -1.35577465] [ 0. 0. 0. 1. ]] SLAMing on 80.99119381700001 meters Centerline goodness : 0.890522 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.9978217 0.05932762 -0.028846 7.89284019] [-0.05974637 0.99811712 -0.01387784 -0.17572684] [ 0.02796835 0.01557106 0.99948753 -1.35666342] [ 0. 0. 0. 1. ]] SLAMing on 81.021193817 meters Centerline goodness : 0.890522 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.9978217 0.05932762 -0.028846 7.89284019] [-0.05974637 0.99811712 -0.01387784 -0.17572684] [ 0.02796835 0.01557106 0.99948753 -1.35666342] [ 0. 0. 0. 1. ]] SLAMing on 81.051193817 meters Centerline goodness : 0.890563 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.17, Z:-1.36 [[ 0.99775568 0.06008896 -0.02954525 7.89472343] [-0.06052397 0.99806778 -0.01405576 -0.17434347] [ 0.02864357 0.01581241 0.99946461 -1.35693916] [ 0. 0. 0. 1. ]] SLAMing on 81.081193817 meters Centerline goodness : 0.888078 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99772574 0.06026236 -0.03019581 7.89647501] [-0.06072522 0.99804697 -0.01465246 -0.17313478] [ 0.02925384 0.01645278 0.9994366 -1.35725598] [ 0. 0. 0. 1. ]] SLAMing on 81.111193817 meters Centerline goodness : 0.888672 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99769879 0.06042457 -0.0307571 7.89759431] [-0.06090253 0.99803329 -0.01484722 -0.17318373] [ 0.02979947 0.01668624 0.99941661 -1.35708719] [ 0. 0. 0. 1. ]] SLAMing on 81.141193817 meters Centerline goodness : 0.893525 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.9978239 0.05832771 -0.03074638 7.89556435] [-0.05888303 0.99811192 -0.01747538 -0.17195609] [ 0.02966903 0.01924779 0.99937444 -1.35453007] [ 0. 0. 0. 1. ]] SLAMing on 81.171193817 meters Centerline goodness : 0.893626 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.99787604 0.05746623 -0.03067656 7.8950385 ] [-0.0580344 0.99815296 -0.01796341 -0.17158742] [ 0.02958761 0.01970555 0.99936793 -1.35406729] [ 0. 0. 0. 1. ]] SLAMing on 81.201193817 meters Centerline goodness : 0.893680 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.17, Z:-1.35 [[ 0.99791644 0.05688289 -0.03044841 7.89423274] [-0.05744034 0.99819102 -0.01775675 -0.17231225] [ 0.02938328 0.01946872 0.9993786 -1.35383918] [ 0. 0. 0. 1. ]] SLAMing on 81.231193817 meters Centerline goodness : 0.895115 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.35 [[ 0.99798672 0.05543342 -0.03081633 7.89545027] [-0.05600725 0.99826665 -0.01808001 -0.17367288] [ 0.02976068 0.01976954 0.99936153 -1.35493106] [ 0. 0. 0. 1. ]] SLAMing on 81.261193817 meters Centerline goodness : 0.892728 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.99823134 0.05078258 -0.03090815 7.89528134] [-0.05145703 0.99844523 -0.02143128 -0.17580157] [ 0.02977176 0.02298382 0.99929244 -1.35556559] [ 0. 0. 0. 1. ]] SLAMing on 81.291193817 meters Centerline goodness : 0.895649 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99828536 0.04994195 -0.03053084 7.89418765] [-0.05060012 0.99849441 -0.0211786 -0.17717426] [ 0.02942717 0.02268715 0.99930943 -1.35544504] [ 0. 0. 0. 1. ]] SLAMing on 81.32119381700001 meters Centerline goodness : 0.892273 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99835176 0.04868181 -0.0303949 7.89354086] [-0.0493554 0.99854293 -0.02181862 -0.17676481] [ 0.02928844 0.02328281 0.9992998 -1.35502273] [ 0. 0. 0. 1. ]] SLAMing on 81.35119381700001 meters Centerline goodness : 0.892846 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.35 [[ 0.99840265 0.04773132 -0.03023018 7.89279746] [-0.04841196 0.99858076 -0.02219801 -0.17650641] [ 0.02912774 0.02362606 0.99929644 -1.3545562 ] [ 0. 0. 0. 1. ]] SLAMing on 81.381193817 meters Centerline goodness : 0.888850 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.35 [[ 0.99877383 0.03979382 -0.02944972 7.89100072] [-0.040123 0.99913775 -0.01067238 -0.18016068] [ 0.02899963 0.0118409 0.99950929 -1.35410941] [ 0. 0. 0. 1. ]] SLAMing on 81.411193817 meters Centerline goodness : 0.891904 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.18, Z:-1.36 [[ 0.99882591 0.03782097 -0.03027163 7.8940452 ] [-0.03820613 0.99919482 -0.01224768 -0.18027429] [ 0.02978404 0.01338986 0.99946667 -1.35577161] [ 0. 0. 0. 1. ]] SLAMing on 81.441193817 meters Centerline goodness : 0.889165 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.99886696 0.03623173 -0.03085558 7.89657777] [-0.03666962 0.9992329 -0.01374595 -0.17899104] [ 0.03033387 0.01486184 0.99942933 -1.35737554] [ 0. 0. 0. 1. ]] SLAMing on 81.471193817 meters Centerline goodness : 0.887850 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.18, Z:-1.36 [[ 0.9988876 0.03534583 -0.03121283 7.89816353] [-0.03582084 0.99924874 -0.01479246 -0.17706124] [ 0.03066653 0.01589408 0.99940329 -1.35832794] [ 0. 0. 0. 1. ]] SLAMing on 81.501193817 meters Centerline goodness : 0.884603 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.998877 0.03523965 -0.03166861 7.90179966] [-0.03573931 0.99924322 -0.01535244 -0.17121391] [ 0.03110363 0.01646701 0.99938051 -1.36102977] [ 0. 0. 0. 1. ]] SLAMing on 81.531193817 meters Centerline goodness : 0.886946 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.17, Z:-1.36 [[ 0.99878606 0.03783559 -0.03154151 7.90253102] [-0.03825656 0.99918531 -0.0128514 -0.16898062] [ 0.03102958 0.01404247 0.99941982 -1.36171558] [ 0. 0. 0. 1. ]] SLAMing on 81.561193817 meters Centerline goodness : 0.883420 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.16, Z:-1.36 [[ 0.99877621 0.03779318 -0.03190222 7.90352048] [-0.03827415 0.99916057 -0.01460282 -0.16459619] [ 0.03132355 0.01580598 0.99938431 -1.36127352] [ 0. 0. 0. 1. ]] SLAMing on 81.591193817 meters Centerline goodness : 0.883013 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.16, Z:-1.36 [[ 0.99865255 0.04104403 -0.03175651 7.90362586] [-0.04143988 0.99907003 -0.01190882 -0.16229377] [ 0.03123819 0.01320876 0.99942469 -1.36101574] [ 0. 0. 0. 1. ]] SLAMing on 81.621193817 meters Centerline goodness : 0.885115 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 0.9984413 0.04543952 -0.03240724 7.90542474] [-0.04582661 0.99888546 -0.01130313 -0.15321692] [ 0.03185752 0.01277063 0.99941083 -1.35970601] [ 0. 0. 0. 1. ]] SLAMing on 81.651193817 meters Centerline goodness : 0.883532 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 0.99824412 0.04917265 -0.03302602 7.90784833] [-0.04950412 0.99873067 -0.00929463 -0.14905443] [ 0.03252706 0.01091324 0.99941127 -1.36001443] [ 0. 0. 0. 1. ]] SLAMing on 81.68119381700001 meters Centerline goodness : 0.882246 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.15, Z:-1.36 [[ 9.98016163e-01 5.32899673e-02 -3.35248794e-02 7.90970212e+00] [-5.35301296e-02 9.98546318e-01 -6.30677616e-03 -1.46413964e-01] [ 3.31400570e-02 8.08885569e-03 9.99417984e-01 -1.36018507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71119381700001 meters Centerline goodness : 0.882090 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 9.97954845e-01 5.39529322e-02 -3.42813169e-02 7.91191764e+00] [-5.42398661e-02 9.98499804e-01 -7.49518871e-03 -1.42531288e-01] [ 3.38255008e-02 9.33927393e-03 9.99384117e-01 -1.36036783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74119381700001 meters Centerline goodness : 0.881264 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 0.9978872 0.05488464 -0.03476799 7.91329395] [-0.05522141 0.99843535 -0.00880031 -0.13733177] [ 0.03423059 0.01070165 0.99935666 -1.35987881] [ 0. 0. 0. 1. ]] SLAMing on 81.771193817 meters Centerline goodness : 0.883191 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.14, Z:-1.36 [[ 0.9978766 0.05491216 -0.03502786 7.9133213 ] [-0.05527981 0.99842461 -0.00961471 -0.13523521] [ 0.03444471 0.01153062 0.99934009 -1.35878265] [ 0. 0. 0. 1. ]] SLAMing on 81.801193817 meters Centerline goodness : 0.883961 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.13, Z:-1.36 [[ 0.99789183 0.05452676 -0.03519566 7.91303567] [-0.05494402 0.99842886 -0.01099837 -0.13246466] [ 0.03454066 0.01290898 0.99931992 -1.35740057] [ 0. 0. 0. 1. ]] SLAMing on 81.831193817 meters Centerline goodness : 0.884827 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.13, Z:-1.36 [[ 0.9976952 0.05814873 -0.03497173 7.91246055] [-0.05849213 0.9982484 -0.0088768 -0.12740058] [ 0.0343943 0.01090191 0.99934888 -1.35585741] [ 0. 0. 0. 1. ]] SLAMing on 81.861193817 meters Centerline goodness : 0.886830 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99766493 0.05852831 -0.03520133 7.91252006] [-0.05891159 0.99821361 -0.00995053 -0.1241414 ] [ 0.03455606 0.01200106 0.9993307 -1.35461266] [ 0. 0. 0. 1. ]] SLAMing on 81.891193817 meters Centerline goodness : 0.884216 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99764888 0.05872914 -0.03532148 7.91213344] [-0.05913882 0.99819277 -0.01066714 -0.12267427] [ 0.03463118 0.01273093 0.99931907 -1.3533174 ] [ 0. 0. 0. 1. ]] SLAMing on 81.921193817 meters Centerline goodness : 0.882803 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99760839 0.05931936 -0.03547832 7.91222907] [-0.05972064 0.99816138 -0.01035908 -0.12304763] [ 0.03479859 0.01245309 0.99931676 -1.35286066] [ 0. 0. 0. 1. ]] SLAMing on 81.951193817 meters Centerline goodness : 0.880448 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99756227 0.05985134 -0.03587936 7.91364259] [-0.06025912 0.99812866 -0.01039265 -0.12235651] [ 0.03519021 0.01252937 0.99930209 -1.35349948] [ 0. 0. 0. 1. ]] SLAMing on 81.981193817 meters Centerline goodness : 0.885634 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99754824 0.06005386 -0.03593107 7.9141329 ] [-0.06045674 0.99811837 -0.01023204 -0.12212451] [ 0.03524899 0.01237923 0.99930189 -1.35391587] [ 0. 0. 0. 1. ]] SLAMing on 82.011193817 meters Centerline goodness : 0.878124 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.12, Z:-1.35 [[ 0.99755245 0.05988973 -0.03608775 7.91464845] [-0.06028514 0.99813141 -0.00996927 -0.12318406] [ 0.03542326 0.01212043 0.9992989 -1.35430969] [ 0. 0. 0. 1. ]] SLAMing on 82.041193817 meters Centerline goodness : 0.879339 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.35 [[ 0.99756173 0.05960779 -0.03629745 7.91510185] [-0.05998892 0.99815381 -0.00950228 -0.12547883] [ 0.03566403 0.01165655 0.99929585 -1.3546208 ] [ 0. 0. 0. 1. ]] SLAMing on 82.07119381700001 meters Centerline goodness : 0.878041 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.997642 0.05815368 -0.03644982 7.91549027] [-0.05852532 0.99824341 -0.00921258 -0.12909241] [ 0.03585005 0.0113241 0.99929302 -1.35545663] [ 0. 0. 0. 1. ]] SLAMing on 82.10119381700001 meters Centerline goodness : 0.878798 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99765556 0.05783315 -0.03658837 7.91572805] [-0.05818381 0.99826891 -0.00859192 -0.1312453 ] [ 0.03602814 0.01070063 0.99929349 -1.35575863] [ 0. 0. 0. 1. ]] SLAMing on 82.131193817 meters Centerline goodness : 0.877643 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99770635 0.0565697 -0.03717411 7.91756587] [-0.05693796 0.99833784 -0.0089229 -0.13305566] [ 0.03660755 0.01101906 0.99926897 -1.35698142] [ 0. 0. 0. 1. ]] SLAMing on 82.161193817 meters Centerline goodness : 0.875347 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99774705 0.05588107 -0.03712318 7.91812766] [-0.05622522 0.99838368 -0.00829124 -0.13545735] [ 0.03659986 0.01035982 0.9992763 -1.35842484] [ 0. 0. 0. 1. ]] SLAMing on 82.191193817 meters Centerline goodness : 0.872730 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99776785 0.05551127 -0.03711896 7.91865895] [-0.05585766 0.99840374 -0.00836016 -0.1351211 ] [ 0.03659563 0.01041488 0.99927588 -1.3591727 ] [ 0. 0. 0. 1. ]] SLAMing on 82.221193817 meters Centerline goodness : 0.876056 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99781503 0.05425273 -0.03770685 7.92080788] [-0.05464271 0.99846182 -0.00938934 -0.13404142] [ 0.03713945 0.01142923 0.99924473 -1.36050379] [ 0. 0. 0. 1. ]] SLAMing on 82.251193817 meters Centerline goodness : 0.874520 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99782919 0.05392695 -0.03779939 7.92164439] [-0.05431143 0.99848149 -0.00921896 -0.13459564] [ 0.03724484 0.01125189 0.99924282 -1.36157447] [ 0. 0. 0. 1. ]] SLAMing on 82.281193817 meters Centerline goodness : 0.872705 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.14, Z:-1.36 [[ 0.99798892 0.05044919 -0.03837972 7.92440827] [-0.05094564 0.99862851 -0.01206854 -0.13568053] [ 0.03771823 0.01399954 0.99919035 -1.364251 ] [ 0. 0. 0. 1. ]] SLAMing on 82.311193817 meters Centerline goodness : 0.871491 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.14, Z:-1.36 [[ 0.9980015 0.05003756 -0.03859079 7.92513941] [-0.0505411 0.99864765 -0.01218443 -0.13616761] [ 0.03792892 0.0141105 0.99918081 -1.36477713] [ 0. 0. 0. 1. ]] SLAMing on 82.341193817 meters Centerline goodness : 0.870606 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.14, Z:-1.37 [[ 0.99800986 0.04973154 -0.0387698 7.92578732] [-0.05025682 0.99865566 -0.01269316 -0.13532124] [ 0.03808643 0.01461634 0.99916755 -1.3650241 ] [ 0. 0. 0. 1. ]] SLAMing on 82.371193817 meters Centerline goodness : 0.870586 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 0.99801604 0.04959116 -0.03879055 7.92604324] [-0.05014269 0.99865248 -0.01337632 -0.13333594] [ 0.03807493 0.01529485 0.99915783 -1.36494312] [ 0. 0. 0. 1. ]] SLAMing on 82.401193817 meters Centerline goodness : 0.867306 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.13, Z:-1.36 [[ 0.99788302 0.052484 -0.03840463 7.92473526] [-0.05297562 0.99852494 -0.0118966 -0.1281201 ] [ 0.0377236 0.01390592 0.99919145 -1.36311871] [ 0. 0. 0. 1. ]] SLAMing on 82.43119381700001 meters Centerline goodness : 0.867541 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 0.99769735 0.05592499 -0.03837171 7.92506415] [-0.05630143 0.99837503 -0.00880007 -0.12644902] [ 0.03781721 0.01094019 0.99922478 -1.362863 ] [ 0. 0. 0. 1. ]] SLAMing on 82.46119381700001 meters Centerline goodness : 0.867433 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.13, Z:-1.36 [[ 9.97479222e-01 5.97544226e-02 -3.82702358e-02 7.92512911e+00] [-5.99978582e-02 9.98184735e-01 -5.24335759e-03 -1.25597842e-01] [ 3.78874514e-02 7.52627243e-03 9.99253670e-01 -1.36249898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49119381700001 meters Centerline goodness : 0.867420 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97438040e-01 6.00899250e-02 -3.88144006e-02 7.92609313e+00] [-6.03857356e-02 9.98153997e-01 -6.49323173e-03 -1.23175089e-01] [ 3.83525712e-02 8.82043246e-03 9.99225340e-01 -1.36151271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521193817 meters Centerline goodness : 0.868555 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97393127e-01 6.06912046e-02 -3.90324066e-02 7.92678235e+00] [-6.10033319e-02 9.98114024e-01 -6.85485606e-03 -1.21169784e-01] [ 3.85427630e-02 9.21809318e-03 9.99214433e-01 -1.36134265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551193817 meters Centerline goodness : 0.866416 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.97157324e-01 6.45542964e-02 -3.88589026e-02 7.92700484e+00] [-6.47721818e-02 9.97890495e-01 -4.37317016e-03 -1.16985988e-01] [ 3.84946227e-02 6.87771456e-03 9.99235138e-01 -1.36089442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters Centerline goodness : 0.866410 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.12, Z:-1.36 [[ 9.96937377e-01 6.79341297e-02 -3.87404185e-02 7.92735960e+00] [-6.80272776e-02 9.97682866e-01 -1.08978037e-03 -1.15611698e-01] [ 3.85766185e-02 3.72184799e-03 9.99248714e-01 -1.36091240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611193817 meters Centerline goodness : 0.864629 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.96961953e-01 6.74849553e-02 -3.88927431e-02 7.92748795e+00] [-6.76220151e-02 9.97708547e-01 -2.21788359e-03 -1.13085956e-01] [ 3.86539484e-02 4.84115122e-03 9.99240930e-01 -1.36014872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.641193817 meters Centerline goodness : 0.863397 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97035000e-01 6.65212809e-02 -3.86798221e-02 7.92547045e+00] [-6.67006338e-02 9.97767363e-01 -3.36359873e-03 -1.11718780e-01] [ 3.83697133e-02 5.93359432e-03 9.99245995e-01 -1.35817043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.671193817 meters Centerline goodness : 0.865894 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97813711e-01 5.94933868e-02 -2.87808108e-02 7.92860020e+00] [-5.96180778e-02 9.98215149e-01 -3.49314288e-03 -1.10520168e-01] [ 2.85216224e-02 5.20136248e-03 9.99579643e-01 -1.35699841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701193817 meters Centerline goodness : 0.861104 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.36 [[ 9.97931166e-01 5.76217447e-02 -2.85152929e-02 7.92661200e+00] [-5.78050432e-02 9.98311929e-01 -5.64536007e-03 -1.07781707e-01] [ 2.81418616e-02 7.28200850e-03 9.99577415e-01 -1.35516511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.731193817 meters Centerline goodness : 0.858513 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.11, Z:-1.35 [[ 9.97959691e-01 5.70659831e-02 -2.86343837e-02 7.92677895e+00] [-5.72762448e-02 9.98336707e-01 -6.57663729e-03 -1.05170957e-01] [ 2.82114540e-02 8.20328889e-03 9.99568317e-01 -1.35487193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.761193817 meters Centerline goodness : 0.859782 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.10, Z:-1.35 [[ 9.97890983e-01 5.85525311e-02 -2.80211893e-02 7.92485236e+00] [-5.87450401e-02 9.98254405e-01 -6.09623537e-03 -9.92148286e-02] [ 2.76153257e-02 7.72948420e-03 9.99588740e-01 -1.35319378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.791193817 meters Centerline goodness : 0.858867 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.10, Z:-1.35 [[ 9.97889727e-01 5.84525179e-02 -2.82735855e-02 7.92567500e+00] [-5.86805305e-02 9.98250104e-01 -7.30245014e-03 -9.51160400e-02] [ 2.77972631e-02 8.94614898e-03 9.99573548e-01 -1.35325522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82119381700001 meters Centerline goodness : 0.860393 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.09, Z:-1.35 [[ 9.97681692e-01 6.19241772e-02 -2.82247601e-02 7.92631352e+00] [-6.20698580e-02 9.98062484e-01 -4.31404543e-03 -9.24247773e-02] [ 2.79029305e-02 6.05595100e-03 9.99592293e-01 -1.35348078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85119381700001 meters Centerline goodness : 0.860024 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.09, Z:-1.35 [[ 9.97473850e-01 6.51991371e-02 -2.81956005e-02 7.92754775e+00] [-6.52736154e-02 9.97865907e-01 -1.72822454e-03 -8.87248953e-02] [ 2.80227497e-02 3.56428757e-03 9.99600931e-01 -1.35434959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters Centerline goodness : 0.854295 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97125812e-01 7.02295412e-02 -2.84240418e-02 7.93166887e+00] [-7.01942872e-02 9.97530830e-01 2.23743068e-03 -8.23779217e-02] [ 2.85109917e-02 -2.35794529e-04 9.99593451e-01 -1.35759958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911193817 meters Centerline goodness : 0.862133 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97122589e-01 7.02116908e-02 -2.85807832e-02 7.93318459e+00] [-7.02042860e-02 9.97531835e-01 1.26369059e-03 -7.88752072e-02] [ 2.85989669e-02 7.46439041e-04 9.99590687e-01 -1.35890621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters Centerline goodness : 0.862133 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.97123144e-01 7.01995211e-02 -2.85913166e-02 7.93319635e+00] [-7.01922074e-02 9.97532689e-01 1.26061170e-03 -7.88385989e-02] [ 2.86092673e-02 7.49902523e-04 9.99590390e-01 -1.35888737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971193817 meters Centerline goodness : 0.854798 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.08, Z:-1.36 [[ 9.96889466e-01 7.34253262e-02 -2.86376464e-02 7.93443427e+00] [-7.33257512e-02 9.97297831e-01 4.51327970e-03 -7.82626061e-02] [ 2.88916517e-02 -2.39936405e-03 9.99579669e-01 -1.35975917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters Centerline goodness : 0.858711 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.08, Z:-1.36 [[ 9.96900016e-01 7.31872095e-02 -2.88789090e-02 7.93548753e+00] [-7.31112826e-02 9.97317008e-01 3.67777304e-03 -7.57571575e-02] [ 2.90705931e-02 -1.55499792e-03 9.99576151e-01 -1.36038798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.031193817 meters Centerline goodness : 0.858533 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 9.96754639e-01 7.53045360e-02 -2.84502623e-02 7.93408670e+00] [-7.51703556e-02 9.97154080e-01 5.75828517e-03 -7.41529849e-02] [ 2.88029201e-02 -3.60098112e-03 9.99578624e-01 -1.35926301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061193817 meters Centerline goodness : 0.856986 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 9.96476957e-01 7.89338521e-02 -2.83393921e-02 7.93392530e+00] [-7.87208907e-02 9.96859986e-01 8.55505773e-03 -7.05452275e-02] [ 2.89256897e-02 -6.29401571e-03 9.99561749e-01 -1.35837326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.091193817 meters Centerline goodness : 0.858628 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.07, Z:-1.36 [[ 0.99617275 0.08270518 -0.02827909 7.93430077] [-0.08239154 0.99652678 0.01208386 -0.06948982] [ 0.02918026 -0.00970765 0.99952702 -1.35816405] [ 0. 0. 0. 1. ]] SLAMing on 83.121193817 meters Centerline goodness : 0.858248 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99585847 0.08633767 -0.02849075 7.9356692 ] [-0.0859227 0.99618148 0.01548357 -0.06864524] [ 0.02971877 -0.01297144 0.99947413 -1.35860688] [ 0. 0. 0. 1. ]] SLAMing on 83.151193817 meters Centerline goodness : 0.856947 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99560166 0.08909688 -0.02896686 7.93793292] [-0.08858977 0.99589925 0.01834468 -0.06807562] [ 0.03048252 -0.01569783 0.99941202 -1.35956562] [ 0. 0. 0. 1. ]] SLAMing on 83.18119381700001 meters Centerline goodness : 0.858149 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99564616 0.08838261 -0.02961817 7.93916933] [-0.08787418 0.995968 0.0180517 -0.06847356] [ 0.0310942 -0.01537044 0.99939827 -1.35954958] [ 0. 0. 0. 1. ]] SLAMing on 83.21119381700001 meters Centerline goodness : 0.851880 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99577624 0.08664024 -0.03038341 7.94100605] [-0.08615208 0.9961365 0.01702603 -0.06927144] [ 0.03174116 -0.01433652 0.9993933 -1.36009448] [ 0. 0. 0. 1. ]] SLAMing on 83.24119381700001 meters Centerline goodness : 0.857033 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.07, Z:-1.36 [[ 0.99611933 0.08236246 -0.03102748 7.94179976] [-0.08200134 0.9965508 0.01273913 -0.06853719] [ 0.03196969 -0.0101454 0.99943735 -1.36028877] [ 0. 0. 0. 1. ]] SLAMing on 83.271193817 meters Centerline goodness : 0.850561 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99699293 0.07242794 -0.02755517 7.92133425] [-0.07185252 0.99718716 0.02133015 -0.06764895] [ 0.02902256 -0.0192861 0.99939268 -1.3621109 ] [ 0. 0. 0. 1. ]] SLAMing on 83.301193817 meters Centerline goodness : 0.855457 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99728298 0.06813256 -0.02801082 7.92163507] [-0.06767414 0.99756261 0.01700172 -0.06657327] [ 0.02910091 -0.01505992 0.99946302 -1.36198788] [ 0. 0. 0. 1. ]] SLAMing on 83.331193817 meters Centerline goodness : 0.850403 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99743174 0.06595559 -0.02792479 7.92016756] [-0.06555068 0.99773383 0.01517607 -0.06653972] [ 0.02886246 -0.0133066 0.99949482 -1.36080722] [ 0. 0. 0. 1. ]] SLAMing on 83.361193817 meters Centerline goodness : 0.848775 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.07, Z:-1.36 [[ 0.99746914 0.06531712 -0.02808908 7.92053991] [-0.06491969 0.9977802 0.01483621 -0.06687051] [ 0.02899579 -0.01297513 0.99949532 -1.36092943] [ 0. 0. 0. 1. ]] SLAMing on 83.391193817 meters Centerline goodness : 0.854436 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99751153 0.06458939 -0.02826577 7.92094822] [-0.06423359 0.99784598 0.01332084 -0.06243251] [ 0.02906527 -0.01147208 0.99951168 -1.36085468] [ 0. 0. 0. 1. ]] SLAMing on 83.421193817 meters Centerline goodness : 0.848638 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99750835 0.06452514 -0.02852376 7.92175204] [-0.06419477 0.99786095 0.01235113 -0.05878756] [ 0.02925971 -0.01048928 0.99951681 -1.36101479] [ 0. 0. 0. 1. ]] SLAMing on 83.451193817 meters Centerline goodness : 0.851867 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.9972584 0.06829715 -0.02848134 7.92241268] [-0.06786535 0.99756838 0.01586235 -0.05786797] [ 0.02949543 -0.01388596 0.99946846 -1.36130751] [ 0. 0. 0. 1. ]] SLAMing on 83.481193817 meters Centerline goodness : 0.852094 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.06, Z:-1.36 [[ 0.99722079 0.06873988 -0.02873186 7.92311593] [-0.06832399 0.99754715 0.01521549 -0.05523706] [ 0.0297073 -0.01321013 0.99947134 -1.36136193] [ 0. 0. 0. 1. ]] SLAMing on 83.511193817 meters Centerline goodness : 0.855721 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99689855 0.07335817 -0.02849315 7.92304269] [-0.07285128 0.99717234 0.01843947 -0.05198564] [ 0.02976527 -0.01630652 0.9994239 -1.36088171] [ 0. 0. 0. 1. ]] SLAMing on 83.541193817 meters Centerline goodness : 0.856308 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99661252 0.0771817 -0.02839828 7.92291608] [-0.07657057 0.99682111 0.02201398 -0.05080859] [ 0.03000709 -0.01976494 0.99935425 -1.36009432] [ 0. 0. 0. 1. ]] SLAMing on 83.57119381700001 meters Centerline goodness : 0.857250 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99631807 0.08095341 -0.02822845 7.92260858] [-0.08024064 0.99644849 0.02553129 -0.04985881] [ 0.03019504 -0.02317222 0.99927539 -1.35926931] [ 0. 0. 0. 1. ]] SLAMing on 83.60119381700001 meters Centerline goodness : 0.860341 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99591109 0.08594089 -0.02784356 7.92157393] [-0.08512292 0.99593834 0.02934132 -0.04769639] [ 0.03025208 -0.02685122 0.99918158 -1.35769207] [ 0. 0. 0. 1. ]] SLAMing on 83.63119381700001 meters Centerline goodness : 0.856959 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.05, Z:-1.36 [[ 0.99555749 0.09009357 -0.02735748 7.92079732] [-0.08916173 0.99545157 0.03356136 -0.04877342] [ 0.03025671 -0.03097303 0.99906216 -1.35699061] [ 0. 0. 0. 1. ]] SLAMing on 83.661193817 meters Centerline goodness : 0.857830 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.05, Z:-1.36 [[ 0.9957091 0.0897848 -0.02240729 7.93078777] [-0.08877961 0.99514768 0.04241791 -0.05148838] [ 0.02610704 -0.04024658 0.99884865 -1.359395 ] [ 0. 0. 0. 1. ]] SLAMing on 83.691193817 meters Centerline goodness : 0.857119 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.05, Z:-1.36 [[ 0.99552939 0.09167027 -0.02275511 7.93277738] [-0.09060977 0.9949171 0.04392996 -0.05287075] [ 0.02666652 -0.04167173 0.99877543 -1.36062369] [ 0. 0. 0. 1. ]] SLAMing on 83.721193817 meters Centerline goodness : 0.857934 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.36 [[ 0.99512334 0.09656548 -0.0201159 7.94547363] [-0.09575861 0.994686 0.03781614 -0.05521527] [ 0.02366073 -0.03570545 0.99908222 -1.36433898] [ 0. 0. 0. 1. ]] SLAMing on 83.751193817 meters Centerline goodness : 0.856596 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.9949464 0.09815157 -0.02116444 7.94829523] [-0.09727288 0.99448648 0.03917438 -0.05725383] [ 0.02489277 -0.03691768 0.99900823 -1.36520264] [ 0. 0. 0. 1. ]] SLAMing on 83.781193817 meters Centerline goodness : 0.860865 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.99486726 0.09886809 -0.02154632 7.9498433 ] [-0.09795052 0.99438151 0.04013871 -0.05945459] [ 0.0253937 -0.03782222 0.99896178 -1.36605063] [ 0. 0. 0. 1. ]] SLAMing on 83.811193817 meters Centerline goodness : 0.859626 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.06, Z:-1.37 [[ 0.99487537 0.09846647 -0.02296413 7.9539168 ] [-0.09751405 0.99445208 0.03944705 -0.06163227] [ 0.02672094 -0.03700558 0.99895775 -1.36787268] [ 0. 0. 0. 1. ]] SLAMing on 83.841193817 meters Centerline goodness : 0.865587 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.07, Z:-1.37 [[ 0.99515268 0.09546117 -0.02362851 7.95551197] [-0.09453818 0.99481444 0.03750682 -0.06747337] [ 0.02708643 -0.03509122 0.99901698 -1.36900759] [ 0. 0. 0. 1. ]] SLAMing on 83.871193817 meters Centerline goodness : 0.863501 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.07, Z:-1.37 [[ 0.99561995 0.09079723 -0.02228855 7.97523912] [-0.090018 0.99536717 0.03377811 -0.07234884] [ 0.02525225 -0.03162379 0.99918079 -1.36915188] [ 0. 0. 0. 1. ]] SLAMing on 83.901193817 meters Centerline goodness : 0.867808 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.08, Z:-1.37 [[ 0.99619106 0.08510869 -0.01897072 7.98468495] [-0.0842979 0.99563427 0.04007826 -0.07852128] [ 0.0222989 -0.03832641 0.99901644 -1.36849294] [ 0. 0. 0. 1. ]] SLAMing on 83.93119381700001 meters Centerline goodness : 0.868926 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.10, Z:-1.35 [[ 0.99762694 0.06774496 -0.0122924 7.97215128] [-0.06621348 0.99293716 0.0984458 -0.10184203] [ 0.01887479 -0.09739826 0.99506649 -1.35053366] [ 0. 0. 0. 1. ]] SLAMing on 83.96119381700001 meters Centerline goodness : 0.869858 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.10, Z:-1.35 [[ 0.99803145 0.06143021 -0.01263115 7.9783673 ] [-0.0601957 0.99481927 0.0819213 -0.10174717] [ 0.01759815 -0.08099969 0.99655876 -1.34678304] [ 0. 0. 0. 1. ]] SLAMing on 83.99119381700001 meters Centerline goodness : 0.871195 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.10, Z:-1.34 [[ 0.99830818 0.0558876 -0.01604208 7.98602938] [-0.05466581 0.99615106 0.06851798 -0.10197413] [ 0.01980964 -0.06752511 0.9975209 -1.34285088] [ 0. 0. 0. 1. ]] SLAMing on 84.021193817 meters Centerline goodness : 0.866676 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.10, Z:-1.34 [[ 0.99844199 0.05207881 -0.02003478 7.9941387 ] [-0.05084287 0.99702611 0.05791318 -0.10256086] [ 0.02299124 -0.05680433 0.99812057 -1.33933984] [ 0. 0. 0. 1. ]] SLAMing on 84.051193817 meters Centerline goodness : 0.869587 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.10, Z:-1.34 [[ 0.99853799 0.04863194 -0.0235968 8.00031052] [-0.04735245 0.99752129 0.05204833 -0.10401529] [ 0.02606952 -0.05085487 0.99836575 -1.33815364] [ 0. 0. 0. 1. ]] SLAMing on 84.081193817 meters Centerline goodness : 0.871239 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.11, Z:-1.34 [[ 0.99868176 0.04532508 -0.02409104 8.00210908] [-0.04408715 0.99779335 0.0496463 -0.10894528] [ 0.0262881 -0.04851875 0.99847627 -1.33972937] [ 0. 0. 0. 1. ]] SLAMing on 84.111193817 meters Centerline goodness : 0.871085 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.11, Z:-1.34 [[ 0.99856168 0.04650462 -0.02668112 8.01337807] [-0.0453638 0.99809234 0.04187836 -0.11024484] [ 0.02857776 -0.04060777 0.9987664 -1.33943223] [ 0. 0. 0. 1. ]] SLAMing on 84.141193817 meters Centerline goodness : 0.873702 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.11, Z:-1.34 [[ 0.99854084 0.04675205 -0.02702647 8.01487654] [-0.04559362 0.99807686 0.04199763 -0.11044182] [ 0.02893797 -0.04070411 0.99875211 -1.34045526] [ 0. 0. 0. 1. ]] SLAMing on 84.171193817 meters Centerline goodness : 0.874977 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.11, Z:-1.34 [[ 0.9981691 0.05114901 -0.03228338 8.02164399] [-0.05015709 0.99826562 0.03082229 -0.10802514] [ 0.03380392 -0.02914662 0.99900339 -1.34471754] [ 0. 0. 0. 1. ]] SLAMing on 84.201193817 meters Centerline goodness : 0.877665 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.10, Z:-1.35 [[ 0.99777522 0.05650431 -0.03538188 8.0243305 ] [-0.05561843 0.99812536 0.02554121 -0.104199 ] [ 0.03675874 -0.0235165 0.99904743 -1.35382971] [ 0. 0. 0. 1. ]] SLAMing on 84.231193817 meters Centerline goodness : 0.876400 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 0.99771721 0.05730443 -0.03572912 8.02529269] [-0.05641217 0.99808184 0.02550096 -0.10286124] [ 0.03712191 -0.02342719 0.9990361 -1.35390248] [ 0. 0. 0. 1. ]] SLAMing on 84.261193817 meters Centerline goodness : 0.880282 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.10, Z:-1.35 [[ 0.9976601 0.05824948 -0.03579568 8.02454245] [-0.0573503 0.99802446 0.02565402 -0.10197363] [ 0.03721929 -0.0235411 0.9990298 -1.35246052] [ 0. 0. 0. 1. ]] SLAMing on 84.291193817 meters Centerline goodness : 0.881543 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 0.99759328 0.0604548 -0.03395386 8.03036277] [-0.05993908 0.99807367 0.01600786 -0.09995447] [ 0.03485621 -0.01393417 0.99929519 -1.3489885 ] [ 0. 0. 0. 1. ]] SLAMing on 84.32119381700001 meters Centerline goodness : 0.891029 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.35 [[ 9.97631493e-01 6.31752033e-02 -2.72084126e-02 8.03405462e+00] [-6.29764374e-02 9.97982126e-01 8.10214007e-03 -9.97415204e-02] [ 2.76653638e-02 -6.36946120e-03 9.99596948e-01 -1.34681528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35119381700001 meters Centerline goodness : 0.888937 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.97728802e-01 6.17177719e-02 -2.69843230e-02 8.03118441e+00] [-6.15586927e-02 9.98081061e-01 6.68753118e-03 -9.99413083e-02] [ 2.73452812e-02 -5.01122283e-03 9.99613487e-01 -1.34403149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38119381700001 meters Centerline goodness : 0.891272 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.97964102e-01 5.77629802e-02 -2.70386581e-02 8.02993975e+00] [-5.77169570e-02 9.98329906e-01 2.48012972e-03 -9.94842822e-02] [ 2.71367607e-02 -9.14491355e-04 9.99631312e-01 -1.34271914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411193817 meters Centerline goodness : 0.892146 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.10, Z:-1.34 [[ 9.98010168e-01 5.69196140e-02 -2.71267743e-02 8.02961272e+00] [-5.68674462e-02 9.98378110e-01 2.69132795e-03 -1.01820830e-01] [ 2.72359670e-02 -1.14334228e-03 9.99628378e-01 -1.34229198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters Centerline goodness : 0.891626 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 9.98716635e-01 4.43593268e-02 -2.44403997e-02 8.02619617e+00] [-4.42043777e-02 9.98999063e-01 6.84434755e-03 -1.05862437e-01] [ 2.47195471e-02 -5.75519109e-03 9.99677859e-01 -1.34059278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471193817 meters Centerline goodness : 0.893720 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 9.98906790e-01 3.98305260e-02 -2.44694651e-02 8.02582842e+00] [-3.97789707e-02 9.99205146e-01 2.59027377e-03 -1.05930627e-01] [ 2.45531874e-02 -1.61407192e-03 9.99697222e-01 -1.34052588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.501193817 meters Centerline goodness : 0.893749 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.34 [[ 0.99914199 0.03031565 -0.02821773 8.02844572] [-0.03002659 0.99949277 0.01061209 -0.10742937] [ 0.02852513 -0.0097557 0.99954547 -1.34232278] [ 0. 0. 0. 1. ]] SLAMing on 84.531193817 meters Centerline goodness : 0.893540 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.11, Z:-1.35 [[ 9.99214110e-01 2.69828103e-02 -2.90360054e-02 8.03242669e+00] [-2.67884174e-02 9.99616172e-01 7.06326099e-03 -1.05511828e-01] [ 2.92154472e-02 -6.27988142e-03 9.99553411e-01 -1.34535022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561193817 meters Centerline goodness : 0.894439 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99228031e-01 2.55528905e-02 -2.98394376e-02 8.03622281e+00] [-2.54043978e-02 9.99662967e-01 5.34500629e-03 -1.03191977e-01] [ 2.99659611e-02 -4.58282717e-03 9.99540414e-01 -1.34814717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.591193817 meters Centerline goodness : 0.894453 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99238507e-01 2.44003093e-02 -3.04471730e-02 8.03918017e+00] [-2.43044189e-02 9.99698422e-01 3.51557960e-03 -9.98203327e-02] [ 3.05237721e-02 -2.77290167e-03 9.99530195e-01 -1.35022532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621193817 meters Centerline goodness : 0.894579 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.10, Z:-1.35 [[ 9.99234718e-01 2.40823963e-02 -3.08223347e-02 8.04076707e+00] [-2.40276362e-02 9.99708992e-01 2.14584228e-03 -9.60940209e-02] [ 3.08650422e-02 -1.40361226e-03 9.99522576e-01 -1.35099274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.651193817 meters Centerline goodness : 0.898266 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.09, Z:-1.35 [[ 9.99222935e-01 2.98132626e-02 -2.57816915e-02 8.04942062e+00] [-2.99311328e-02 9.99543148e-01 -4.19801782e-03 -8.65668030e-02] [ 2.56447564e-02 4.96643091e-03 9.99658782e-01 -1.35156680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68119381700001 meters Centerline goodness : 0.899046 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.08, Z:-1.35 [[ 9.99118460e-01 3.32367051e-02 -2.56442008e-02 8.04796091e+00] [-3.32899222e-02 9.99444373e-01 -1.65097564e-03 -8.24431732e-02] [ 2.55750792e-02 2.50321369e-03 9.99669770e-01 -1.34959216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71119381700001 meters Centerline goodness : 0.900769 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.08, Z:-1.35 [[ 9.99136379e-01 3.68551913e-02 -1.91882939e-02 8.05894593e+00] [-3.69902713e-02 9.99292944e-01 -6.73291566e-03 -7.75294564e-02] [ 1.89265838e-02 7.43688118e-03 9.99793217e-01 -1.35188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74119381700001 meters Centerline goodness : 0.904524 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.07, Z:-1.35 [[ 9.99045398e-01 3.93555118e-02 -1.89588050e-02 8.05716026e+00] [-3.94526062e-02 9.99210035e-01 -4.77468684e-03 -7.42452545e-02] [ 1.87559179e-02 5.51810318e-03 9.99808865e-01 -1.34981805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771193817 meters Centerline goodness : 0.901224 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.07, Z:-1.35 [[ 9.98964462e-01 4.15432947e-02 -1.85514891e-02 8.05518081e+00] [-4.16010288e-02 9.99130554e-01 -2.73693950e-03 -7.17388234e-02] [ 1.84216581e-02 3.50586633e-03 9.99824160e-01 -1.34796383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801193817 meters Centerline goodness : 0.905686 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98900367e-01 4.33133234e-02 -1.79447029e-02 8.05356803e+00] [-4.33463007e-02 9.99059051e-01 -1.45268478e-03 -6.70691012e-02] [ 1.78648973e-02 2.22892385e-03 9.99837926e-01 -1.34700654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831193817 meters Centerline goodness : 0.905686 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98900367e-01 4.33133234e-02 -1.79447029e-02 8.05356803e+00] [-4.33463007e-02 9.99059051e-01 -1.45268478e-03 -6.70691012e-02] [ 1.78648973e-02 2.22892385e-03 9.99837926e-01 -1.34700654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters Centerline goodness : 0.905478 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98804984e-01 4.56047705e-02 -1.75729806e-02 8.05248472e+00] [-4.55926581e-02 9.98959520e-01 1.08948781e-03 -6.64498525e-02] [ 1.76043821e-02 -2.86986951e-04 9.99844990e-01 -1.34633201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.891193817 meters Centerline goodness : 0.904360 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 9.98758311e-01 4.64955636e-02 -1.78884998e-02 8.05481254e+00] [-4.64719804e-02 9.98918092e-01 1.73200904e-03 -6.60103334e-02] [ 1.79496769e-02 -8.98544415e-04 9.99838488e-01 -1.34832681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921193817 meters Centerline goodness : 0.900849 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.07, Z:-1.35 [[ 0.99858405 0.04763725 -0.0236769 8.04769056] [-0.04732604 0.99878778 0.0135354 -0.06667623] [ 0.02429299 -0.0123957 0.99962803 -1.34689091] [ 0. 0. 0. 1. ]] SLAMing on 84.951193817 meters Centerline goodness : 0.896322 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.99836977 0.05140096 -0.02481436 8.05426393] [-0.0509949 0.99855879 0.01672885 -0.06341989] [ 0.02563848 -0.01543617 0.9995521 -1.35187215] [ 0. 0. 0. 1. ]] SLAMing on 84.981193817 meters Centerline goodness : 0.897537 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-1.35 [[ 0.99836947 0.05113923 -0.02536112 8.05678943] [-0.05074765 0.99858571 0.01585087 -0.06062804] [ 0.02613585 -0.01453801 0.99955268 -1.35359648] [ 0. 0. 0. 1. ]] SLAMing on 85.011193817 meters Centerline goodness : 0.896224 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-1.35 [[ 0.99835927 0.05109414 -0.02584863 8.05869463] [-0.05070559 0.99859382 0.01547045 -0.05913581] [ 0.02660273 -0.0141344 0.99954615 -1.35471881] [ 0. 0. 0. 1. ]] SLAMing on 85.041193817 meters Centerline goodness : 0.895491 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.99826842 0.04995543 -0.03105842 8.04745844] [-0.04922963 0.99850601 0.02371043 -0.05916472] [ 0.03219649 -0.02214038 0.9992363 -1.35044741] [ 0. 0. 0. 1. ]] SLAMing on 85.07119381700001 meters Centerline goodness : 0.898170 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-1.35 [[ 0.9982874 0.04950873 -0.03116337 8.04674634] [-0.04880354 0.99854361 0.02299727 -0.05758275] [ 0.03225655 -0.021437 0.9992497 -1.34917436] [ 0. 0. 0. 1. ]] SLAMing on 85.10119381700001 meters Centerline goodness : 0.900885 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.06, Z:-1.35 [[ 0.99833516 0.04861825 -0.03103511 8.04464782] [-0.04795544 0.99861252 0.02175587 -0.05504807] [ 0.03204978 -0.02023135 0.99928149 -1.34678018] [ 0. 0. 0. 1. ]] SLAMing on 85.13119381700001 meters Centerline goodness : 0.902468 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.9984069 0.04718593 -0.030938 8.04250038] [-0.04657711 0.99871219 0.02011282 -0.05258774] [ 0.0318472 -0.01863977 0.99931893 -1.34441582] [ 0. 0. 0. 1. ]] SLAMing on 85.161193817 meters Centerline goodness : 0.905364 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.99852665 0.04494132 -0.03041069 8.0384144 ] [-0.04442486 0.9988603 0.01745083 -0.04853058] [ 0.03116029 -0.01607413 0.99938514 -1.340637 ] [ 0. 0. 0. 1. ]] SLAMing on 85.191193817 meters Centerline goodness : 0.907471 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.05, Z:-1.34 [[ 0.99858309 0.04380453 -0.0302154 8.03656258] [-0.04333981 0.99893437 0.0158676 -0.04561176] [ 0.03087827 -0.01453559 0.99941745 -1.33874613] [ 0. 0. 0. 1. ]] SLAMing on 85.221193817 meters Centerline goodness : 0.909694 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.04, Z:-1.34 [[ 0.99863149 0.04277643 -0.03008856 8.03485799] [-0.04235643 0.99899791 0.01446074 -0.04335556] [ 0.03067698 -0.01316651 0.99944263 -1.33693637] [ 0. 0. 0. 1. ]] SLAMing on 85.251193817 meters Centerline goodness : 0.909237 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.04, Z:-1.34 [[ 0.99865701 0.04209832 -0.03019783 8.03465844] [-0.04170127 0.99903674 0.01365996 -0.04219182] [ 0.0307438 -0.01238233 0.9994506 -1.33642846] [ 0. 0. 0. 1. ]] SLAMing on 85.281193817 meters Centerline goodness : 0.911336 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.34 [[ 0.99870314 0.041036 -0.03013455 8.03513649] [-0.0406889 0.99909929 0.01204286 -0.03857073] [ 0.0306016 -0.01080111 0.9994733 -1.33717626] [ 0. 0. 0. 1. ]] SLAMing on 85.311193817 meters Centerline goodness : 0.911034 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.04, Z:-1.34 [[ 0.99871477 0.04055624 -0.03039734 8.03634867] [-0.04023746 0.9991293 0.01102669 -0.03567509] [ 0.03081808 -0.00978941 0.99947707 -1.33795979] [ 0. 0. 0. 1. ]] SLAMing on 85.341193817 meters Centerline goodness : 0.911076 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.03, Z:-1.34 [[ 0.9987073 0.04044873 -0.03078373 8.03810066] [-0.0401396 0.99913791 0.01059484 -0.03389324] [ 0.03118574 -0.00934549 0.99946992 -1.33911566] [ 0. 0. 0. 1. ]] SLAMing on 85.371193817 meters Centerline goodness : 0.909097 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857633 0.03794892 -0.03748587 8.0304518 ] [-0.03730566 0.9991469 0.01771308 -0.03380536] [ 0.03812608 -0.01628943 0.99914016 -1.33738794] [ 0. 0. 0. 1. ]] SLAMing on 85.401193817 meters Centerline goodness : 0.909183 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857536 0.03769241 -0.03776948 8.03097289] [-0.03705 0.999159 0.01756671 -0.03382889] [ 0.03839985 -0.01614232 0.99913206 -1.33733951] [ 0. 0. 0. 1. ]] SLAMing on 85.43119381700001 meters Centerline goodness : 0.908644 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99857956 0.03743395 -0.03791529 8.03142083] [-0.03680259 0.99917426 0.01721534 -0.03314172] [ 0.03852842 -0.0157955 0.99913266 -1.33754795] [ 0. 0. 0. 1. ]] SLAMing on 85.46119381700001 meters Centerline goodness : 0.908205 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99858406 0.03716717 -0.03805886 8.03219345] [-0.03655129 0.99919135 0.01675243 -0.03071289] [ 0.03865072 -0.01533761 0.99913507 -1.3381349 ] [ 0. 0. 0. 1. ]] SLAMing on 85.49119381700001 meters Centerline goodness : 0.908348 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.998591 0.03679656 -0.03823634 8.03247843] [-0.03619259 0.99921075 0.01636991 -0.03003344] [ 0.03880852 -0.01496297 0.99913463 -1.33802868] [ 0. 0. 0. 1. ]] SLAMing on 85.521193817 meters Centerline goodness : 0.907371 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.03, Z:-1.34 [[ 0.99858795 0.03680149 -0.03831136 8.03249028] [-0.03619648 0.99921064 0.01636781 -0.03023187] [ 0.03888348 -0.01495796 0.99913179 -1.33784676] [ 0. 0. 0. 1. ]] SLAMing on 85.551193817 meters Centerline goodness : 0.909221 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99859061 0.03773122 -0.03732503 8.00974402] [-0.03711484 0.99916518 0.01707146 -0.02951825] [ 0.037938 -0.01566209 0.99915735 -1.3378134 ] [ 0. 0. 0. 1. ]] SLAMing on 85.581193817 meters Centerline goodness : 0.909308 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99856138 0.03845062 -0.03737273 8.00995304] [-0.03784226 0.99914162 0.01685169 -0.02744052] [ 0.0379886 -0.01541317 0.9991593 -1.33777734] [ 0. 0. 0. 1. ]] SLAMing on 85.611193817 meters Centerline goodness : 0.909374 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99839752 0.04242768 -0.03744719 8.01037286] [-0.04168379 0.99892201 0.02042747 -0.02624069] [ 0.03827351 -0.0188338 0.9990898 -1.33766853] [ 0. 0. 0. 1. ]] SLAMing on 85.641193817 meters Centerline goodness : 0.909208 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.03, Z:-1.34 [[ 0.99819764 0.04679491 -0.03757257 8.01107801] [-0.04590359 0.9986516 0.02424533 -0.0252687 ] [ 0.03865647 -0.02247691 0.99899973 -1.33772061] [ 0. 0. 0. 1. ]] SLAMing on 85.671193817 meters Centerline goodness : 0.910854 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.02, Z:-1.34 [[ 0.99796476 0.05140399 -0.03773561 8.01201177] [-0.0503538 0.99833118 0.02827263 -0.0247154 ] [ 0.03912597 -0.02631496 0.99888772 -1.33788169] [ 0. 0. 0. 1. ]] SLAMing on 85.701193817 meters Centerline goodness : 0.911163 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.02, Z:-1.33 [[ 0.99731987 0.0601231 -0.04169271 8.01931502] [-0.05886893 0.99779402 0.03068443 -0.02475061] [ 0.04344558 -0.02814778 0.99865919 -1.33305633] [ 0. 0. 0. 1. ]] SLAMing on 85.731193817 meters Centerline goodness : 0.909806 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.02, Z:-1.33 [[ 0.99738147 0.06143198 -0.03816172 8.02747557] [-0.06066411 0.99793805 0.02096473 -0.02319685] [ 0.03937093 -0.01859479 0.99905163 -1.33279567] [ 0. 0. 0. 1. ]] SLAMing on 85.761193817 meters Centerline goodness : 0.907937 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.02, Z:-1.33 [[ 0.99759361 0.06179674 -0.0314349 8.03559774] [-0.06143751 0.99803552 0.01226919 -0.02350421] [ 0.03213134 -0.01030839 0.99943049 -1.33432718] [ 0. 0. 0. 1. ]] SLAMing on 85.791193817 meters Centerline goodness : 0.912466 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.03, Z:-1.33 [[ 0.99789878 0.05936429 -0.02595953 8.04969448] [-0.05912456 0.99820145 0.00990734 -0.02670209] [ 0.02650099 -0.00835168 0.9996139 -1.33189675] [ 0. 0. 0. 1. ]] SLAMing on 85.82119381700001 meters Centerline goodness : 0.916760 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.04, Z:-1.33 [[ 0.99825999 0.05597153 -0.01855215 8.05888571] [-0.05569229 0.99833164 0.01524177 -0.03712475] [ 0.0193743 -0.01418204 0.99971171 -1.33375871] [ 0. 0. 0. 1. ]] SLAMing on 85.85119381700001 meters Centerline goodness : 0.924962 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.04, Z:-1.33 [[ 0.99857221 0.05150198 -0.01418059 8.06702409] [-0.05118978 0.99845613 0.0215628 -0.04160409] [ 0.01526923 -0.02080611 0.99966692 -1.33419925] [ 0. 0. 0. 1. ]] SLAMing on 85.88119381700001 meters Centerline goodness : 0.919515 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.05, Z:-1.33 [[ 0.99870704 0.04922723 -0.01268552 8.07356875] [-0.04881068 0.998318 0.03128405 -0.04658549] [ 0.01420421 -0.03062442 0.99943003 -1.33078891] [ 0. 0. 0. 1. ]] SLAMing on 85.911193817 meters Centerline goodness : 0.919760 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.05, Z:-1.33 [[ 0.99873906 0.04799383 -0.01472671 8.0803608 ] [-0.04737539 0.9980837 0.03980584 -0.05181007] [ 0.01660892 -0.03905797 0.9990989 -1.32610369] [ 0. 0. 0. 1. ]] SLAMing on 85.941193817 meters Centerline goodness : 0.919284 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.06, Z:-1.33 [[ 0.99870501 0.04858201 -0.01510253 8.08141042] [-0.04792013 0.99799 0.04146835 -0.05604978] [ 0.01708679 -0.04069093 0.99902567 -1.32604107] [ 0. 0. 0. 1. ]] SLAMing on 85.971193817 meters Centerline goodness : 0.920656 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.07, Z:-1.32 [[ 0.99864349 0.04995832 -0.01467463 8.08078919] [-0.04884816 0.99647691 0.06817343 -0.07124138] [ 0.01802876 -0.06736412 0.99756556 -1.31983425] [ 0. 0. 0. 1. ]] SLAMing on 86.001193817 meters Centerline goodness : 0.920068 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.07, Z:-1.32 [[ 0.99876708 0.04729951 -0.01506908 8.08177657] [-0.04621673 0.99677986 0.06552806 -0.07269616] [ 0.01812 -0.06475083 0.99773694 -1.31993079] [ 0. 0. 0. 1. ]] SLAMing on 86.031193817 meters Centerline goodness : 0.919080 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.08, Z:-1.32 [[ 0.99856347 0.04924497 -0.02111722 8.08465643] [-0.04807022 0.99744051 0.05293099 -0.07567674] [ 0.02366976 -0.05183984 0.99837487 -1.32159962] [ 0. 0. 0. 1. ]] SLAMing on 86.061193817 meters Centerline goodness : 0.915707 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.08, Z:-1.32 [[ 0.99856381 0.04747205 -0.02483405 8.07819355] [-0.04642974 0.99808035 0.04098651 -0.0830166 ] [ 0.02673209 -0.03977461 0.99885103 -1.3230612 ] [ 0. 0. 0. 1. ]] SLAMing on 86.091193817 meters Centerline goodness : 0.914423 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.09, Z:-1.32 [[ 0.99859756 0.04622584 -0.02580869 8.08110035] [-0.04516756 0.99817092 0.04018334 -0.08837804] [ 0.027619 -0.03896127 0.99885895 -1.32436826] [ 0. 0. 0. 1. ]] SLAMing on 86.121193817 meters Centerline goodness : 0.913802 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.09, Z:-1.33 [[ 0.99863873 0.04488395 -0.02657296 8.08352932] [-0.04382002 0.99826415 0.03935083 -0.09394042] [ 0.02829305 -0.03813283 0.99887206 -1.32556937] [ 0. 0. 0. 1. ]] SLAMing on 86.151193817 meters Centerline goodness : 0.913058 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.10, Z:-1.33 [[ 0.9987215 0.04284753 -0.02682284 8.08396675] [-0.0418159 0.99840595 0.03790768 -0.09908211] [ 0.02840433 -0.0367376 0.99892119 -1.32579769] [ 0. 0. 0. 1. ]] SLAMing on 86.18119381700001 meters Centerline goodness : 0.900262 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.10, Z:-1.33 [[ 0.99881555 0.04047801 -0.02700043 8.08434895] [-0.03949193 0.99856737 0.03610537 -0.10345118] [ 0.02842322 -0.0349963 0.99898317 -1.32618161] [ 0. 0. 0. 1. ]] SLAMing on 86.21119381700001 meters Centerline goodness : 0.903789 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.11, Z:-1.33 [[ 0.9988848 0.03864139 -0.02712949 8.08375185] [-0.0376295 0.99861144 0.03686758 -0.11478108] [ 0.02851643 -0.03580559 0.99895184 -1.3258044 ] [ 0. 0. 0. 1. ]] SLAMing on 86.24119381700001 meters Centerline goodness : 0.903365 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.12, Z:-1.32 [[ 0.99899853 0.03534647 -0.02743301 8.08329489] [-0.03438762 0.998807 0.03467072 -0.11965874] [ 0.02862577 -0.03369264 0.99902221 -1.32492551] [ 0. 0. 0. 1. ]] SLAMing on 86.271193817 meters Centerline goodness : 0.907207 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.12, Z:-1.32 [[ 0.99920662 0.02830345 -0.02801878 8.08328177] [-0.02752055 0.99923057 0.02794423 -0.12259259] [ 0.02878814 -0.02715097 0.99921673 -1.32401127] [ 0. 0. 0. 1. ]] SLAMing on 86.301193817 meters Centerline goodness : 0.907954 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.13, Z:-1.32 [[ 0.99945778 0.0174354 -0.02793129 8.08164248] [-0.01687317 0.99965276 0.02023999 -0.13289093] [ 0.02827449 -0.01975773 0.99940492 -1.32333211] [ 0. 0. 0. 1. ]] SLAMing on 86.331193817 meters Centerline goodness : 0.907285 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.14, Z:-1.32 [[ 0.99953806 0.01063963 -0.02846877 8.0835546 ] [-0.01023242 0.99984379 0.01441141 -0.13762651] [ 0.02861765 -0.01411345 0.99949079 -1.32440058] [ 0. 0. 0. 1. ]] SLAMing on 86.361193817 meters Centerline goodness : 0.908997 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.14, Z:-1.33 [[ 9.99579198e-01 2.90575335e-03 -2.88614395e-02 8.08508825e+00] [-2.69175875e-03 9.99968621e-01 7.45063726e-03 -1.40927762e-01] [ 2.88821835e-02 -7.36981399e-03 9.99555654e-01 -1.32539342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.391193817 meters Centerline goodness : 0.906377 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.14, Z:-1.33 [[ 9.99555878e-01 -3.38493786e-03 -2.96072613e-02 8.08886029e+00] [ 3.44230286e-03 9.99992295e-01 1.88677623e-03 -1.44403773e-01] [ 2.96006466e-02 -1.98785543e-03 9.99559828e-01 -1.32803944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421193817 meters Centerline goodness : 0.903971 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.15, Z:-1.33 [[ 9.99488809e-01 -9.95035692e-03 -3.03827393e-02 8.09336961e+00] [ 9.84678681e-03 9.99945194e-01 -3.55657087e-03 -1.48749748e-01] [ 3.04164633e-02 3.25558043e-03 9.99532010e-01 -1.33147186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.451193817 meters Centerline goodness : 0.900590 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.15, Z:-1.34 [[ 9.99596463e-01 -7.75512754e-03 -2.73270908e-02 8.10803937e+00] [ 7.47492700e-03 9.99918593e-01 -1.03408603e-02 -1.48700630e-01] [ 2.74050609e-02 1.01324194e-02 9.99573057e-01 -1.33619930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.481193817 meters Centerline goodness : 0.900588 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.15, Z:-1.34 [[ 9.99720209e-01 -3.50649679e-03 -2.33924868e-02 8.12095162e+00] [ 3.13416500e-03 9.99868127e-01 -1.59344445e-02 -1.48054200e-01] [ 2.34452760e-02 1.58566703e-02 9.99599362e-01 -1.34008313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.511193817 meters Centerline goodness : 0.901848 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.15, Z:-1.34 [[ 9.99831827e-01 1.14835983e-03 -1.83029824e-02 8.13400643e+00] [-1.52671354e-03 9.99785163e-01 -2.06711486e-02 -1.46781421e-01] [ 1.82753123e-02 2.06956157e-02 9.99618780e-01 -1.34434821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541193817 meters Centerline goodness : 0.901029 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.99988614 0.00829118 -0.01260807 8.14544788] [-0.00858447 0.99968959 -0.02338877 -0.14518521] [ 0.01241023 0.02349434 0.99964694 -1.3473125 ] [ 0. 0. 0. 1. ]] SLAMing on 86.57119381700001 meters Centerline goodness : 0.901339 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.99984637 0.01183 -0.01293363 8.14628232] [-0.01208263 0.99973427 -0.01963174 -0.14598969] [ 0.01269795 0.01978499 0.99972362 -1.34731327] [ 0. 0. 0. 1. ]] SLAMing on 86.60119381700001 meters Centerline goodness : 0.900202 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.15, Z:-1.35 [[ 0.9997921 0.01518536 -0.01360758 8.14783447] [-0.01540115 0.99975503 -0.01589635 -0.14682498] [ 0.01336285 0.01610261 0.99978105 -1.34741873] [ 0. 0. 0. 1. ]] SLAMing on 86.63119381700001 meters Centerline goodness : 0.898070 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.15, Z:-1.35 [[ 0.99980698 0.01711091 -0.00965508 8.16520126] [-0.01726976 0.9997128 -0.01661538 -0.14612041] [ 0.009368 0.01677891 0.99981534 -1.34742981] [ 0. 0. 0. 1. ]] SLAMing on 86.661193817 meters Centerline goodness : 0.902262 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99798282e-01 1.95470536e-02 -4.61604235e-03 8.18067108e+00] [-1.96207804e-02 9.99671223e-01 -1.65066743e-02 -1.45893339e-01] [ 4.29186786e-03 1.65939149e-02 9.99853100e-01 -1.34613982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691193817 meters Centerline goodness : 0.900876 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99798038e-01 1.94986982e-02 -4.86665441e-03 8.18090447e+00] [-1.95751339e-02 9.99677356e-01 -1.61863512e-02 -1.47443103e-01] [ 4.54947144e-03 1.62783476e-02 9.99857149e-01 -1.34575233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters Centerline goodness : 0.902520 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99823404e-01 1.79841044e-02 -5.45282568e-03 8.18270107e+00] [-1.80745904e-02 9.99691667e-01 -1.70258789e-02 -1.49279190e-01] [ 5.14494921e-03 1.71214298e-02 9.99840180e-01 -1.34648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.751193817 meters Centerline goodness : 0.902520 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.15, Z:-1.35 [[ 9.99823404e-01 1.79841044e-02 -5.45282568e-03 8.18270107e+00] [-1.80745904e-02 9.99691667e-01 -1.70258789e-02 -1.49279190e-01] [ 5.14494921e-03 1.71214298e-02 9.99840180e-01 -1.34648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781193817 meters Centerline goodness : 0.901730 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.34 [[ 0.99991549 0.00906771 -0.00931565 8.19080292] [-0.00924179 0.99978022 -0.01881774 -0.15229495] [ 0.00914296 0.01890225 0.99977953 -1.34341291] [ 0. 0. 0. 1. ]] SLAMing on 86.811193817 meters Centerline goodness : 0.897441 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.34 [[ 9.99942855e-01 4.12980345e-03 -9.86061780e-03 8.19304069e+00] [-4.35781349e-03 9.99721000e-01 -2.32148969e-02 -1.52682168e-01] [ 9.76199373e-03 2.32565410e-02 9.99681868e-01 -1.34487029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.841193817 meters Centerline goodness : 0.896949 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.15, Z:-1.35 [[ 9.99946333e-01 -4.52751074e-04 -1.03501499e-02 8.19477917e+00] [ 1.68718556e-04 9.99623801e-01 -2.74267765e-02 -1.52683878e-01] [ 1.03586737e-02 2.74235584e-02 9.99570231e-01 -1.34578530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.871193817 meters Centerline goodness : 0.900912 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.15, Z:-1.35 [[ 9.99937467e-01 -2.29684369e-03 -1.09446955e-02 8.19688570e+00] [ 1.98344008e-03 9.99590097e-01 -2.85605171e-02 -1.53366873e-01] [ 1.10058083e-02 2.85370229e-02 9.99532146e-01 -1.34674154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.901193817 meters Centerline goodness : 0.893819 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.15, Z:-1.35 [[ 9.99961798e-01 -4.96317022e-03 -7.19507155e-03 8.20367547e+00] [ 4.81617570e-03 9.99782227e-01 -2.03052409e-02 -1.53779239e-01] [ 7.29428302e-03 2.02698124e-02 9.99767937e-01 -1.34522041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93119381700001 meters Centerline goodness : 0.900170 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.15, Z:-1.35 [[ 9.99964027e-01 -3.33313971e-03 -7.79969174e-03 8.20622956e+00] [ 3.18632593e-03 9.99818932e-01 -1.87603407e-02 -1.51770531e-01] [ 7.86081030e-03 1.87348135e-02 9.99793586e-01 -1.34661662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96119381700001 meters Centerline goodness : 0.899014 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.15, Z:-1.35 [[ 9.99966640e-01 -9.59443241e-05 -8.16764059e-03 8.20731125e+00] [-3.44275343e-05 9.99872625e-01 -1.59603606e-02 -1.49138819e-01] [ 8.16813154e-03 1.59601093e-02 9.99839265e-01 -1.34691711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99119381700001 meters Centerline goodness : 0.894715 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.14, Z:-1.35 [[ 9.99976776e-01 3.11405120e-03 -6.06222258e-03 8.22707382e+00] [-3.22065408e-03 9.99838948e-01 -1.76551767e-02 -1.44286909e-01] [ 6.00626712e-03 1.76742909e-02 9.99825757e-01 -1.34896578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021193817 meters Centerline goodness : 0.895441 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.13, Z:-1.35 [[ 9.99954711e-01 8.98343845e-03 -3.14228971e-03 8.24529348e+00] [-9.04544128e-03 9.99752853e-01 -2.03079290e-02 -1.31167904e-01] [ 2.95907807e-03 2.03354326e-02 9.99788835e-01 -1.35239381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051193817 meters Centerline goodness : 0.890386 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.13, Z:-1.35 [[ 9.99907522e-01 1.35219549e-02 -1.45040124e-03 8.26488789e+00] [-1.35488390e-02 9.99698376e-01 -2.04838007e-02 -1.25576717e-01] [ 1.17298274e-03 2.05015577e-02 9.99789133e-01 -1.35398297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081193817 meters Centerline goodness : 0.889959 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.12, Z:-1.36 [[ 9.99864036e-01 1.64749306e-02 6.97325081e-04 8.28486616e+00] [-1.64540069e-02 9.99588574e-01 -2.34935736e-02 -1.19377792e-01] [-1.08409318e-03 2.34789055e-02 9.99723745e-01 -1.35686237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111193817 meters Centerline goodness : 0.890590 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99820993e-01 1.85522756e-02 3.71411065e-03 8.30261354e+00] [-1.84391297e-02 9.99424360e-01 -2.84771238e-02 -1.12716226e-01] [-4.24028811e-03 2.84035412e-02 9.99587544e-01 -1.35934762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.141193817 meters Centerline goodness : 0.887787 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99637798e-01 2.67078634e-02 3.31100873e-03 8.30381154e+00] [-2.66253710e-02 9.99384087e-01 -2.28590398e-02 -1.06806088e-01] [-3.91948555e-03 2.27626034e-02 9.99733215e-01 -1.35825389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.171193817 meters Centerline goodness : 0.887536 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.11, Z:-1.36 [[ 9.99519188e-01 3.08636204e-02 2.97140237e-03 8.30462980e+00] [-3.08011220e-02 9.99341533e-01 -1.91778975e-02 -1.05628416e-01] [-3.56134515e-03 1.90771541e-02 9.99811672e-01 -1.35790729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.201193817 meters Centerline goodness : 0.889311 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.10, Z:-1.36 [[ 9.99487566e-01 3.19199697e-02 2.39185531e-03 8.30606051e+00] [-3.18676999e-02 9.99303962e-01 -1.93917917e-02 -1.03819901e-01] [-3.00917589e-03 1.93056318e-02 9.99809101e-01 -1.35778885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.231193817 meters Centerline goodness : 0.887843 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99323225e-01 3.67208340e-02 2.16154101e-03 8.30648009e+00] [-3.66857914e-02 9.99221936e-01 -1.44801730e-02 -1.05847190e-01] [-2.69158322e-03 1.43910753e-02 9.99892820e-01 -1.35740002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.261193817 meters Centerline goodness : 0.889422 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99291677e-01 3.75922108e-02 1.72343222e-03 8.30748525e+00] [-3.75642828e-02 9.99194962e-01 -1.40837732e-02 -1.06092979e-01] [-2.25148496e-03 1.40090578e-02 9.99899333e-01 -1.35737810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.291193817 meters Centerline goodness : 0.886293 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99223001e-01 3.93695473e-02 1.85291471e-03 8.30636442e+00] [-3.93436652e-02 9.99148985e-01 -1.23847698e-02 -1.07713198e-01] [-2.33892063e-03 1.23022464e-02 9.99921589e-01 -1.35612887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32119381700001 meters Centerline goodness : 0.891264 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.11, Z:-1.36 [[ 9.99196428e-01 4.00498904e-02 1.58230463e-03 8.30659033e+00] [-4.00289219e-02 9.99131276e-01 -1.15921459e-02 -1.09232445e-01] [-2.04519422e-03 1.15194928e-02 9.99931557e-01 -1.35566370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35119381700001 meters Centerline goodness : 0.886527 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.12, Z:-1.35 [[ 9.99115285e-01 4.20065580e-02 2.02385351e-03 8.30449886e+00] [-4.19894647e-02 9.99087175e-01 -7.85502838e-03 -1.16755446e-01] [-2.35196879e-03 7.76309840e-03 9.99967101e-01 -1.35444567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38119381700001 meters Centerline goodness : 0.885299 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.12, Z:-1.35 [[ 9.99208210e-01 3.97609882e-02 1.42026387e-03 8.30539848e+00] [-3.97448874e-02 9.99160032e-01 -9.97871043e-03 -1.19912393e-01] [-1.81583428e-03 9.91436115e-03 9.99949203e-01 -1.35457963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411193817 meters Centerline goodness : 0.885181 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.13, Z:-1.36 [[ 9.99212890e-01 3.96610670e-02 7.74968284e-04 8.30756394e+00] [-3.96531177e-02 9.99177761e-01 -8.45173273e-03 -1.26385533e-01] [-1.10953581e-03 8.41435038e-03 9.99963983e-01 -1.35652677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441193817 meters Centerline goodness : 0.883444 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.13, Z:-1.36 [[ 9.99320444e-01 3.68597707e-02 8.22187661e-05 8.30936452e+00] [-3.68569672e-02 9.99267422e-01 -1.03045343e-02 -1.31042675e-01] [-4.61981304e-04 1.02945014e-02 9.99946903e-01 -1.35799392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471193817 meters Centerline goodness : 0.884519 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.15, Z:-1.36 [[ 9.99604704e-01 2.77427812e-02 -4.55773185e-03 8.30291450e+00] [-2.77446269e-02 9.99614985e-01 -3.42223576e-04 -1.45028262e-01] [ 4.54648282e-03 4.68540867e-04 9.99989555e-01 -1.35564942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.501193817 meters Centerline goodness : 0.883906 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.15, Z:-1.36 [[ 9.99705478e-01 2.37945202e-02 -4.77273064e-03 8.30292218e+00] [-2.38054273e-02 9.99714097e-01 -2.24164353e-03 -1.50237456e-01] [ 4.71802727e-03 2.35460021e-03 9.99986098e-01 -1.35603410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.531193817 meters Centerline goodness : 0.885485 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.16, Z:-1.36 [[ 9.99795588e-01 1.96132103e-02 -4.90970196e-03 8.30257145e+00] [-1.96338693e-02 9.99798434e-01 -4.19555855e-03 -1.55682889e-01] [ 4.82642396e-03 4.29109738e-03 9.99979146e-01 -1.35608273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561193817 meters Centerline goodness : 0.883262 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.16, Z:-1.36 [[ 9.99865628e-01 1.55131770e-02 -5.29793475e-03 8.30314853e+00] [-1.55497742e-02 9.99855024e-01 -6.93793128e-03 -1.60607654e-01] [ 5.18953732e-03 7.01938070e-03 9.99961898e-01 -1.35589590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.591193817 meters Centerline goodness : 0.887409 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.17, Z:-1.36 [[ 9.99954841e-01 7.76439819e-03 -5.47993905e-03 8.30284484e+00] [-7.83298495e-03 9.99889842e-01 -1.26075025e-02 -1.68482755e-01] [ 5.38144572e-03 1.26498575e-02 9.99905506e-01 -1.35507696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.621193817 meters Centerline goodness : 0.883215 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.17, Z:-1.36 [[ 9.99974523e-01 4.22697671e-03 -5.75203637e-03 8.30372724e+00] [-4.31515424e-03 9.99872029e-01 -1.54047233e-02 -1.72431404e-01] [ 5.68618487e-03 1.54291518e-02 9.99864795e-01 -1.35559370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.651193817 meters Centerline goodness : 0.885182 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99998486e-01 4.84871429e-04 -1.67099517e-03 8.31459894e+00] [-4.99433368e-04 9.99961810e-01 -8.72515994e-03 -1.78736518e-01] [ 1.66670077e-03 8.72598129e-03 9.99960539e-01 -1.35807067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68119381700001 meters Centerline goodness : 0.883182 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99993555e-01 -3.14546171e-03 -1.73076164e-03 8.31485098e+00] [ 3.12428271e-03 9.99921834e-01 -1.21063878e-02 -1.80524654e-01] [ 1.76870653e-03 1.21009024e-02 9.99925217e-01 -1.35815474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71119381700001 meters Centerline goodness : 0.882620 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.18, Z:-1.36 [[ 9.99991596e-01 -3.76379573e-03 -1.62556448e-03 8.31473940e+00] [ 3.74450529e-03 9.99924410e-01 -1.17112534e-02 -1.83107094e-01] [ 1.66952037e-03 1.17050681e-02 9.99930100e-01 -1.35801339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74119381700001 meters Centerline goodness : 0.880674 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.18, Z:-1.36 [[ 9.99991117e-01 -3.79267901e-03 -1.83891276e-03 8.31556039e+00] [ 3.77127185e-03 9.99926667e-01 -1.15081768e-02 -1.83641888e-01] [ 1.88242473e-03 1.15011395e-02 9.99932088e-01 -1.35847565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771193817 meters Centerline goodness : 0.884076 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.18, Z:-1.36 [[ 9.99990488e-01 -3.83399749e-03 -2.07972274e-03 8.31642857e+00] [ 3.81042252e-03 9.99929754e-01 -1.12235577e-02 -1.84751813e-01] [ 2.12260774e-03 1.12155263e-02 9.99934851e-01 -1.35891351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801193817 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99969654e-01 -7.49675883e-03 -2.11894444e-03 8.31674857e+00] [ 7.46485708e-03 9.99864342e-01 -1.46824461e-02 -1.86295498e-01] [ 2.22872775e-03 1.46661829e-02 9.99889962e-01 -1.35914597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831193817 meters Centerline goodness : 0.885682 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99959546e-01 -8.61863898e-03 -2.57399148e-03 8.31896436e+00] [ 8.57862630e-03 9.99848109e-01 -1.51712329e-02 -1.88094012e-01] [ 2.70435589e-03 1.51485378e-02 9.99881597e-01 -1.36064609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861193817 meters Centerline goodness : 0.883432 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99951049e-01 -9.43635421e-03 -2.97580834e-03 8.32098500e+00] [ 9.38914909e-03 9.99835833e-01 -1.54968288e-02 -1.89115334e-01] [ 3.12155338e-03 1.54681299e-02 9.99875489e-01 -1.36212049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.891193817 meters Centerline goodness : 0.881187 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99945342e-01 -9.89244719e-03 -3.38422999e-03 8.32237129e+00] [ 9.83886736e-03 9.99831482e-01 -1.54985190e-02 -1.89939852e-01] [ 3.53697797e-03 1.54643749e-02 9.99874164e-01 -1.36279175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.921193817 meters Centerline goodness : 0.885075 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.19, Z:-1.36 [[ 9.99930863e-01 -1.11292547e-02 -3.79586830e-03 8.32477845e+00] [ 1.10651288e-02 9.99802378e-01 -1.65157021e-02 -1.88543709e-01] [ 3.97892560e-03 1.64725585e-02 9.99856401e-01 -1.36466870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.951193817 meters Centerline goodness : 0.880415 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.19, Z:-1.37 [[ 9.99926143e-01 -1.14511983e-02 -4.07158238e-03 8.32580440e+00] [ 1.13811386e-02 9.99793542e-01 -1.68327865e-02 -1.87537969e-01] [ 4.26349734e-03 1.67852041e-02 9.99850029e-01 -1.36523455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981193817 meters Centerline goodness : 0.878751 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.19, Z:-1.37 [[ 9.99925062e-01 -1.22185970e-02 7.58980459e-04 8.33636422e+00] [ 1.22239977e-02 9.99896605e-01 -7.57325079e-03 -1.89442068e-01] [-6.66367484e-04 7.58196104e-03 9.99971034e-01 -1.36787415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.011193817 meters Centerline goodness : 0.880742 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.19, Z:-1.37 [[ 9.99921967e-01 -1.24816798e-02 5.16516381e-04 8.33711987e+00] [ 1.24853951e-02 9.99890411e-01 -7.95490366e-03 -1.88324137e-01] [-4.17169216e-04 7.96073183e-03 9.99968226e-01 -1.36817444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041193817 meters Centerline goodness : 0.878450 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99916780e-01 -1.28945644e-02 4.04091320e-04 8.33680395e+00] [ 1.28976635e-02 9.99876823e-01 -8.94369378e-03 -1.84911564e-01] [-2.88716510e-04 8.94816132e-03 9.99959923e-01 -1.36737316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07119381700001 meters Centerline goodness : 0.880129 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99915575e-01 -1.29902801e-02 3.08154615e-04 8.33683579e+00] [ 1.29926427e-02 9.99869373e-01 -9.61397254e-03 -1.81973908e-01] [-1.83226166e-04 9.61716462e-03 9.99953737e-01 -1.36703031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10119381700001 meters Centerline goodness : 0.880233 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.18, Z:-1.37 [[ 9.99912103e-01 -1.32583794e-02 -4.88724568e-05 8.33731405e+00] [ 1.32571184e-02 9.99856037e-01 -1.05902881e-02 -1.78452377e-01] [ 1.89275478e-04 1.05887093e-02 9.99943920e-01 -1.36668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13119381700001 meters Centerline goodness : 0.883141 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.17, Z:-1.37 [[ 9.99942811e-01 -9.12925510e-03 5.57058275e-03 8.34913900e+00] [ 9.21912600e-03 9.99824210e-01 -1.63265690e-02 -1.70968303e-01] [-5.42055408e-03 1.63769912e-02 9.99851195e-01 -1.37013287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161193817 meters Centerline goodness : 0.884547 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.17, Z:-1.37 [[ 9.99961296e-01 -5.31783876e-03 7.00909374e-03 8.36965389e+00] [ 5.43056611e-03 9.99854617e-01 -1.61633290e-02 -1.67922222e-01] [-6.92212076e-03 1.62007667e-02 9.99844798e-01 -1.37161894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191193817 meters Centerline goodness : 0.885759 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.16, Z:-1.37 [[ 9.99965169e-01 -1.76955445e-03 8.15657079e-03 8.39048040e+00] [ 1.91269223e-03 9.99843727e-01 -1.75745052e-02 -1.62563533e-01] [-8.12419709e-03 1.75894940e-02 9.99812286e-01 -1.37359372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221193817 meters Centerline goodness : 0.878916 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.16, Z:-1.38 [[ 9.99955696e-01 1.30717193e-03 9.32190766e-03 8.41104808e+00] [-1.11488885e-03 9.99787125e-01 -2.06024574e-02 -1.55238740e-01] [-9.34685421e-03 2.05911517e-02 9.99744288e-01 -1.37602357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.251193817 meters Centerline goodness : 0.881481 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.14, Z:-1.38 [[ 0.99988894 0.01108378 0.00996281 8.4528619 ] [-0.01071789 0.99929225 -0.03605736 -0.14023784] [-0.01035541 0.03594657 0.99930006 -1.37931781] [ 0. 0. 0. 1. ]] SLAMing on 88.281193817 meters Centerline goodness : 0.880300 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.13, Z:-1.38 [[ 0.99983034 0.01421841 0.01171022 8.47336945] [-0.01375715 0.99916118 -0.03857035 -0.1339988 ] [-0.01224881 0.03840271 0.99918727 -1.38229877] [ 0. 0. 0. 1. ]] SLAMing on 88.311193817 meters Centerline goodness : 0.879989 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.13, Z:-1.38 [[ 0.99976049 0.01798328 0.01247257 8.49467075] [-0.01748364 0.99908338 -0.03907341 -0.12955248] [-0.01316381 0.03884599 0.9991585 -1.38443421] [ 0. 0. 0. 1. ]] SLAMing on 88.341193817 meters Centerline goodness : 0.878153 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.13, Z:-1.39 [[ 0.99971854 0.01984716 0.01299724 8.53201636] [-0.01925951 0.99885131 -0.04387643 -0.12517439] [-0.01385313 0.04361376 0.99895242 -1.38509501] [ 0. 0. 0. 1. ]] SLAMing on 88.371193817 meters Centerline goodness : 0.878766 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99966484 0.02100769 0.0151289 8.56822746] [-0.02020816 0.99848441 -0.05119103 -0.11958257] [-0.01618137 0.05086814 0.99857428 -1.38504343] [ 0. 0. 0. 1. ]] SLAMing on 88.401193817 meters Centerline goodness : 0.881303 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.38 [[ 0.99959115 0.02425133 0.01514647 8.56812421] [-0.02351343 0.99861199 -0.04712983 -0.12119776] [-0.01626841 0.04675441 0.99877393 -1.38485757] [ 0. 0. 0. 1. ]] SLAMing on 88.43119381700001 meters Centerline goodness : 0.882993 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99953313 0.0269411 0.01441183 8.56993091] [-0.02629566 0.99871853 -0.04324164 -0.12227759] [-0.01555834 0.04284249 0.99896069 -1.38565408] [ 0. 0. 0. 1. ]] SLAMing on 88.46119381700001 meters Centerline goodness : 0.883618 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.12, Z:-1.39 [[ 0.99943929 0.03017082 0.01451995 8.5700914 ] [-0.02959306 0.99882094 -0.03848355 -0.12495227] [-0.01566391 0.03803228 0.99915374 -1.38645475] [ 0. 0. 0. 1. ]] SLAMing on 88.49119381700001 meters Centerline goodness : 0.879451 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.13, Z:-1.39 [[ 0.99959766 0.02639469 0.01038433 8.56988171] [-0.02615011 0.99939288 -0.0230226 -0.1333701 ] [-0.0109857 0.02274178 0.99968101 -1.38652343] [ 0. 0. 0. 1. ]] SLAMing on 88.521193817 meters Centerline goodness : 0.884246 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.14, Z:-1.39 [[ 0.99960889 0.02607999 0.01009471 8.57043223] [-0.02584927 0.99941602 -0.02234797 -0.13679601] [-0.01067165 0.02207829 0.99969929 -1.38653439] [ 0. 0. 0. 1. ]] SLAMing on 88.551193817 meters Centerline goodness : 0.882541 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.14, Z:-1.39 [[ 0.99961562 0.02586134 0.00999058 8.57019156] [-0.02564623 0.99944857 -0.02109069 -0.14095596] [-0.0105305 0.02082636 0.99972765 -1.38637351] [ 0. 0. 0. 1. ]] SLAMing on 88.581193817 meters Centerline goodness : 0.885337 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99968971 0.02295699 0.00966789 8.57075208] [-0.0227302 0.99947821 -0.02294858 -0.14672193] [-0.01018968 0.02272171 0.9996899 -1.38656567] [ 0. 0. 0. 1. ]] SLAMing on 88.611193817 meters Centerline goodness : 0.883643 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99969831 0.022753 0.00925132 8.57237895] [-0.02254119 0.99949521 -0.02238813 -0.14968326] [-0.00975605 0.02217284 0.99970655 -1.38771331] [ 0. 0. 0. 1. ]] SLAMing on 88.641193817 meters Centerline goodness : 0.883643 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.15, Z:-1.39 [[ 0.99969831 0.022753 0.00925132 8.57237895] [-0.02254119 0.99949521 -0.02238813 -0.14968326] [-0.00975605 0.02217284 0.99970655 -1.38771331] [ 0. 0. 0. 1. ]] SLAMing on 88.671193817 meters Centerline goodness : 0.888707 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.15, Z:-1.39 [[ 9.99724505e-01 2.18526088e-02 8.56604353e-03 8.57505349e+00] [-2.16555598e-02 9.99513216e-01 -2.24581406e-02 -1.52357612e-01] [-9.05264267e-03 2.22664510e-02 9.99711086e-01 -1.38951353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701193817 meters Centerline goodness : 0.887277 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99805298e-01 1.80190308e-02 8.04247033e-03 8.57686653e+00] [-1.78114259e-02 9.99524274e-01 -2.51789186e-02 -1.56729600e-01] [-8.49234403e-03 2.50307683e-02 9.99650609e-01 -1.39095800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.731193817 meters Centerline goodness : 0.885559 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99828243e-01 1.70437454e-02 7.27981357e-03 8.57944924e+00] [-1.68530541e-02 9.99532796e-01 -2.54983220e-02 -1.58634815e-01] [-7.71099932e-03 2.53712554e-02 9.99648358e-01 -1.39232612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761193817 meters Centerline goodness : 0.884419 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99837935e-01 1.66451639e-02 6.85876030e-03 8.58052295e+00] [-1.64652410e-02 9.99539136e-01 -2.55031816e-02 -1.59490223e-01] [-7.28010398e-03 2.53861173e-02 9.99651212e-01 -1.39259646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.791193817 meters Centerline goodness : 0.886921 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99839798e-01 1.66695502e-02 6.51955156e-03 8.58107934e+00] [-1.64999767e-02 9.99544942e-01 -2.52519206e-02 -1.59973546e-01] [-6.93752294e-03 2.51403028e-02 9.99659860e-01 -1.39236565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82119381700001 meters Centerline goodness : 0.886445 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99838149e-01 1.69468717e-02 6.03979842e-03 8.58171797e+00] [-1.67898299e-02 9.99542264e-01 -2.51667331e-02 -1.59567997e-01] [-6.46353119e-03 2.50612526e-02 9.99665022e-01 -1.39186449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85119381700001 meters Centerline goodness : 0.886446 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.16, Z:-1.39 [[ 9.99799337e-01 1.93380386e-02 5.22739292e-03 8.58456622e+00] [-1.92160463e-02 9.99563086e-01 -2.24584397e-02 -1.59573769e-01] [-5.65941117e-03 2.23534833e-02 9.99734111e-01 -1.39317606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88119381700001 meters Centerline goodness : 0.885247 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.16, Z:-1.39 [[ 9.99728187e-01 2.27732685e-02 4.99293476e-03 8.58532533e+00] [-2.26758897e-02 9.99566803e-01 -1.87619187e-02 -1.59416507e-01] [-5.41804204e-03 1.86435997e-02 9.99811513e-01 -1.39310863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911193817 meters Centerline goodness : 0.888412 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.16, Z:-1.39 [[ 9.99624726e-01 2.62650841e-02 7.78150229e-03 8.60439543e+00] [-2.61001360e-02 9.99447255e-01 -2.05904869e-02 -1.56144537e-01] [-8.31801197e-03 2.03796616e-02 9.99757711e-01 -1.39464538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters Centerline goodness : 0.888375 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.16, Z:-1.39 [[ 9.99521317e-01 2.99895430e-02 7.60027660e-03 8.60492761e+00] [-2.98599683e-02 9.99415837e-01 -1.66243122e-02 -1.56863458e-01] [-8.09439232e-03 1.63894104e-02 9.99832920e-01 -1.39444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971193817 meters Centerline goodness : 0.891514 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.15, Z:-1.40 [[ 0.99947035 0.03080526 0.01049028 8.62311034] [-0.03058462 0.99932028 -0.02058071 -0.15431177] [-0.01111714 0.02024897 0.99973316 -1.39573629] [ 0. 0. 0. 1. ]] SLAMing on 89.001193817 meters Centerline goodness : 0.889682 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.15, Z:-1.39 [[ 0.9994523 0.03164786 0.00967071 8.62401911] [-0.03143979 0.99928587 -0.02095942 -0.15355899] [-0.01032712 0.0206439 0.99973355 -1.39421697] [ 0. 0. 0. 1. ]] SLAMing on 89.031193817 meters Centerline goodness : 0.893676 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.16, Z:-1.39 [[ 0.99932573 0.03561522 0.0089241 8.62393318] [-0.03545004 0.99920879 -0.01803015 -0.15600369] [-0.00955919 0.01770163 0.99979762 -1.39171143] [ 0. 0. 0. 1. ]] SLAMing on 89.061193817 meters Centerline goodness : 0.891633 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.16, Z:-1.39 [[ 9.99290887e-01 3.67087310e-02 8.37807269e-03 8.62485577e+00] [-3.65583584e-02 9.99179219e-01 -1.74463406e-02 -1.56588388e-01] [-9.01162915e-03 1.71276806e-02 9.99812699e-01 -1.39131766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.091193817 meters Centerline goodness : 0.889221 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.16, Z:-1.39 [[ 9.99185412e-01 3.95633646e-02 7.95317181e-03 8.62675488e+00] [-3.94542251e-02 9.99130977e-01 -1.34408070e-02 -1.59714588e-01] [-8.47802386e-03 1.31160720e-02 9.99878038e-01 -1.39280579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.121193817 meters Centerline goodness : 0.890593 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.16, Z:-1.39 [[ 9.99157816e-01 4.03679207e-02 7.35451496e-03 8.62820221e+00] [-4.02759626e-02 9.99113501e-01 -1.22498489e-02 -1.62013878e-01] [-7.84249612e-03 1.19433221e-02 9.99897921e-01 -1.39340978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.151193817 meters Centerline goodness : 0.892589 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.17, Z:-1.39 [[ 9.99120407e-01 4.13957364e-02 6.69367582e-03 8.62977098e+00] [-4.13330730e-02 9.99102664e-01 -9.24361506e-03 -1.69586066e-01] [-7.07031560e-03 8.95881425e-03 9.99934873e-01 -1.39470844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18119381700001 meters Centerline goodness : 0.894030 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.39 [[ 9.99089470e-01 4.21314624e-02 6.72085876e-03 8.62938089e+00] [-4.20860790e-02 9.99091140e-01 -6.75693919e-03 -1.75026478e-01] [-6.99943017e-03 6.46793221e-03 9.99954586e-01 -1.39480325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21119381700001 meters Centerline goodness : 0.895006 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.18, Z:-1.39 [[ 9.99058606e-01 4.29005448e-02 6.43783716e-03 8.62944705e+00] [-4.28750157e-02 9.99072225e-01 -4.05250906e-03 -1.81556877e-01] [-6.60571914e-03 3.77267168e-03 9.99971065e-01 -1.39481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24119381700001 meters Centerline goodness : 0.894573 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.19, Z:-1.39 [[ 9.99148960e-01 4.08936963e-02 5.39086136e-03 8.63013777e+00] [-4.08745617e-02 9.99157753e-01 -3.61313346e-03 -1.92468706e-01] [-5.53407530e-03 3.38970944e-03 9.99978942e-01 -1.39430751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271193817 meters Centerline goodness : 0.897118 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:-1.39 [[ 9.99268679e-01 3.79119708e-02 4.97897212e-03 8.63070233e+00] [-3.78819025e-02 9.99264206e-01 -6.00059844e-03 -1.96825848e-01] [-5.20280314e-03 5.80759713e-03 9.99969601e-01 -1.39438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301193817 meters Centerline goodness : 0.897926 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:-1.39 [[ 9.99250541e-01 3.83778378e-02 5.04962736e-03 8.62987967e+00] [-3.83617858e-02 9.99258669e-01 -3.23824108e-03 -2.03832834e-01] [-5.17016061e-03 3.04210142e-03 9.99982007e-01 -1.39423807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331193817 meters Centerline goodness : 0.898743 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.21, Z:-1.40 [[ 9.99334716e-01 3.61817255e-02 4.58349976e-03 8.63125277e+00] [-3.61586874e-02 9.99333486e-01 -5.01324749e-03 -2.07968944e-01] [-4.76183274e-03 4.84417892e-03 9.99976929e-01 -1.39509438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters Centerline goodness : 0.899792 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99424719e-01 3.36318098e-02 4.37416527e-03 8.63217901e+00] [-3.36053898e-02 9.99417292e-01 -5.97943136e-03 -2.16496659e-01] [-4.57271551e-03 5.82899597e-03 9.99972556e-01 -1.39599715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.391193817 meters Centerline goodness : 0.898381 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99527862e-01 3.04271300e-02 4.27114297e-03 8.63225986e+00] [-3.03892078e-02 9.99500458e-01 -8.67929147e-03 -2.19886136e-01] [-4.53309529e-03 8.54539699e-03 9.99953213e-01 -1.39611616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421193817 meters Centerline goodness : 0.900399 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.22, Z:-1.40 [[ 9.99615774e-01 2.74360061e-02 3.94590447e-03 8.63256649e+00] [-2.73905405e-02 9.99562640e-01 -1.11483652e-02 -2.23933734e-01] [-4.25004531e-03 1.10360012e-02 9.99930069e-01 -1.39593631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.451193817 meters Centerline goodness : 0.902287 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.23, Z:-1.39 [[ 9.99674701e-01 2.51748289e-02 4.08899892e-03 8.63052606e+00] [-2.51256626e-02 9.99616293e-01 -1.16605384e-02 -2.33785016e-01] [-4.38098200e-03 1.15540064e-02 9.99923653e-01 -1.39370313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481193817 meters Centerline goodness : 0.905134 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99686531e-01 2.47589525e-02 3.71938163e-03 8.63164844e+00] [-2.47163744e-02 9.99633014e-01 -1.10877807e-02 -2.38275131e-01] [-3.99253851e-03 1.09923754e-02 9.99931611e-01 -1.39414132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.511193817 meters Centerline goodness : 0.901474 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99688976e-01 2.46952089e-02 3.47830709e-03 8.63213534e+00] [-2.46583553e-02 9.99643213e-01 -1.02670718e-02 -2.42136777e-01] [-3.73061355e-03 1.01781091e-02 9.99941243e-01 -1.39396617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541193817 meters Centerline goodness : 0.905220 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.24, Z:-1.39 [[ 9.99755870e-01 2.18381166e-02 3.36103424e-03 8.63226532e+00] [-2.17913757e-02 9.99673189e-01 -1.33660785e-02 -2.42836566e-01] [-3.65182579e-03 1.32895739e-02 9.99905021e-01 -1.39411680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57119381700001 meters Centerline goodness : 0.909181 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99747622e-01 2.22207774e-02 3.30606335e-03 8.63205040e+00] [-2.21808858e-02 9.99686098e-01 -1.16496270e-02 -2.47720100e-01] [-3.56388934e-03 1.15733554e-02 9.99926675e-01 -1.39350863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60119381700001 meters Centerline goodness : 0.906081 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99807844e-01 1.93583576e-02 3.08691418e-03 8.63213445e+00] [-1.93124919e-02 9.99711891e-01 -1.42535212e-02 -2.50712093e-01] [-3.36194958e-03 1.41911663e-02 9.99893648e-01 -1.39329173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63119381700001 meters Centerline goodness : 0.905641 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.25, Z:-1.39 [[ 9.99859909e-01 1.64969341e-02 2.83066308e-03 8.63269779e+00] [-1.64474011e-02 9.99725083e-01 -1.67105419e-02 -2.54638340e-01] [-3.10555759e-03 1.66616439e-02 9.99856362e-01 -1.39356504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters Centerline goodness : 0.907049 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.26, Z:-1.40 [[ 9.99873657e-01 1.57265071e-02 2.31221905e-03 8.63491608e+00] [-1.56855774e-02 9.99736402e-01 -1.67656979e-02 -2.59146981e-01] [-2.57527542e-03 1.67273112e-02 9.99856772e-01 -1.39503759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691193817 meters Centerline goodness : 0.904137 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.26, Z:-1.40 [[ 9.99884158e-01 1.51256480e-02 1.69849837e-03 8.63754199e+00] [-1.50954255e-02 9.99748522e-01 -1.65837391e-02 -2.62383066e-01] [-1.94891104e-03 1.65561785e-02 9.99861038e-01 -1.39683757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721193817 meters Centerline goodness : 0.905471 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99881334e-01 1.53708358e-02 1.02770822e-03 8.64107452e+00] [-1.53535754e-02 9.99768108e-01 -1.50995962e-02 -2.67566880e-01] [-1.25956332e-03 1.50820253e-02 9.99885466e-01 -1.39967464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.751193817 meters Centerline goodness : 0.902842 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99879026e-01 1.55439499e-02 5.64575020e-04 8.64272959e+00] [-1.55342500e-02 9.99776335e-01 -1.43515808e-02 -2.70151052e-01] [-7.87528998e-04 1.43410744e-02 9.99896851e-01 -1.40060848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.781193817 meters Centerline goodness : 0.902003 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.27, Z:-1.40 [[ 9.99874445e-01 1.58445033e-02 2.16494705e-04 8.64386752e+00] [-1.58401390e-02 9.99783447e-01 -1.34962791e-02 -2.73367788e-01] [-4.30289660e-04 1.34911553e-02 9.99908898e-01 -1.40113621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.811193817 meters Centerline goodness : 0.903736 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.28, Z:-1.40 [[ 9.99869071e-01 1.61814353e-02 -4.86198757e-05 8.64442466e+00] [-1.61807817e-02 9.99791183e-01 -1.24808985e-02 -2.76994776e-01] [-1.53349128e-04 1.24800511e-02 9.99922109e-01 -1.40108063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.841193817 meters Centerline goodness : 0.901660 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.28, Z:-1.40 [[ 9.99849139e-01 1.73636446e-02 -4.49573536e-04 8.64494058e+00] [-1.73673139e-02 9.99797675e-01 -1.01482231e-02 -2.83095097e-01] [ 2.73272438e-04 1.01545000e-02 9.99948404e-01 -1.40061395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.871193817 meters Centerline goodness : 0.905391 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99843357e-01 1.76832671e-02 -7.50811717e-04 8.64538260e+00] [-1.76895253e-02 9.99799694e-01 -9.36229722e-03 -2.85391082e-01] [ 5.85105323e-04 9.37411219e-03 9.99955891e-01 -1.40033187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.901193817 meters Centerline goodness : 0.907484 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99838317e-01 1.79597630e-02 -8.87292106e-04 8.64554362e+00] [-1.79668592e-02 9.99800125e-01 -8.76938679e-03 -2.87412835e-01] [ 7.29618650e-04 8.78391078e-03 9.99961155e-01 -1.40009788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93119381700001 meters Centerline goodness : 0.902457 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99831058e-01 1.83433148e-02 -1.17410924e-03 8.64596257e+00] [-1.83521773e-02 9.99799223e-01 -8.04438243e-03 -2.89607511e-01] [ 1.02631287e-03 8.06457085e-03 9.99966954e-01 -1.39980186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96119381700001 meters Centerline goodness : 0.908522 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.29, Z:-1.40 [[ 9.99805722e-01 1.96724657e-02 -1.22961505e-03 8.64557099e+00] [-1.96797680e-02 9.99786867e-01 -6.23916250e-03 -2.94265601e-01] [ 1.10661327e-03 6.26214891e-03 9.99979780e-01 -1.39913416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99119381700001 meters Centerline goodness : 0.904953 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99797636e-01 2.00705454e-02 -1.36358811e-03 8.64562331e+00] [-2.00778693e-02 9.99782801e-01 -5.58836615e-03 -2.96293976e-01] [ 1.25113038e-03 5.61461322e-03 9.99983455e-01 -1.39874273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021193817 meters Centerline goodness : 0.909112 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99787343e-01 2.05650703e-02 -1.53176298e-03 8.64561944e+00] [-2.05721491e-02 9.99777046e-01 -4.75858366e-03 -2.99011221e-01] [ 1.43356086e-03 4.78908337e-03 9.99987505e-01 -1.39818212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051193817 meters Centerline goodness : 0.910267 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.30, Z:-1.40 [[ 9.99773837e-01 2.12043451e-02 -1.62780390e-03 8.64536960e+00] [-2.12106777e-02 9.99767119e-01 -3.97689856e-03 -3.01354704e-01] [ 1.54309728e-03 4.01052596e-03 9.99990767e-01 -1.39754842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081193817 meters Centerline goodness : 0.912244 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.30, Z:-1.40 [[ 9.99620870e-01 2.71651438e-02 4.49125280e-03 8.65704619e+00] [-2.71296592e-02 9.99601636e-01 -7.78148234e-03 -3.03139758e-01] [-4.70084873e-03 7.65668598e-03 9.99959638e-01 -1.40230469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111193817 meters Centerline goodness : 0.909878 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.30, Z:-1.40 [[ 9.99605362e-01 2.77753521e-02 4.20108359e-03 8.65795602e+00] [-2.77443142e-02 9.99588585e-01 -7.27423426e-03 -3.03525938e-01] [-4.40139962e-03 7.15480740e-03 9.99964718e-01 -1.40285603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141193817 meters Centerline goodness : 0.910475 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.31, Z:-1.40 [[ 9.99573248e-01 2.89167293e-02 4.14060548e-03 8.65824500e+00] [-2.88934259e-02 9.99566915e-01 -5.58140545e-03 -3.09012387e-01] [-4.30020824e-03 5.45938729e-03 9.99975851e-01 -1.40321645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.171193817 meters Centerline goodness : 0.911526 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.31, Z:-1.41 [[ 9.99621436e-01 2.73048008e-02 3.38125576e-03 8.66102853e+00] [-2.72800997e-02 9.99602274e-01 -7.14777778e-03 -3.12200603e-01] [-3.57507959e-03 7.05283089e-03 9.99968738e-01 -1.40514932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201193817 meters Centerline goodness : 0.911467 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.32, Z:-1.41 [[ 9.99680172e-01 2.51468116e-02 2.68161179e-03 8.66408964e+00] [-2.51214216e-02 9.99642850e-01 -9.11517231e-03 -3.15049660e-01] [-2.90987158e-03 9.04489112e-03 9.99954860e-01 -1.40752496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.231193817 meters Centerline goodness : 0.908572 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.32, Z:-1.41 [[ 9.99701857e-01 2.43259395e-02 2.10838168e-03 8.66690413e+00] [-2.43051078e-02 9.99660401e-01 -9.39915164e-03 -3.17586048e-01] [-2.33630887e-03 9.34510490e-03 9.99953604e-01 -1.40967786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261193817 meters Centerline goodness : 0.910242 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.32, Z:-1.41 [[ 9.99769208e-01 2.14447197e-02 1.28614715e-03 8.67080797e+00] [-2.14292235e-02 9.99709329e-01 -1.10474159e-02 -3.24150241e-01] [-1.52268204e-03 1.10173052e-02 9.99938148e-01 -1.41277677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.291193817 meters Centerline goodness : 0.910229 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.33, Z:-1.41 [[ 9.99837361e-01 1.80120844e-02 9.03249710e-04 8.67166151e+00] [-1.79980688e-02 9.99744633e-01 -1.36652017e-02 -3.28331994e-01] [-1.14915782e-03 1.36467225e-02 9.99906219e-01 -1.41309181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32119381700001 meters Centerline goodness : 0.908782 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.33, Z:-1.41 [[ 9.99905347e-01 1.37568743e-02 2.13986015e-04 8.67389354e+00] [-1.37513103e-02 9.99763239e-01 -1.68631992e-02 -3.33016189e-01] [-4.45920264e-04 1.68586605e-02 9.99857783e-01 -1.41431648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35119381700001 meters Centerline goodness : 0.909398 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.34, Z:-1.42 [[ 9.99957254e-01 9.23277666e-03 -4.95163089e-04 8.67661756e+00] [-9.24091806e-03 9.99751791e-01 -2.02722179e-02 -3.37175225e-01] [ 3.07871324e-04 2.02759271e-02 9.99794375e-01 -1.41600360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38119381700001 meters Centerline goodness : 0.907189 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.35, Z:-1.42 [[ 9.99995566e-01 -2.28021327e-03 -1.91548610e-03 8.67754119e+00] [ 2.25787606e-03 9.99930357e-01 -1.15837029e-02 -3.48302186e-01] [ 1.94176602e-03 1.15793266e-02 9.99931072e-01 -1.41615313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411193817 meters Centerline goodness : 0.909019 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.35, Z:-1.42 [[ 9.99976876e-01 -6.35263035e-03 -2.42712742e-03 8.67911267e+00] [ 6.31654607e-03 9.99873518e-01 -1.45962021e-02 -3.52362582e-01] [ 2.51954471e-03 1.45805336e-02 9.99890524e-01 -1.41663686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441193817 meters Centerline goodness : 0.907544 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99942926e-01 -1.03160460e-02 -2.77921317e-03 8.67994376e+00] [ 1.02658004e-02 9.99793735e-01 -1.75242867e-02 -3.56521090e-01] [ 2.95942126e-03 1.74947557e-02 9.99842575e-01 -1.41649991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471193817 meters Centerline goodness : 0.907782 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99829916e-01 -1.82429620e-02 -2.70793091e-03 8.68010178e+00] [ 1.81725652e-02 9.99545025e-01 -2.40728370e-02 -3.61773432e-01] [ 3.14585872e-03 2.40195326e-02 9.99706540e-01 -1.41627829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.501193817 meters Centerline goodness : 0.909379 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.36, Z:-1.42 [[ 9.99819676e-01 -1.87415076e-02 -3.06118552e-03 8.68152650e+00] [ 1.86640388e-02 9.99546536e-01 -2.36299623e-02 -3.64100445e-01] [ 3.50265850e-03 2.35685672e-02 9.99716087e-01 -1.41695089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.531193817 meters Centerline goodness : 0.909021 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99798062e-01 -1.97373681e-02 -3.77782076e-03 8.68386980e+00] [ 1.96418134e-02 9.99522591e-01 -2.38492904e-02 -3.65287103e-01] [ 4.24673942e-03 2.37702710e-02 9.99708427e-01 -1.41785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.561193817 meters Centerline goodness : 0.909021 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99798062e-01 -1.97373681e-02 -3.77782076e-03 8.68386980e+00] [ 1.96418134e-02 9.99522591e-01 -2.38492904e-02 -3.65287103e-01] [ 4.24673942e-03 2.37702710e-02 9.99708427e-01 -1.41785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.591193817 meters Centerline goodness : 0.908421 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:-1.42 [[ 9.99777953e-01 -2.06293735e-02 -4.29812869e-03 8.68548497e+00] [ 2.05204607e-02 9.99501196e-01 -2.40056412e-02 -3.66416210e-01] [ 4.79120611e-03 2.39121113e-02 9.99702583e-01 -1.41823974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.621193817 meters Centerline goodness : 0.911422 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.42 [[ 9.99765933e-01 -2.12448791e-02 -4.09071853e-03 8.68375544e+00] [ 2.11414723e-02 9.99491985e-01 -2.38497383e-02 -3.66902890e-01] [ 4.59532518e-03 2.37576721e-02 9.99707185e-01 -1.41566783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.651193817 meters Centerline goodness : 0.910580 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.41 [[ 9.99765868e-01 -2.12456536e-02 -4.10268055e-03 8.68275873e+00] [ 2.11418627e-02 9.99491460e-01 -2.38713822e-02 -3.65922223e-01] [ 4.60775729e-03 2.37790549e-02 9.99706620e-01 -1.41408890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68119381700001 meters Centerline goodness : 0.913873 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.37, Z:-1.41 [[ 9.99828967e-01 -1.80208939e-02 -4.15750210e-03 8.68236308e+00] [ 1.79339144e-02 9.99637377e-01 -2.00870656e-02 -3.66087410e-01] [ 4.51798137e-03 2.00090697e-02 9.99789590e-01 -1.41292242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71119381700001 meters Centerline goodness : 0.913679 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.36, Z:-1.41 [[ 9.99874574e-01 -1.57982536e-02 -1.11824692e-03 8.70020245e+00] [ 1.57664244e-02 9.99580312e-01 -2.43026554e-02 -3.62565645e-01] [ 1.50171712e-03 2.42819764e-02 9.99704021e-01 -1.41473946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74119381700001 meters Centerline goodness : 0.913225 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.36, Z:-1.41 [[ 9.99919712e-01 -1.25710538e-02 -1.59334054e-03 8.70128680e+00] [ 1.25345859e-02 9.99698016e-01 -2.11367393e-02 -3.60640153e-01] [ 1.85857046e-03 2.11150704e-02 9.99775325e-01 -1.41481804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77119381700001 meters Centerline goodness : 0.905999 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.35, Z:-1.42 [[ 9.99940323e-01 -1.06269719e-02 -2.53342100e-03 8.70402833e+00] [ 1.05736969e-02 9.99740277e-01 -2.01885005e-02 -3.51842363e-01] [ 2.74730564e-03 2.01605081e-02 9.99792982e-01 -1.41586173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801193817 meters Centerline goodness : 0.907115 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.35, Z:-1.42 [[ 9.99966809e-01 -7.59037341e-03 -2.96086833e-03 8.70537450e+00] [ 7.53782991e-03 9.99820702e-01 -1.73708307e-02 -3.48723761e-01] [ 3.09218854e-03 1.73479356e-02 9.99844732e-01 -1.41640031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831193817 meters Centerline goodness : 0.902666 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.35, Z:-1.42 [[ 9.99983594e-01 -4.63742026e-03 -3.36243344e-03 8.70667879e+00] [ 4.58790518e-03 9.99883077e-01 -1.45870929e-02 -3.45702290e-01] [ 3.42968677e-03 1.45714271e-02 9.99887949e-01 -1.41693334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters Centerline goodness : 0.901799 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.34, Z:-1.42 [[ 9.99986874e-01 -3.21601331e-03 -3.98866040e-03 8.70958558e+00] [ 3.16340769e-03 9.99908850e-01 -1.31257123e-02 -3.42845575e-01] [ 4.03050930e-03 1.31129222e-02 9.99905899e-01 -1.41864780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.891193817 meters Centerline goodness : 0.902315 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.34, Z:-1.42 [[ 9.99981762e-01 -3.98500528e-03 -4.53821650e-03 8.71126072e+00] [ 3.91880117e-03 9.99887121e-01 -1.45047642e-02 -3.39266195e-01] [ 4.59550579e-03 1.44867153e-02 9.99884502e-01 -1.41934734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921193817 meters Centerline goodness : 0.897677 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.33, Z:-1.42 [[ 9.99985297e-01 -2.01276189e-03 -5.03542417e-03 8.71305690e+00] [ 1.94639991e-03 9.99911649e-01 -1.31493920e-02 -3.33542323e-01] [ 5.06144588e-03 1.31393977e-02 9.99900864e-01 -1.42014743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.951193817 meters Centerline goodness : 0.895893 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.33, Z:-1.42 [[ 9.99984181e-01 6.55249916e-04 -5.58652323e-03 8.71492482e+00] [-7.15335115e-04 9.99941852e-01 -1.07601781e-02 -3.30352581e-01] [ 5.57914778e-03 1.07640041e-02 9.99926502e-01 -1.42086767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981193817 meters Centerline goodness : 0.895026 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.33, Z:-1.42 [[ 9.99975329e-01 3.55116210e-03 -6.06066208e-03 8.71652993e+00] [-3.60249306e-03 9.99957557e-01 -8.47973428e-03 -3.26260731e-01] [ 6.03029194e-03 8.50135857e-03 9.99945680e-01 -1.42158475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.011193817 meters Centerline goodness : 0.892613 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99956212e-01 9.08806300e-03 -2.23196862e-03 8.73221019e+00] [-9.11677050e-03 9.99871215e-01 -1.32074869e-02 -3.14758083e-01] [ 2.11165070e-03 1.32272569e-02 9.99910286e-01 -1.42520495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041193817 meters Centerline goodness : 0.890025 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99918237e-01 1.25105860e-02 -2.64655000e-03 8.73322601e+00] [-1.25379041e-02 9.99865524e-01 -1.05704873e-02 -3.10709126e-01] [ 2.51395111e-03 1.06028052e-02 9.99940629e-01 -1.42524912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07119381700001 meters Centerline goodness : 0.889710 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:-1.43 [[ 9.99865220e-01 1.61545571e-02 -2.92785537e-03 8.73428843e+00] [-1.61766380e-02 9.99839641e-01 -7.68176522e-03 -3.07305313e-01] [ 2.80329035e-03 7.72809273e-03 9.99966209e-01 -1.42575072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10119381700001 meters Centerline goodness : 0.891213 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.43 [[ 9.99758280e-01 2.19741148e-02 7.21419200e-04 8.74990731e+00] [-2.19628401e-02 9.99673653e-01 -1.30469032e-02 -2.98358872e-01] [-1.00787792e-03 1.30279051e-02 9.99914625e-01 -1.43059181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13119381700001 meters Centerline goodness : 0.889864 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.30, Z:-1.43 [[ 9.99672698e-01 2.55786076e-02 4.80689490e-04 8.75046227e+00] [-2.55725439e-02 9.99623190e-01 -9.97609584e-03 -2.95668378e-01] [-7.35683003e-04 9.96053820e-03 9.99950122e-01 -1.43028996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161193817 meters Centerline goodness : 0.889142 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.29, Z:-1.43 [[ 9.99567890e-01 2.93913196e-02 4.28931596e-04 8.75039525e+00] [-2.93877502e-02 9.99545204e-01 -6.76352623e-03 -2.92891503e-01] [-6.27525481e-04 6.74799831e-03 9.99977035e-01 -1.42951295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191193817 meters Centerline goodness : 0.888004 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-1.43 [[ 9.99468072e-01 3.22258120e-02 5.00692978e-03 8.76511181e+00] [-3.21571487e-02 9.99395166e-01 -1.32371019e-02 -2.86944772e-01] [-5.43047777e-03 1.30690522e-02 9.99899850e-01 -1.43262768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221193817 meters Centerline goodness : 0.889342 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99920649 0.03857124 0.00993201 8.77831957] [-0.03840654 0.99912971 -0.01627163 -0.27890491] [-0.01055099 0.01587726 0.99981828 -1.43354288] [ 0. 0. 0. 1. ]] SLAMing on 91.251193817 meters Centerline goodness : 0.886427 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99905138 0.04242617 0.00981642 8.77848394] [-0.04229895 0.99902269 -0.01282437 -0.27717583] [-0.01035091 0.01239698 0.99986958 -1.43282932] [ 0. 0. 0. 1. ]] SLAMing on 91.281193817 meters Centerline goodness : 0.891671 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 0.99888877 0.04611687 0.00971864 8.77896729] [-0.04602554 0.99889584 -0.00942053 -0.27552591] [-0.01014235 0.00896276 0.9999084 -1.43247169] [ 0. 0. 0. 1. ]] SLAMing on 91.311193817 meters Centerline goodness : 0.889565 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.28, Z:-1.43 [[ 9.98716388e-01 4.97270281e-02 9.63327218e-03 8.77959509e+00] [-4.96734896e-02 9.98749133e-01 -5.71956887e-03 -2.75190947e-01] [-9.90563941e-03 5.23370892e-03 9.99937241e-01 -1.43241978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.341193817 meters Centerline goodness : 0.891150 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.27, Z:-1.44 [[ 0.99859794 0.05129024 0.01309474 8.7950078 ] [-0.05109241 0.99858098 -0.01501999 -0.27096797] [-0.01384654 0.01432989 0.99980144 -1.43779047] [ 0. 0. 0. 1. ]] SLAMing on 91.371193817 meters Centerline goodness : 0.893698 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.27, Z:-1.43 [[ 9.98860437e-01 4.76836191e-02 2.02500935e-03 8.79054519e+00] [-4.76516416e-02 9.98770627e-01 -1.36585336e-02 -2.69750792e-01] [-2.67380817e-03 1.35464738e-02 9.99904667e-01 -1.43214895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.401193817 meters Centerline goodness : 0.889762 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98854369e-01 4.77846838e-02 2.56390713e-03 8.81143293e+00] [-4.77253994e-02 9.98667802e-01 -1.96190529e-02 -2.68971946e-01] [-3.49798174e-03 1.94742132e-02 9.99804240e-01 -1.43570547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43119381700001 meters Centerline goodness : 0.887901 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98844016e-01 4.80189180e-02 2.19413617e-03 8.81293428e+00] [-4.79677739e-02 9.98662299e-01 -1.93055687e-02 -2.70194102e-01] [-3.11823359e-03 1.91780039e-02 9.99811223e-01 -1.43678095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46119381700001 meters Centerline goodness : 0.890207 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.27, Z:-1.44 [[ 9.98848407e-01 4.79459818e-02 1.74459293e-03 8.81497256e+00] [-4.79040944e-02 9.98669808e-01 -1.90738467e-02 -2.72350315e-01] [-2.65678659e-03 1.89683082e-02 9.99816556e-01 -1.43827592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49119381700001 meters Centerline goodness : 0.886750 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.28, Z:-1.44 [[ 9.98776621e-01 4.94418301e-02 8.75612595e-04 8.81930300e+00] [-4.94202832e-02 9.98637795e-01 -1.67388788e-02 -2.79864897e-01] [-1.70202063e-03 1.66751278e-02 9.99859512e-01 -1.44194063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52119381700001 meters Centerline goodness : 0.885583 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.28, Z:-1.44 [[ 9.98765874e-01 4.96650208e-02 3.38326991e-04 8.82186611e+00] [-4.96532707e-02 9.98638507e-01 -1.59901789e-02 -2.83054821e-01] [-1.13201893e-03 1.59536460e-02 9.99872092e-01 -1.44391701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551193817 meters Centerline goodness : 0.885699 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.29, Z:-1.44 [[ 9.98746447e-01 5.00552686e-02 6.27617646e-05 8.82311668e+00] [-5.00486849e-02 9.98633911e-01 -1.50147138e-02 -2.86275629e-01] [-8.14241561e-04 1.49927510e-02 9.99887271e-01 -1.44492495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters Centerline goodness : 0.884487 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.29, Z:-1.45 [[ 9.98707624e-01 5.08235374e-02 -2.22039877e-04 8.82385489e+00] [-5.08219642e-02 9.98618330e-01 -1.33626322e-02 -2.90961657e-01] [-4.57403145e-04 1.33566471e-02 9.99910691e-01 -1.44509636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611193817 meters Centerline goodness : 0.884371 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.30, Z:-1.44 [[ 9.98748225e-01 5.00198266e-02 1.26955264e-05 8.82249055e+00] [-5.00156813e-02 9.98668658e-01 -1.26231043e-02 -3.03617174e-01] [-6.44084114e-04 1.26066681e-02 9.99920325e-01 -1.44456674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641193817 meters Centerline goodness : 0.887075 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.31, Z:-1.44 [[ 9.98840578e-01 4.81393539e-02 -3.19914769e-04 8.82302159e+00] [-4.81392700e-02 9.98748857e-01 -1.35399908e-02 -3.10613435e-01] [-3.32291899e-04 1.35396927e-02 9.99908279e-01 -1.44492183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.671193817 meters Centerline goodness : 0.887215 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.32, Z:-1.44 [[ 9.98956904e-01 4.56603990e-02 -4.80759124e-04 8.82284563e+00] [-4.56624946e-02 9.98846046e-01 -1.48832807e-02 -3.17224098e-01] [-1.99372183e-04 1.48897087e-02 9.99889122e-01 -1.44470008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701193817 meters Centerline goodness : 0.892689 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.33, Z:-1.44 [[ 9.99111866e-01 4.21317433e-02 6.29145589e-04 8.82099091e+00] [-4.21228356e-02 9.99057329e-01 -1.04937706e-02 -3.34098605e-01] [-1.07067336e-03 1.04579493e-02 9.99944741e-01 -1.43906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.731193817 meters Centerline goodness : 0.895576 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.34, Z:-1.44 [[ 9.99248731e-01 3.87536024e-02 3.64214502e-04 8.82089096e+00] [-3.87461556e-02 9.99172775e-01 -1.23491072e-02 -3.40326226e-01] [-8.42485606e-04 1.23257178e-02 9.99923681e-01 -1.43839510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.761193817 meters Centerline goodness : 0.895797 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.35, Z:-1.44 [[ 9.99374468e-01 3.53648059e-02 4.79841737e-05 8.82101236e+00] [-3.53604720e-02 9.99271477e-01 -1.43579753e-02 -3.46304069e-01] [-5.55716227e-04 1.43472972e-02 9.99896918e-01 -1.43790302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.791193817 meters Centerline goodness : 0.894536 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.35, Z:-1.44 [[ 9.99487100e-01 3.20236741e-02 -1.42356839e-04 8.82112629e+00] [-3.20216871e-02 9.99352018e-01 -1.64363984e-02 -3.52099054e-01] [-3.84089271e-04 1.64325267e-02 9.99864903e-01 -1.43777320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82119381700001 meters Centerline goodness : 0.899476 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.36, Z:-1.44 [[ 9.99586162e-01 2.87653617e-02 -2.41473485e-04 8.82108602e+00] [-2.87649071e-02 9.99415127e-01 -1.84927867e-02 -3.58039679e-01] [-2.90619446e-04 1.84920797e-02 9.99828965e-01 -1.43766964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85119381700001 meters Centerline goodness : 0.904051 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.37, Z:-1.44 [[ 9.99744639e-01 2.25974841e-02 -9.79426648e-05 8.82003831e+00] [-2.25939299e-02 9.99489492e-01 -2.25891335e-02 -3.68723355e-01] [-4.12564920e-04 2.25855780e-02 9.99744828e-01 -1.43680329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88119381700001 meters Centerline goodness : 0.907051 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.37, Z:-1.44 [[ 9.99754004e-01 2.21788797e-02 -1.72111871e-04 8.82043629e+00] [-2.21774097e-02 9.99519807e-01 -2.16406564e-02 -3.74179439e-01] [-3.07936289e-04 2.16391498e-02 9.99765799e-01 -1.43677347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911193817 meters Centerline goodness : 0.904985 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.38, Z:-1.44 [[ 9.99912009e-01 1.32091695e-02 -1.22186584e-03 8.81939572e+00] [-1.32225180e-02 9.99844693e-01 -1.16513899e-02 -3.83710454e-01] [ 1.06777089e-03 1.16665208e-02 9.99931374e-01 -1.43658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941193817 meters Centerline goodness : 0.904329 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99960483e-01 8.71351987e-03 -1.76244498e-03 8.82202289e+00] [-8.74022324e-03 9.99837632e-01 -1.57581016e-02 -3.85357825e-01] [ 1.62485028e-03 1.57728831e-02 9.99874280e-01 -1.43877406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971193817 meters Centerline goodness : 0.903606 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99991452e-01 8.27856701e-04 -4.05110837e-03 8.82027937e+00] [-8.54835427e-04 9.99977441e-01 -6.66239752e-03 -3.89225749e-01] [ 4.04550147e-03 6.66580359e-03 9.99969600e-01 -1.43835184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.001193817 meters Centerline goodness : 0.904870 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99984101e-01 -3.60542587e-03 -4.33567234e-03 8.82153222e+00] [ 3.55947365e-03 9.99937906e-01 -1.05600545e-02 -3.90809968e-01] [ 4.37347661e-03 1.05444539e-02 9.99934841e-01 -1.43912098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.031193817 meters Centerline goodness : 0.907482 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99899515e-01 -1.33473282e-02 -4.77582608e-03 8.82361866e+00] [ 1.32531341e-02 9.99727067e-01 -1.92391718e-02 -3.92656608e-01] [ 5.03131415e-03 1.91739439e-02 9.99803504e-01 -1.44011107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.061193817 meters Centerline goodness : 0.908245 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.39, Z:-1.44 [[ 9.99884786e-01 -1.43772301e-02 -4.86932000e-03 8.82413063e+00] [ 1.42818027e-02 9.99715646e-01 -1.90960211e-02 -3.94914600e-01] [ 5.14248328e-03 1.90242783e-02 9.99805797e-01 -1.43976413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.091193817 meters Centerline goodness : 0.910991 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.40, Z:-1.44 [[ 9.99875448e-01 -1.50044686e-02 -4.89425905e-03 8.82436940e+00] [ 1.49093369e-02 9.99709701e-01 -1.89268537e-02 -3.96326421e-01] [ 5.17682564e-03 1.88515261e-02 9.99808892e-01 -1.43947893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.121193817 meters Centerline goodness : 0.909826 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99864168e-01 -1.56187819e-02 -5.26297950e-03 8.82556987e+00] [ 1.55158822e-02 9.99698020e-01 -1.90558845e-02 -3.96893264e-01] [ 5.55901989e-03 1.89716363e-02 9.99804568e-01 -1.43977689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.151193817 meters Centerline goodness : 0.908919 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99836295e-01 -1.71475112e-02 -5.77462877e-03 8.82876979e+00] [ 1.70269987e-02 9.99648751e-01 -2.03090010e-02 -3.95867925e-01] [ 6.12084926e-03 2.02073518e-02 9.99777074e-01 -1.44240060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18119381700001 meters Centerline goodness : 0.907846 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99872779e-01 -1.46443686e-02 -6.32201041e-03 8.83119450e+00] [ 1.45344382e-02 9.99748178e-01 -1.70976792e-02 -3.96424483e-01] [ 6.57080311e-03 1.70036172e-02 9.99833837e-01 -1.44374366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21119381700001 meters Centerline goodness : 0.907721 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.40, Z:-1.44 [[ 9.99906867e-01 -1.18053784e-02 -6.84772147e-03 8.83319254e+00] [ 1.17086239e-02 9.99833419e-01 -1.40015100e-02 -3.95544119e-01] [ 7.01187389e-03 1.39200286e-02 9.99878526e-01 -1.44470992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24119381700001 meters Centerline goodness : 0.909189 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.39, Z:-1.45 [[ 9.99984530e-01 -4.56029038e-03 -3.18486279e-03 8.84990509e+00] [ 4.50922939e-03 9.99864060e-01 -1.58596559e-02 -3.89505422e-01] [ 3.25675447e-03 1.58450493e-02 9.99869155e-01 -1.44881515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27119381700001 meters Centerline goodness : 0.905355 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.39, Z:-1.45 [[ 9.99991602e-01 2.34609133e-03 -3.36043239e-03 8.84991433e+00] [-2.37536256e-03 9.99959044e-01 -8.73321044e-03 -3.88887606e-01] [ 3.33980585e-03 8.74111934e-03 9.99956218e-01 -1.44786051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301193817 meters Centerline goodness : 0.905750 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.38, Z:-1.45 [[ 9.99974631e-01 6.05058344e-03 -3.75869022e-03 8.85071972e+00] [-6.07284123e-03 9.99963925e-01 -5.93877104e-03 -3.84771085e-01] [ 3.72262160e-03 5.96144631e-03 9.99975301e-01 -1.44784964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331193817 meters Centerline goodness : 0.903566 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.38, Z:-1.45 [[ 9.99945010e-01 9.58660067e-03 -4.25125681e-03 8.85180929e+00] [-9.60044956e-03 9.99948636e-01 -3.24924531e-03 -3.80505010e-01] [ 4.21988922e-03 3.28988061e-03 9.99985685e-01 -1.44790977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters Centerline goodness : 0.905323 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.37, Z:-1.45 [[ 9.99899531e-01 1.34964386e-02 -4.33295986e-03 8.85120486e+00] [-1.35010946e-02 9.99908308e-01 -1.04711258e-03 -3.71915988e-01] [ 4.31843027e-03 1.10550707e-03 9.99990064e-01 -1.44683232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.391193817 meters Centerline goodness : 0.904590 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.37, Z:-1.45 [[ 9.99905568e-01 1.29227788e-02 -4.67521546e-03 8.85218082e+00] [-1.29351516e-02 9.99912889e-01 -2.62599390e-03 -3.67174942e-01] [ 4.64087306e-03 2.68622054e-03 9.99985623e-01 -1.44730354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421193817 meters Centerline goodness : 0.906220 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99911542e-01 1.23109343e-02 -5.03484109e-03 8.85293547e+00] [-1.23318608e-02 9.99915362e-01 -4.14663070e-03 -3.62624075e-01] [ 4.98336606e-03 4.20835286e-03 9.99978728e-01 -1.44740906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.451193817 meters Centerline goodness : 0.906322 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99878330e-01 1.46366745e-02 -5.39380397e-03 8.85433338e+00] [-1.46469456e-02 9.99890980e-01 -1.86968030e-03 -3.60233076e-01] [ 5.36585003e-03 1.94845557e-03 9.99983705e-01 -1.44768066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.481193817 meters Centerline goodness : 0.906322 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.36, Z:-1.45 [[ 9.99878330e-01 1.46366745e-02 -5.39380397e-03 8.85433338e+00] [-1.46469456e-02 9.99890980e-01 -1.86968030e-03 -3.60233076e-01] [ 5.36585003e-03 1.94845557e-03 9.99983705e-01 -1.44768066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.511193817 meters Centerline goodness : 0.907781 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.36, Z:-1.45 [[ 9.99886907e-01 1.39298757e-02 -5.66847734e-03 8.85501444e+00] [-1.39501854e-02 9.99896356e-01 -3.55929648e-03 -3.55046311e-01] [ 5.61830928e-03 3.63797025e-03 9.99977600e-01 -1.44785281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541193817 meters Centerline goodness : 0.909805 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.35, Z:-1.45 [[ 9.99894290e-01 1.33196331e-02 -5.83056789e-03 8.85554828e+00] [-1.33507763e-02 9.99896640e-01 -5.33542579e-03 -3.49377131e-01] [ 5.75889932e-03 5.41270439e-03 9.99968768e-01 -1.44810246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57119381700001 meters Centerline goodness : 0.908760 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.34, Z:-1.45 [[ 9.99893347e-01 1.43555495e-02 -2.68580261e-03 8.87405932e+00] [-1.43903805e-02 9.99806219e-01 -1.34328708e-02 -3.37720039e-01] [ 2.49244591e-03 1.34700878e-02 9.99906168e-01 -1.45229101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60119381700001 meters Centerline goodness : 0.908773 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:-1.45 [[ 9.99852827e-01 1.68578122e-02 -3.18424469e-03 8.87620626e+00] [-1.68927428e-02 9.99793661e-01 -1.12814444e-02 -3.34415616e-01] [ 2.99340718e-03 1.13335747e-02 9.99931292e-01 -1.45333694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63119381700001 meters Centerline goodness : 0.906790 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:-1.45 [[ 9.99804562e-01 1.94319249e-02 -3.63838308e-03 8.87828887e+00] [-1.94649362e-02 9.99767575e-01 -9.26885154e-03 -3.30021196e-01] [ 3.45742580e-03 9.33786095e-03 9.99950424e-01 -1.45444988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters Centerline goodness : 0.908257 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.32, Z:-1.46 [[ 9.99751551e-01 2.19143791e-02 -4.07388652e-03 8.88063603e+00] [-2.19442473e-02 9.99731531e-01 -7.43750002e-03 -3.24927518e-01] [ 3.90980462e-03 7.52505055e-03 9.99964043e-01 -1.45599994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691193817 meters Centerline goodness : 0.903051 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.32, Z:-1.46 [[ 9.99694516e-01 2.42172016e-02 -4.93971949e-03 8.88395333e+00] [-2.42503620e-02 9.99683011e-01 -6.76737700e-03 -3.16609360e-01] [ 4.77426672e-03 6.88509967e-03 9.99964900e-01 -1.45805577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters Centerline goodness : 0.900553 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.31, Z:-1.46 [[ 9.99671493e-01 2.49924561e-02 -5.68188792e-03 8.88731683e+00] [-2.50295690e-02 9.99665205e-01 -6.55729618e-03 -3.14312847e-01] [ 5.51610272e-03 6.69735727e-03 9.99962358e-01 -1.46016853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.751193817 meters Centerline goodness : 0.899100 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.31, Z:-1.46 [[ 9.99598383e-01 2.76441488e-02 -6.23493628e-03 8.88979830e+00] [-2.76756438e-02 9.99604336e-01 -5.02295353e-03 -3.08456057e-01] [ 6.09361406e-03 5.19349211e-03 9.99967947e-01 -1.46172928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781193817 meters Centerline goodness : 0.898983 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99611039e-01 2.70839144e-02 -6.65080035e-03 8.89149749e+00] [-2.71281466e-02 9.99609824e-01 -6.65301624e-03 -3.03486000e-01] [ 6.46801565e-03 6.83085236e-03 9.99955751e-01 -1.46293600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.811193817 meters Centerline goodness : 0.899434 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99519915e-01 3.01679414e-02 -7.05937493e-03 8.89332561e+00] [-3.01943543e-02 9.99537326e-01 -3.66533504e-03 -3.01765398e-01] [ 6.94553313e-03 3.87672864e-03 9.99968365e-01 -1.46378003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841193817 meters Centerline goodness : 0.898782 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99522569e-01 3.00092266e-02 -7.35387210e-03 8.89430291e+00] [-3.00425809e-02 9.99538634e-01 -4.46789403e-03 -2.99166654e-01] [ 7.21640123e-03 4.68669021e-03 9.99962979e-01 -1.46423618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.871193817 meters Centerline goodness : 0.899384 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.30, Z:-1.46 [[ 9.99497036e-01 3.07974354e-02 -7.56259470e-03 8.89435571e+00] [-3.08332307e-02 9.99513665e-01 -4.66310667e-03 -2.96457897e-01] [ 7.41530502e-03 4.89394053e-03 9.99960531e-01 -1.46378360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901193817 meters Centerline goodness : 0.900659 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99484344e-01 3.11183021e-02 -7.91821806e-03 8.89536693e+00] [-3.11557495e-02 9.99503722e-01 -4.65067295e-03 -2.95767229e-01] [ 7.76956738e-03 4.89497282e-03 9.99957836e-01 -1.46413309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93119381700001 meters Centerline goodness : 0.899352 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99482990e-01 3.11194477e-02 -8.08283410e-03 8.89596001e+00] [-3.11585533e-02 9.99503129e-01 -4.75806412e-03 -2.95794095e-01] [ 7.93074965e-03 5.00745357e-03 9.99956013e-01 -1.46441496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96119381700001 meters Centerline goodness : 0.899942 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99483333e-01 3.10501083e-02 -8.30411072e-03 8.89667326e+00] [-3.10900221e-02 9.99505437e-01 -4.72137192e-03 -2.96504801e-01] [ 8.15340471e-03 4.97710753e-03 9.99954374e-01 -1.46464213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99119381700001 meters Centerline goodness : 0.903222 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99485286e-01 3.09987164e-02 -8.26096173e-03 8.89638952e+00] [-3.10362465e-02 9.99508335e-01 -4.45423969e-03 -2.97634548e-01] [ 8.11882439e-03 4.70833628e-03 9.99955957e-01 -1.46411973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02119381700001 meters Centerline goodness : 0.906211 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99487838e-01 3.08750229e-02 -8.41395949e-03 8.89677836e+00] [-3.09140546e-02 9.99511695e-01 -4.54900185e-03 -2.97368923e-01] [ 8.26940037e-03 4.80678162e-03 9.99954255e-01 -1.46405386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051193817 meters Centerline goodness : 0.906355 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.46 [[ 9.99495562e-01 3.05675375e-02 -8.61664437e-03 8.89759825e+00] [-3.06113139e-02 9.99518882e-01 -4.99515370e-03 -2.96198169e-01] [ 8.45980920e-03 5.25640076e-03 9.99950400e-01 -1.46448417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters Centerline goodness : 0.905722 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.30, Z:-1.47 [[ 9.99503663e-01 3.02033210e-02 -8.95477170e-03 8.89871732e+00] [-3.02531943e-02 9.99527205e-01 -5.48730107e-03 -2.95305342e-01] [ 8.78480322e-03 5.75548797e-03 9.99944849e-01 -1.46500616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111193817 meters Centerline goodness : 0.909641 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.29, Z:-1.47 [[ 9.99537736e-01 2.89506044e-02 -9.28316615e-03 8.90074094e+00] [-2.90141250e-02 9.99555991e-01 -6.78246464e-03 -2.94286992e-01] [ 9.08268789e-03 7.04867230e-03 9.99933908e-01 -1.46668294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141193817 meters Centerline goodness : 0.908020 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.29, Z:-1.47 [[ 9.99556213e-01 2.82062828e-02 -9.58031985e-03 8.90180061e+00] [-2.82778397e-02 9.99572580e-01 -7.41765920e-03 -2.93886771e-01] [ 9.36700043e-03 7.68527809e-03 9.99926595e-01 -1.46713505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.171193817 meters Centerline goodness : 0.909687 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.47 [[ 9.99628844e-01 2.50697935e-02 -1.06620931e-02 8.91158973e+00] [-2.50984186e-02 9.99681709e-01 -2.55945314e-03 -2.94205793e-01] [ 1.05945345e-02 2.82610486e-03 9.99939883e-01 -1.46516689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201193817 meters Centerline goodness : 0.909214 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.46 [[ 9.99723673e-01 2.07996220e-02 -1.09523672e-02 8.91188675e+00] [-2.08815117e-02 9.99754450e-01 -7.41638522e-03 -2.91793031e-01] [ 1.07954198e-02 7.64303785e-03 9.99912518e-01 -1.46499968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.231193817 meters Centerline goodness : 0.912911 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.46 [[ 9.99737477e-01 1.99743318e-02 -1.12251305e-02 8.91234585e+00] [-2.00629834e-02 9.99767969e-01 -7.84127257e-03 -2.92070185e-01] [ 1.10659017e-02 8.06442366e-03 9.99906251e-01 -1.46458033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261193817 meters Centerline goodness : 0.913835 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.29, Z:-1.47 [[ 0.99982265 0.01489377 -0.01152559 8.9132782 ] [-0.01504585 0.99979936 -0.01322319 -0.28932776] [ 0.01132634 0.01339425 0.99984614 -1.46515911] [ 0. 0. 0. 1. ]] SLAMing on 93.291193817 meters Centerline goodness : 0.911527 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99984089 0.01303841 -0.01217366 8.91644885] [-0.01322044 0.99980018 -0.01499374 -0.28739602] [ 0.01197573 0.01515229 0.99981348 -1.46735557] [ 0. 0. 0. 1. ]] SLAMing on 93.32119381700001 meters Centerline goodness : 0.910861 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99985481 0.0113403 -0.01271829 8.91916312] [-0.01154826 0.99979884 -0.01639856 -0.28622395] [ 0.01252977 0.01654305 0.99978464 -1.46919459] [ 0. 0. 0. 1. ]] SLAMing on 93.35119381700001 meters Centerline goodness : 0.911472 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.29, Z:-1.47 [[ 0.99986884 0.00940059 -0.01318866 8.92170076] [-0.00963529 0.99979431 -0.01784632 -0.28577681] [ 0.01301818 0.01797106 0.99975375 -1.47093653] [ 0. 0. 0. 1. ]] SLAMing on 93.38119381700001 meters Centerline goodness : 0.913880 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.28, Z:-1.47 [[ 9.99905726e-01 2.23400712e-03 -1.35480104e-02 8.92365781e+00] [-2.56075487e-03 9.99705101e-01 -2.41485745e-02 -2.84432791e-01] [ 1.34900670e-02 2.41809910e-02 9.99616575e-01 -1.47214956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411193817 meters Centerline goodness : 0.912590 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.28, Z:-1.47 [[ 9.99903132e-01 4.25788286e-04 -1.39120251e-02 8.92496049e+00] [-7.76840329e-04 9.99681168e-01 -2.52380617e-02 -2.84327575e-01] [ 1.38968434e-02 2.52464243e-02 9.99584662e-01 -1.47246920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters Centerline goodness : 0.915425 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.29, Z:-1.47 [[ 9.99958343e-01 -1.93467719e-03 -8.92016112e-03 8.93415693e+00] [ 1.77816093e-03 9.99844914e-01 -1.75210165e-02 -2.85959712e-01] [ 8.95267524e-03 1.75044252e-02 9.99806704e-01 -1.47358926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471193817 meters Centerline goodness : 0.914909 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99939822e-01 -5.12047663e-03 -9.70222901e-03 8.93775492e+00] [ 4.91837150e-03 9.99772777e-01 -2.07413790e-02 -2.80352570e-01] [ 9.80623018e-03 2.06924117e-02 9.99737797e-01 -1.47579198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501193817 meters Centerline goodness : 0.912830 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99944912e-01 -2.87166691e-03 -1.00958239e-02 8.94003357e+00] [ 2.68762469e-03 9.99830825e-01 -1.81960840e-02 -2.78367790e-01] [ 1.01463690e-02 1.81679479e-02 9.99783465e-01 -1.47736347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.531193817 meters Centerline goodness : 0.911849 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.28, Z:-1.48 [[ 9.99947668e-01 1.79794367e-04 -1.02288226e-02 8.94098397e+00] [-3.35089181e-04 9.99884685e-01 -1.51823936e-02 -2.75904426e-01] [ 1.02249133e-02 1.51850267e-02 9.99832419e-01 -1.47800798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.561193817 meters Centerline goodness : 0.914160 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.27, Z:-1.48 [[ 9.99939729e-01 2.76653294e-03 -1.06247127e-02 8.94269813e+00] [-2.90367065e-03 9.99912398e-01 -1.29137666e-02 -2.72387199e-01] [ 1.05880556e-02 1.29438390e-02 9.99860165e-01 -1.47892402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.591193817 meters Centerline goodness : 0.911762 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.26, Z:-1.48 [[ 9.99955168e-01 6.02398632e-03 -7.30569601e-03 8.96193859e+00] [-6.15342065e-03 9.99822173e-01 -1.78257748e-02 -2.60948950e-01] [ 7.19701463e-03 1.78699306e-02 9.99814417e-01 -1.48349463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621193817 meters Centerline goodness : 0.913166 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.26, Z:-1.48 [[ 9.99932132e-01 8.61548459e-03 -7.84254503e-03 8.96418347e+00] [-8.73910384e-03 9.99835915e-01 -1.58672737e-02 -2.56363155e-01] [ 7.70455393e-03 1.59347337e-02 9.99843350e-01 -1.48467570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.651193817 meters Centerline goodness : 0.912612 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.25, Z:-1.49 [[ 9.99901859e-01 1.12847299e-02 -8.30227443e-03 8.96645022e+00] [-1.14006457e-02 9.99836303e-01 -1.40496660e-02 -2.51195587e-01] [ 8.14236869e-03 1.41429384e-02 9.99866831e-01 -1.48606370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68119381700001 meters Centerline goodness : 0.911725 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.24, Z:-1.49 [[ 9.99863639e-01 1.54199065e-02 -5.91021922e-03 8.98730327e+00] [-1.55239252e-02 9.99717865e-01 -1.79777364e-02 -2.37459211e-01] [ 5.63133673e-03 1.80670347e-02 9.99820919e-01 -1.49087528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71119381700001 meters Centerline goodness : 0.910531 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.23, Z:-1.49 [[ 9.99818885e-01 1.79455331e-02 -6.33674327e-03 8.98920975e+00] [-1.80473757e-02 9.99702654e-01 -1.63980144e-02 -2.31407431e-01] [ 6.04058795e-03 1.65094061e-02 9.99845463e-01 -1.49178324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74119381700001 meters Centerline goodness : 0.911514 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.23, Z:-1.49 [[ 9.99767253e-01 2.04789068e-02 -6.78635677e-03 8.99125165e+00] [-2.05775575e-02 9.99678704e-01 -1.48004359e-02 -2.25517600e-01] [ 6.48107960e-03 1.49366378e-02 9.99867437e-01 -1.49276698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77119381700001 meters Centerline goodness : 0.907711 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.22, Z:-1.49 [[ 9.99711200e-01 2.28958265e-02 -7.30053689e-03 8.99354818e+00] [-2.29909403e-02 9.99648235e-01 -1.32220408e-02 -2.19927435e-01] [ 6.99523927e-03 1.33860685e-02 9.99885933e-01 -1.49390772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801193817 meters Centerline goodness : 0.905423 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.21, Z:-1.50 [[ 9.99692293e-01 2.43433427e-02 -4.76666714e-03 9.01395077e+00] [-2.44304275e-02 9.99518025e-01 -1.91539183e-02 -2.07094696e-01] [ 4.29809933e-03 1.92644762e-02 9.99805184e-01 -1.49730542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831193817 meters Centerline goodness : 0.907131 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.20, Z:-1.50 [[ 9.99645804e-01 2.61164770e-02 -5.11828397e-03 9.01592719e+00] [-2.62036425e-02 9.99498576e-01 -1.77754355e-02 -2.02595749e-01] [ 4.65148579e-03 1.79032571e-02 9.99828904e-01 -1.49829072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters Centerline goodness : 0.906762 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.20, Z:-1.50 [[ 9.99603114e-01 2.75747313e-02 -5.76619891e-03 9.01842420e+00] [-2.76670877e-02 9.99479308e-01 -1.66025472e-02 -1.97887438e-01] [ 5.30538572e-03 1.67554918e-02 9.99845541e-01 -1.49916875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.891193817 meters Centerline goodness : 0.905301 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.19, Z:-1.50 [[ 9.99551862e-01 2.92169105e-02 -6.51508881e-03 9.02134144e+00] [-2.93135252e-02 9.99453733e-01 -1.52627906e-02 -1.93268708e-01] [ 6.06559824e-03 1.54469310e-02 9.99862291e-01 -1.50036593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921193817 meters Centerline goodness : 0.904358 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.18, Z:-1.50 [[ 9.99542246e-01 3.00271504e-02 -3.69699884e-03 9.04082605e+00] [-3.00974216e-02 9.99332564e-01 -2.07019955e-02 -1.80690639e-01] [ 3.07290939e-03 2.08037892e-02 9.99778855e-01 -1.50238313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.951193817 meters Centerline goodness : 0.906769 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.18, Z:-1.50 [[ 9.99447176e-01 3.30067905e-02 -3.98666297e-03 9.04162962e+00] [-3.30740725e-02 9.99287348e-01 -1.81907286e-02 -1.77147670e-01] [ 3.38340430e-03 1.83125275e-02 9.99826587e-01 -1.50193273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981193817 meters Centerline goodness : 0.906068 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.17, Z:-1.50 [[ 9.99335912e-01 3.61850400e-02 -4.28691207e-03 9.04248829e+00] [-3.62481700e-02 9.99219501e-01 -1.56990397e-02 -1.72955456e-01] [ 3.71549576e-03 1.58440069e-02 9.99867573e-01 -1.50154052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.011193817 meters Centerline goodness : 0.904314 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.16, Z:-1.50 [[ 9.99010287e-01 4.41811528e-02 -5.14512325e-03 9.04406204e+00] [-4.42425029e-02 9.98942711e-01 -1.24924087e-02 -1.62972017e-01] [ 4.58775435e-03 1.27076780e-02 9.99908730e-01 -1.49840788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.041193817 meters Centerline goodness : 0.901790 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98801467e-01 4.85724580e-02 -6.02881529e-03 9.04633819e+00] [-4.86311713e-02 9.98766669e-01 -1.00074617e-02 -1.59669199e-01] [ 5.53529276e-03 1.02886557e-02 9.99931750e-01 -1.49759172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07119381700001 meters Centerline goodness : 0.902445 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.15, Z:-1.50 [[ 9.98604705e-01 5.27415507e-02 -2.64050642e-03 9.04116845e+00] [-5.27727270e-02 9.98513870e-01 -1.36048357e-02 -1.54571962e-01] [ 1.91904215e-03 1.37251996e-02 9.99903963e-01 -1.50071419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10119381700001 meters Centerline goodness : 0.900387 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.15, Z:-1.50 [[ 9.98369521e-01 5.69961556e-02 -3.12065006e-03 9.04308985e+00] [-5.70252045e-02 9.98320805e-01 -1.01831884e-02 -1.53407220e-01] [ 2.53500729e-03 1.03445406e-02 9.99943281e-01 -1.50089231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13119381700001 meters Centerline goodness : 0.895468 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98272979e-01 5.85691746e-02 -4.55086757e-03 9.04659857e+00] [-5.86185842e-02 9.98212922e-01 -1.16113552e-02 -1.48457441e-01] [ 3.86266733e-03 1.18580676e-02 9.99922230e-01 -1.50052006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161193817 meters Centerline goodness : 0.901369 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98273297e-01 5.85189565e-02 -5.09465771e-03 9.04840847e+00] [-5.85775746e-02 9.98207847e-01 -1.22377133e-02 -1.46728121e-01] [ 4.36938910e-03 1.25150151e-02 9.99912138e-01 -1.50113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191193817 meters Centerline goodness : 0.899244 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98280183e-01 5.83637120e-02 -5.50942417e-03 9.04983549e+00] [-5.84279811e-02 9.98215469e-01 -1.23307712e-02 -1.46208005e-01] [ 4.77992286e-03 1.26314690e-02 9.99908795e-01 -1.50181197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221193817 meters Centerline goodness : 0.893753 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98294987e-01 5.81000703e-02 -5.61260674e-03 9.04996933e+00] [-5.81645129e-02 9.98233724e-01 -1.20963463e-02 -1.47147836e-01] [ 4.89989475e-03 1.24021765e-02 9.99911085e-01 -1.50172514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.251193817 meters Centerline goodness : 0.897342 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98504208e-01 5.43227193e-02 -6.19581825e-03 9.05011341e+00] [-5.44130386e-02 9.98398471e-01 -1.54827247e-02 -1.49328996e-01] [ 5.34483176e-03 1.57966990e-02 9.99860939e-01 -1.50088450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281193817 meters Centerline goodness : 0.898421 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.15, Z:-1.50 [[ 9.98503390e-01 5.43377628e-02 -6.19578107e-03 9.04984393e+00] [-5.44217820e-02 9.98415470e-01 -1.43114800e-02 -1.52701840e-01] [ 5.40830987e-03 1.46272468e-02 9.99878390e-01 -1.50079589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.311193817 meters Centerline goodness : 0.895899 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98531088e-01 5.38014311e-02 -6.40870366e-03 9.05046139e+00] [-5.38854820e-02 9.98452355e-01 -1.37568185e-02 -1.55443402e-01] [ 5.65864873e-03 1.40819471e-02 9.99884833e-01 -1.50138880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.341193817 meters Centerline goodness : 0.895577 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98565182e-01 5.31498621e-02 -6.53212087e-03 9.05055027e+00] [-5.32336067e-02 9.98492234e-01 -1.33955955e-02 -1.57658542e-01] [ 5.81029790e-03 1.37241036e-02 9.99888939e-01 -1.50142774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.371193817 meters Centerline goodness : 0.896764 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98792234e-01 4.86492500e-02 -6.87916725e-03 9.05102008e+00] [-4.87605937e-02 9.98664646e-01 -1.70683946e-02 -1.59149448e-01] [ 6.03961653e-03 1.73832122e-02 9.99830659e-01 -1.50188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.401193817 meters Centerline goodness : 0.896764 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98792234e-01 4.86492500e-02 -6.87916725e-03 9.05102008e+00] [-4.87605937e-02 9.98664646e-01 -1.70683946e-02 -1.59149448e-01] [ 6.03961653e-03 1.73832122e-02 9.99830659e-01 -1.50188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43119381700001 meters Centerline goodness : 0.896857 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98808096e-01 4.83362012e-02 -6.78225106e-03 9.05074783e+00] [-4.84432019e-02 9.98687728e-01 -1.66156237e-02 -1.60487700e-01] [ 5.97021477e-03 1.69243734e-02 9.99838948e-01 -1.50190168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46119381700001 meters Centerline goodness : 0.895326 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98815748e-01 4.81387640e-02 -7.05411316e-03 9.05166004e+00] [-4.82488199e-02 9.98701287e-01 -1.63642935e-02 -1.61254552e-01] [ 6.25719503e-03 1.66852666e-02 9.99841212e-01 -1.50246180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49119381700001 meters Centerline goodness : 0.895724 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.16, Z:-1.50 [[ 9.98838901e-01 4.75389161e-02 -7.80399103e-03 9.05429670e+00] [-4.76642472e-02 9.98723010e-01 -1.67471770e-02 -1.61092291e-01] [ 6.99788277e-03 1.70997032e-02 9.99829300e-01 -1.50398749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52119381700001 meters Centerline goodness : 0.897434 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 9.98783134e-01 4.85044825e-02 -8.91997485e-03 9.05681590e+00] [-4.86471611e-02 9.98679035e-01 -1.65420018e-02 -1.61198071e-01] [ 8.10583065e-03 1.69558039e-02 9.99823383e-01 -1.50423970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551193817 meters Centerline goodness : 0.894433 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 9.98743856e-01 4.91413617e-02 -9.78967026e-03 9.05881071e+00] [-4.93016780e-02 9.98641460e-01 -1.68694919e-02 -1.59954462e-01] [ 8.94738080e-03 1.73309485e-02 9.99809773e-01 -1.50401627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581193817 meters Centerline goodness : 0.897591 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 0.9985691 0.05257084 -0.009801 9.05922407] [-0.05269828 0.9985228 -0.01323261 -0.16031118] [ 0.00909088 0.01373017 0.99986441 -1.50383651] [ 0. 0. 0. 1. ]] SLAMing on 94.611193817 meters Centerline goodness : 0.896957 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.16, Z:-1.50 [[ 0.99854873 0.05283073 -0.01045703 9.06030152] [-0.05297781 0.9984929 -0.01432736 -0.15784282] [ 0.00968435 0.01486056 0.99984268 -1.50279842] [ 0. 0. 0. 1. ]] SLAMing on 94.641193817 meters Centerline goodness : 0.898162 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99838152 0.05579129 -0.01103029 9.06277754] [-0.05592635 0.99835864 -0.01233994 -0.15391831] [ 0.01032372 0.01293685 0.99986302 -1.50349226] [ 0. 0. 0. 1. ]] SLAMing on 94.671193817 meters Centerline goodness : 0.894279 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99838508 0.05565794 -0.01137641 9.06377524] [-0.05580293 0.99835908 -0.01285193 -0.15250606] [ 0.01064243 0.01346601 0.99985269 -1.50362567] [ 0. 0. 0. 1. ]] SLAMing on 94.701193817 meters Centerline goodness : 0.896976 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99843746 0.05461773 -0.01181257 9.06487005] [-0.05477933 0.99840285 -0.0138192 -0.15165499] [ 0.01103893 0.01444469 0.99983473 -1.50379696] [ 0. 0. 0. 1. ]] SLAMing on 94.731193817 meters Centerline goodness : 0.893235 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 0.99851948 0.05310404 -0.01178135 9.06458549] [-0.05327361 0.99847353 -0.01457851 -0.15167895] [ 0.01098919 0.01518457 0.99982432 -1.50363209] [ 0. 0. 0. 1. ]] SLAMing on 94.761193817 meters Centerline goodness : 0.896511 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99177414e-01 3.99431031e-02 -7.00306151e-03 9.06229900e+00] [-4.00080870e-02 9.99155152e-01 -9.39869135e-03 -1.51687092e-01] [ 6.62173209e-03 9.67113922e-03 9.99931309e-01 -1.50306366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.791193817 meters Centerline goodness : 0.894666 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99362616e-01 3.49754064e-02 -7.14727376e-03 9.06260238e+00] [-3.50750119e-02 9.99282062e-01 -1.43214669e-02 -1.49750578e-01] [ 6.64124334e-03 1.45630293e-02 9.99871898e-01 -1.50332986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82119381700001 meters Centerline goodness : 0.899560 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.15, Z:-1.50 [[ 9.99522613e-01 3.00220850e-02 -7.29524490e-03 9.06319430e+00] [-3.01604481e-02 9.99351695e-01 -1.96605361e-02 -1.46714405e-01] [ 6.70026507e-03 1.98711782e-02 9.99780097e-01 -1.50371769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85119381700001 meters Centerline goodness : 0.898804 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.14, Z:-1.50 [[ 9.99762642e-01 2.17489979e-02 -1.28126876e-03 9.06008206e+00] [-2.17616949e-02 9.99703675e-01 -1.09082613e-02 -1.42034588e-01] [ 1.04364533e-03 1.09335548e-02 9.99939682e-01 -1.50207060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88119381700001 meters Centerline goodness : 0.901692 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.14, Z:-1.50 [[ 9.99772070e-01 2.13030430e-02 -1.41004931e-03 9.06029835e+00] [-2.13196273e-02 9.99687765e-01 -1.30325359e-02 -1.36092582e-01] [ 1.13197637e-03 1.30596271e-02 9.99914079e-01 -1.50103602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911193817 meters Centerline goodness : 0.902645 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.13, Z:-1.50 [[ 9.99764911e-01 2.16177794e-02 -1.67148158e-03 9.06105424e+00] [-2.16402992e-02 9.99654893e-01 -1.48926896e-02 -1.29461872e-01] [ 1.34895786e-03 1.49253599e-02 9.99887701e-01 -1.50014721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters Centerline goodness : 0.902057 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.12, Z:-1.50 [[ 9.99685032e-01 2.50179404e-02 -1.98470491e-03 9.06254209e+00] [-2.50413258e-02 9.99604549e-01 -1.27936170e-02 -1.24799784e-01] [ 1.66385011e-03 1.28392871e-02 9.99916189e-01 -1.50038132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971193817 meters Centerline goodness : 0.898793 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.11, Z:-1.50 [[ 9.99342130e-01 3.54366849e-02 -7.71674613e-03 9.07414208e+00] [-3.55557408e-02 9.99241518e-01 -1.58801273e-02 -1.11462967e-01] [ 7.14815405e-03 1.61440548e-02 9.99844125e-01 -1.49967648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001193817 meters Centerline goodness : 0.898653 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.11, Z:-1.50 [[ 9.99065974e-01 4.24614959e-02 -8.01255829e-03 9.07718824e+00] [-4.25449819e-02 9.99038811e-01 -1.05536065e-02 -1.05455810e-01] [ 7.55673479e-03 1.08846433e-02 9.99912206e-01 -1.50107205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.031193817 meters Centerline goodness : 0.900994 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.10, Z:-1.50 [[ 9.98727140e-01 4.98073407e-02 -7.95794458e-03 9.07874113e+00] [-4.98455519e-02 9.98745984e-01 -4.67759191e-03 -9.88041884e-02] [ 7.71498678e-03 5.06830613e-03 9.99957395e-01 -1.50191892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.061193817 meters Centerline goodness : 0.895780 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.08, Z:-1.50 [[ 9.98173413e-01 5.94816629e-02 -1.05720906e-02 9.08449860e+00] [-5.95433157e-02 9.98209927e-01 -5.61555734e-03 -8.18403666e-02] [ 1.02191431e-02 6.23479736e-03 9.99928346e-01 -1.50282353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.091193817 meters Centerline goodness : 0.899403 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.97960584e-01 6.29404038e-02 -1.06385060e-02 9.08537412e+00] [-6.29794890e-02 9.98009100e-01 -3.37941649e-03 -7.67323817e-02] [ 1.04046240e-02 4.04253213e-03 9.99937699e-01 -1.50280899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.121193817 meters Centerline goodness : 0.899766 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.07, Z:-1.50 [[ 9.97735499e-01 6.64013084e-02 -1.07116942e-02 9.08649562e+00] [-6.64141951e-02 9.97791777e-01 -8.51462251e-04 -7.27512200e-02] [ 1.06315022e-02 1.56094266e-03 9.99942266e-01 -1.50318864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.151193817 meters Centerline goodness : 0.897758 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.07, Z:-1.50 [[ 9.97499243e-01 6.98556071e-02 -1.07449507e-02 9.08781310e+00] [-6.98406950e-02 9.97556610e-01 1.75730943e-03 -6.91024996e-02] [ 1.08414545e-02 -1.00248000e-03 9.99940727e-01 -1.50394214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18119381700001 meters Centerline goodness : 0.894592 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.06, Z:-1.51 [[ 9.97162784e-01 7.44569834e-02 -1.10697299e-02 9.09133037e+00] [-7.44079998e-02 9.97216458e-01 4.77346713e-03 -6.30604002e-02] [ 1.13943348e-02 -3.93624732e-03 9.99927335e-01 -1.50631916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21119381700001 meters Centerline goodness : 0.893864 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.06, Z:-1.51 [[ 9.97131414e-01 7.47966490e-02 -1.15932954e-02 9.09310742e+00] [-7.47542878e-02 9.97193777e-01 4.04580409e-03 -5.87826577e-02] [ 1.18633746e-02 -3.16754981e-03 9.99924611e-01 -1.50688450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24119381700001 meters Centerline goodness : 0.892728 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.05, Z:-1.51 [[ 9.97138038e-01 7.46698783e-02 -1.18381906e-02 9.09374631e+00] [-7.46390546e-02 9.97206027e-01 3.02514300e-03 -5.46024765e-02] [ 1.20310021e-02 -2.13289380e-03 9.99925350e-01 -1.50672157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27119381700001 meters Centerline goodness : 0.894444 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.05, Z:-1.51 [[ 9.97005082e-01 7.63487056e-02 -1.23183747e-02 9.09588236e+00] [-7.62939742e-02 9.97073551e-01 4.85413186e-03 -5.36112198e-02] [ 1.26529323e-02 -3.89977637e-03 9.99912344e-01 -1.50755713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301193817 meters Centerline goodness : 0.895029 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.06, Z:-1.51 [[ 9.96953692e-01 7.74344554e-02 -9.34027415e-03 9.11450900e+00] [-7.73631584e-02 9.96972719e-01 7.76777490e-03 -5.95491234e-02] [ 9.91349194e-03 -7.02151876e-03 9.99926208e-01 -1.50720658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331193817 meters Centerline goodness : 0.895590 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.06, Z:-1.51 [[ 9.97202500e-01 7.41002554e-02 -9.81458450e-03 9.11495560e+00] [-7.40665661e-02 9.97246237e-01 3.75318234e-03 -5.89307234e-02] [ 1.00656692e-02 -3.01575024e-03 9.99944792e-01 -1.50709762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361193817 meters Centerline goodness : 0.897407 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.06, Z:-1.51 [[ 9.97200840e-01 7.40804844e-02 -1.01274779e-02 9.11561100e+00] [-7.40446186e-02 9.97247412e-01 3.87218082e-03 -5.96792762e-02] [ 1.03864541e-02 -3.11145673e-03 9.99941218e-01 -1.50711659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.391193817 meters Centerline goodness : 0.898698 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.06, Z:-1.50 [[ 9.97594657e-01 6.87863491e-02 -8.56383152e-03 9.13233796e+00] [-6.86423742e-02 9.97511369e-01 1.61025521e-02 -6.39572976e-02] [ 9.65015508e-03 -1.54759782e-02 9.99833670e-01 -1.50466085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421193817 meters Centerline goodness : 0.896477 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 9.97874294e-01 6.46796088e-02 -7.96501335e-03 9.14926691e+00] [-6.44120078e-02 9.97466009e-01 3.02101715e-02 -6.94507072e-02] [ 9.89881215e-03 -2.96329110e-02 9.99511833e-01 -1.50229091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.451193817 meters Centerline goodness : 0.894974 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 9.98095366e-01 6.10616228e-02 -8.78167521e-03 9.15084647e+00] [-6.08062194e-02 9.97787401e-01 2.68869141e-02 -7.11771144e-02] [ 1.04040035e-02 -2.63017239e-02 9.99599908e-01 -1.50249724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481193817 meters Centerline goodness : 0.894832 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.07, Z:-1.50 [[ 0.99825568 0.05820349 -0.00989748 9.1537314 ] [-0.05794005 0.99800464 0.02509364 -0.07395128] [ 0.01133827 -0.02447641 0.99963611 -1.50320816] [ 0. 0. 0. 1. ]] SLAMing on 95.511193817 meters Centerline goodness : 0.891704 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.08, Z:-1.50 [[ 9.98824771e-01 4.78637510e-02 -7.62487117e-03 9.13478958e+00] [-4.75656623e-02 9.98241164e-01 3.53848256e-02 -7.95474543e-02] [ 9.30511075e-03 -3.49805583e-02 9.99344673e-01 -1.50366421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541193817 meters Centerline goodness : 0.898862 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.08, Z:-1.50 [[ 9.99151394e-01 4.06270101e-02 -6.77770942e-03 9.11392537e+00] [-4.02795843e-02 9.98161749e-01 4.52844150e-02 -8.09978297e-02] [ 8.60502068e-03 -4.49729831e-02 9.98951142e-01 -1.50208566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57119381700001 meters Centerline goodness : 0.894984 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.99311333e-01 3.66785461e-02 -5.61638884e-03 9.09108118e+00] [-3.64243997e-02 9.98530683e-01 4.01215554e-02 -7.94789371e-02] [ 7.07973690e-03 -3.98893514e-02 9.99179021e-01 -1.50036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60119381700001 meters Centerline goodness : 0.895085 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.08, Z:-1.50 [[ 9.99443036e-01 3.28410981e-02 -5.92281027e-03 9.09101684e+00] [-3.26084296e-02 9.98825495e-01 3.58374096e-02 -7.86240533e-02] [ 7.09279378e-03 -3.56243159e-02 9.99340082e-01 -1.49960565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63119381700001 meters Centerline goodness : 0.889735 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99469134e-01 3.18069785e-02 -7.05457442e-03 9.05117399e+00] [-3.15595689e-02 9.98964322e-01 3.27761498e-02 -7.44339261e-02] [ 8.08977845e-03 -3.25361107e-02 9.99437820e-01 -1.49943406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters Centerline goodness : 0.890864 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99475340e-01 3.15555451e-02 -7.30015533e-03 9.05192422e+00] [-3.13061155e-02 9.98995092e-01 3.20738773e-02 -7.23761100e-02] [ 8.30492803e-03 -3.18285100e-02 9.99458841e-01 -1.49970438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691193817 meters Centerline goodness : 0.888746 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 9.99478440e-01 3.13651589e-02 -7.68599083e-03 9.05331743e+00] [-3.11090557e-02 9.99021445e-01 3.14384957e-02 -7.06291035e-02] [ 8.66454307e-03 -3.11829947e-02 9.99476136e-01 -1.50053921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters Centerline goodness : 0.892971 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.07, Z:-1.50 [[ 0.99931037 0.03337613 -0.01627346 9.04622632] [-0.03296979 0.99915284 0.02462925 -0.06505517] [ 0.0170817 -0.02407573 0.99956419 -1.49916977] [ 0. 0. 0. 1. ]] SLAMing on 95.751193817 meters Centerline goodness : 0.888104 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99930543 0.03332161 -0.01668326 9.04755285] [-0.03291855 0.99917277 0.02387772 -0.06261402] [ 0.01746511 -0.02331194 0.99957567 -1.49981696] [ 0. 0. 0. 1. ]] SLAMing on 95.781193817 meters Centerline goodness : 0.885972 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929943 0.03337758 -0.01692861 9.04827427] [-0.03297676 0.9991815 0.02342796 -0.06103274] [ 0.01769672 -0.0228533 0.99958219 -1.500038 ] [ 0. 0. 0. 1. ]] SLAMing on 95.811193817 meters Centerline goodness : 0.886237 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929799 0.03326412 -0.01723441 9.04899496] [-0.03286556 0.99919707 0.02291447 -0.05962745] [ 0.0179828 -0.02233197 0.99958887 -1.50016305] [ 0. 0. 0. 1. ]] SLAMing on 95.841193817 meters Centerline goodness : 0.884962 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99929195 0.03330518 -0.01750331 9.04956124] [-0.03290683 0.99920346 0.02257387 -0.05817834] [ 0.01824119 -0.02198191 0.99959194 -1.50010094] [ 0. 0. 0. 1. ]] SLAMing on 95.871193817 meters Centerline goodness : 0.885154 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99921777 0.03556 -0.01730139 9.04799117] [-0.03512707 0.99907722 0.02471451 -0.05700241] [ 0.01816427 -0.02408743 0.99954482 -1.49837148] [ 0. 0. 0. 1. ]] SLAMing on 95.901193817 meters Centerline goodness : 0.880481 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.06, Z:-1.50 [[ 0.99919448 0.03601789 -0.01769461 9.04845246] [-0.03556703 0.99905037 0.02516617 -0.057556 ] [ 0.01858423 -0.02451655 0.99952667 -1.4978306 ] [ 0. 0. 0. 1. ]] SLAMing on 95.93119381700001 meters Centerline goodness : 0.885988 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.06, Z:-1.50 [[ 0.9992589 0.03558929 -0.01466483 9.03901998] [-0.03508866 0.99883632 0.0330877 -0.05934679] [ 0.01582533 -0.03254861 0.99934486 -1.4994941 ] [ 0. 0. 0. 1. ]] SLAMing on 95.96119381700001 meters Centerline goodness : 0.883386 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.06, Z:-1.50 [[ 0.99914075 0.03847659 -0.01540479 9.04057087] [-0.03788252 0.99859109 0.0371584 -0.06203202] [ 0.01681281 -0.0365429 0.99919065 -1.49938026] [ 0. 0. 0. 1. ]] SLAMing on 95.99119381700001 meters Centerline goodness : 0.880961 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.07, Z:-1.50 [[ 0.99925807 0.03621158 -0.01311644 9.01954635] [-0.03545964 0.99793148 0.05362255 -0.06729621] [ 0.01503106 -0.05311766 0.99847513 -1.49793723] [ 0. 0. 0. 1. ]] SLAMing on 96.02119381700001 meters Centerline goodness : 0.881420 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.07, Z:-1.50 [[ 0.99935745 0.03326411 -0.01334883 9.01892415] [-0.03255291 0.99820045 0.05036032 -0.06690108] [ 0.015 -0.04989342 0.9986419 -1.49667832] [ 0. 0. 0. 1. ]] SLAMing on 96.051193817 meters Centerline goodness : 0.880766 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.07, Z:-1.49 [[ 0.99946812 0.0293066 -0.01430359 8.99745212] [-0.02862094 0.99853171 0.04599207 -0.06634365] [ 0.01563045 -0.04555822 0.9988394 -1.49432844] [ 0. 0. 0. 1. ]] SLAMing on 96.081193817 meters Centerline goodness : 0.878885 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.07, Z:-1.49 [[ 0.99963088 0.02270704 -0.01491654 8.99832914] [-0.02208759 0.99893715 0.04045622 -0.07309591] [ 0.01581933 -0.04011182 0.99906996 -1.49416727] [ 0. 0. 0. 1. ]] SLAMing on 96.111193817 meters Centerline goodness : 0.880804 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.49 [[ 0.99970143 0.01912474 -0.01520821 8.99892356] [-0.0185481 0.99913593 0.03719349 -0.0753658 ] [ 0.01590639 -0.03690031 0.99919235 -1.49431502] [ 0. 0. 0. 1. ]] SLAMing on 96.141193817 meters Centerline goodness : 0.878289 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99972603 0.01714747 -0.01593184 9.0017876 ] [-0.01657653 0.99923917 0.03530294 -0.07751594] [ 0.01652508 -0.03502917 0.99924966 -1.49613441] [ 0. 0. 0. 1. ]] SLAMing on 96.171193817 meters Centerline goodness : 0.881029 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99976732 0.01449186 -0.01597786 9.00193965] [-0.01397191 0.99938421 0.03218688 -0.07719196] [ 0.01643447 -0.03195615 0.99935415 -1.49621794] [ 0. 0. 0. 1. ]] SLAMing on 96.201193817 meters Centerline goodness : 0.877898 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.08, Z:-1.50 [[ 0.99974069 0.01579919 -0.01639965 9.00261619] [-0.01524453 0.99932538 0.03341227 -0.07911623] [ 0.01691647 -0.0331536 0.9993071 -1.49587046] [ 0. 0. 0. 1. ]] SLAMing on 96.231193817 meters Centerline goodness : 0.876219 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99962044 0.01830972 -0.02058448 9.01159475] [-0.01771535 0.9994312 0.02869566 -0.08011452] [ 0.02109818 -0.02832011 0.99937622 -1.49242545] [ 0. 0. 0. 1. ]] SLAMing on 96.261193817 meters Centerline goodness : 0.872682 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99960238 0.01890124 -0.02092413 9.012093 ] [-0.01829122 0.99941287 0.02897136 -0.08064464] [ 0.02145944 -0.02857711 0.99936122 -1.4920902 ] [ 0. 0. 0. 1. ]] SLAMing on 96.291193817 meters Centerline goodness : 0.872682 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.08, Z:-1.49 [[ 0.99960238 0.01890124 -0.02092413 9.012093 ] [-0.01829122 0.99941287 0.02897136 -0.08064464] [ 0.02145944 -0.02857711 0.99936122 -1.4920902 ] [ 0. 0. 0. 1. ]] SLAMing on 96.32119381700001 meters Centerline goodness : 0.878739 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.08, Z:-1.49 [[ 0.9994104 0.0264244 -0.02192282 9.02302067] [-0.02614135 0.99957243 0.01309877 -0.07726042] [ 0.02225958 -0.01251795 0.99967385 -1.4912117 ] [ 0. 0. 0. 1. ]] SLAMing on 96.35119381700001 meters Centerline goodness : 0.876001 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.08, Z:-1.49 [[ 9.99389946e-01 2.89092965e-02 -1.95956425e-02 9.03270129e+00] [-2.88359034e-02 9.99576085e-01 4.01769919e-03 -7.54918680e-02] [ 1.97034845e-02 -3.45019012e-03 9.99799914e-01 -1.49175575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38119381700001 meters Centerline goodness : 0.877643 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.08, Z:-1.49 [[ 9.99369887e-01 2.93383117e-02 -1.99773092e-02 9.03386813e+00] [-2.92614904e-02 9.99563271e-01 4.12700297e-03 -7.54385109e-02] [ 2.00896638e-02 -3.53983665e-03 9.99791916e-01 -1.49224877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411193817 meters Centerline goodness : 0.875394 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99351186e-01 2.97102159e-02 -2.03594987e-02 9.03535489e+00] [-2.96258090e-02 9.99551220e-01 4.43504293e-03 -7.61793540e-02] [ 2.04821279e-02 -3.82899880e-03 9.99782887e-01 -1.49320676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters Centerline goodness : 0.875041 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99326116e-01 3.04391214e-02 -2.05127612e-02 9.03667782e+00] [-3.03119374e-02 9.99519463e-01 6.48296520e-03 -8.14452835e-02] [ 2.07002398e-02 -5.85681490e-03 9.99768572e-01 -1.49474348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471193817 meters Centerline goodness : 0.874966 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99418926e-01 2.68805705e-02 -2.09581762e-02 9.03759730e+00] [-2.68235073e-02 9.99635686e-01 2.99914852e-03 -8.26294525e-02] [ 2.10311597e-02 -2.43523400e-03 9.99775855e-01 -1.49492583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501193817 meters Centerline goodness : 0.876522 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.08, Z:-1.49 [[ 9.99500386e-01 2.34620671e-02 -2.11780514e-02 9.03766886e+00] [-2.34672168e-02 9.99724607e-01 5.36212347e-06 -8.45774901e-02] [ 2.11723449e-02 4.91630480e-04 9.99775720e-01 -1.49478590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.531193817 meters Centerline goodness : 0.875315 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.09, Z:-1.50 [[ 9.99507637e-01 2.26968264e-02 -2.16642129e-02 9.03880976e+00] [-2.26838194e-02 9.99742331e-01 8.45973020e-04 -8.91373734e-02] [ 2.16778317e-02 -3.54129400e-04 9.99764945e-01 -1.49541247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.561193817 meters Centerline goodness : 0.875259 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.10, Z:-1.50 [[ 9.99638640e-01 1.56515747e-02 -2.18544731e-02 9.03839642e+00] [-1.57336414e-02 9.99869780e-01 -3.58825537e-03 -9.83051258e-02] [ 2.17954654e-02 3.93080916e-03 9.99754723e-01 -1.49537793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.591193817 meters Centerline goodness : 0.876689 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.10, Z:-1.50 [[ 9.99820978e-01 1.06136628e-02 -1.56640176e-02 9.05112257e+00] [-1.06267096e-02 9.99943254e-01 -7.49916327e-04 -1.04546459e-01] [ 1.56551694e-02 9.16239042e-04 9.99877031e-01 -1.49930923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621193817 meters Centerline goodness : 0.871679 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99946963e-01 3.26668441e-03 -9.76725556e-03 9.06078068e+00] [-3.24539206e-03 9.99992325e-01 2.19502756e-03 -1.11147628e-01] [ 9.77435106e-03 -2.16321256e-03 9.99949890e-01 -1.50154632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.651193817 meters Centerline goodness : 0.873568 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99949896e-01 -4.97381210e-04 -9.99788582e-03 9.06087774e+00] [ 4.83761205e-04 9.99998952e-01 -1.36466073e-03 -1.12030966e-01] [ 9.99855410e-03 1.35975577e-03 9.99949089e-01 -1.50096847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68119381700001 meters Centerline goodness : 0.872765 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99938458e-01 -4.18818147e-03 -1.02732634e-02 9.06108025e+00] [ 4.13712712e-03 9.99979012e-01 -4.98586005e-03 -1.12578484e-01] [ 1.02939295e-02 4.94305142e-03 9.99934799e-01 -1.50041279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71119381700001 meters Centerline goodness : 0.875592 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 9.99912654e-01 -8.02344443e-03 -1.05027526e-02 9.06177767e+00] [ 7.93149113e-03 9.99930107e-01 -8.76773013e-03 -1.13058236e-01] [ 1.05723659e-02 8.68366182e-03 9.99906405e-01 -1.50063908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74119381700001 meters Centerline goodness : 0.874647 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.11, Z:-1.50 [[ 0.99989056 -0.00973667 -0.01113869 9.06427476] [ 0.00962565 0.9999039 -0.00997712 -0.11398175] [ 0.01123476 0.00986881 0.99988819 -1.50193442] [ 0. 0. 0. 1. ]] SLAMing on 96.77119381700001 meters Centerline goodness : 0.878463 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.11, Z:-1.50 [[ 9.99873079e-01 -1.53173296e-02 -4.38245116e-03 9.07302194e+00] [ 1.52915367e-02 9.99865908e-01 -5.85967007e-03 -1.14561547e-01] [ 4.47161801e-03 5.79191194e-03 9.99973229e-01 -1.50423004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801193817 meters Centerline goodness : 0.877845 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.11, Z:-1.51 [[ 9.99872662e-01 -1.58254413e-02 2.05327930e-03 9.08531805e+00] [ 1.58532484e-02 9.99771802e-01 -1.43184377e-02 -1.11564587e-01] [-1.82621515e-03 1.43491656e-02 9.99895378e-01 -1.50824056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831193817 meters Centerline goodness : 0.877433 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.11, Z:-1.51 [[ 9.99840228e-01 -1.58394128e-02 8.28446457e-03 9.09638704e+00] [ 1.60318025e-02 9.99590647e-01 -2.36964247e-02 -1.07710186e-01] [-7.90573585e-03 2.38254536e-02 9.99684874e-01 -1.51219411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861193817 meters Centerline goodness : 0.880884 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99860880e-01 -1.44692196e-02 8.29831573e-03 9.09609662e+00] [ 1.46526180e-02 9.99639843e-01 -2.24830104e-02 -1.02836011e-01] [-7.97001541e-03 2.26014747e-02 9.99712785e-01 -1.51170744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.891193817 meters Centerline goodness : 0.882040 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99894602e-01 -1.21986358e-02 7.87258269e-03 9.09787463e+00] [ 1.23567365e-02 9.99716423e-01 -2.03564241e-02 -1.00026002e-01] [-7.62202960e-03 2.04515580e-02 9.99761791e-01 -1.51278680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921193817 meters Centerline goodness : 0.879622 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.10, Z:-1.51 [[ 9.99928598e-01 -9.27187541e-03 7.53869058e-03 9.09895360e+00] [ 9.40540161e-03 9.99796010e-01 -1.78739263e-02 -9.69491995e-02] [-7.37142794e-03 1.79435545e-02 9.99811828e-01 -1.51324105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.951193817 meters Centerline goodness : 0.878947 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.09, Z:-1.51 [[ 9.99978309e-01 -1.82273271e-03 6.32924615e-03 9.12701884e+00] [ 1.97405422e-03 9.99710371e-01 -2.39849434e-02 -8.68569876e-02] [-6.28369487e-03 2.39969174e-02 9.99692284e-01 -1.51272102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981193817 meters Centerline goodness : 0.876981 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.08, Z:-1.52 [[ 9.99964930e-01 9.65250945e-04 8.31912398e-03 9.14674072e+00] [-7.46358868e-04 9.99654475e-01 -2.62749701e-02 -8.00656335e-02] [-8.34161145e-03 2.62678396e-02 9.99620137e-01 -1.51507181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.011193817 meters Centerline goodness : 0.885046 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.07, Z:-1.51 [[ 9.99958564e-01 7.08153602e-03 5.72038524e-03 9.17521887e+00] [-6.89927869e-03 9.99486977e-01 -3.12759056e-02 -7.41614872e-02] [-5.93893201e-03 3.12351431e-02 9.99494420e-01 -1.51482712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.041193817 meters Centerline goodness : 0.880044 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.51 [[ 9.99889792e-01 1.38787571e-02 5.27111258e-03 9.21155021e+00] [-1.36159971e-02 9.98802937e-01 -4.69818962e-02 -6.60446508e-02] [-5.91685304e-03 4.69049469e-02 9.98881833e-01 -1.51414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07119381700001 meters Centerline goodness : 0.879385 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.51 [[ 9.99755047e-01 2.14992712e-02 5.25624639e-03 9.21253872e+00] [-2.12749871e-02 9.98991597e-01 -3.95368686e-02 -6.41420293e-02] [-6.10095984e-03 3.94153573e-02 9.99204287e-01 -1.51480548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10119381700001 meters Centerline goodness : 0.874972 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.06, Z:-1.52 [[ 9.99531313e-01 3.02272180e-02 4.84456069e-03 9.21612081e+00] [-3.00607293e-02 9.99055366e-01 -3.13803689e-02 -6.09720651e-02] [-5.78852560e-03 3.12200303e-02 9.99495774e-01 -1.51748047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13119381700001 meters Centerline goodness : 0.877498 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.52 [[ 9.99484629e-01 3.20596132e-02 1.62996967e-03 9.20868669e+00] [-3.20254534e-02 9.99327531e-01 -1.78565678e-02 -6.28351700e-02] [-2.20134822e-03 1.77951645e-02 9.99839230e-01 -1.51758107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161193817 meters Centerline goodness : 0.878344 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.06, Z:-1.52 [[ 9.99402397e-01 3.45445018e-02 1.23524240e-03 9.21111548e+00] [-3.45218951e-02 9.99289401e-01 -1.51305106e-02 -6.38887036e-02] [-1.75704059e-03 1.50788256e-02 9.99884764e-01 -1.51941428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191193817 meters Centerline goodness : 0.878032 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99324436e-01 3.67391374e-02 9.53034024e-04 9.21285164e+00] [-3.67237879e-02 9.99241979e-01 -1.29163140e-02 -6.64941619e-02] [-1.42684584e-03 1.28725891e-02 9.99916127e-01 -1.52077133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221193817 meters Centerline goodness : 0.878373 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99307343e-01 3.72023430e-02 9.05505393e-04 9.21275165e+00] [-3.71883147e-02 9.99231676e-01 -1.23727985e-02 -6.73616262e-02] [-1.36510677e-03 1.23305542e-02 9.99923044e-01 -1.52049272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.251193817 meters Centerline goodness : 0.877786 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99291809e-01 3.76220626e-02 6.79166211e-04 9.21284668e+00] [-3.76114002e-02 9.99222314e-01 -1.18385227e-02 -6.80885978e-02] [-1.12402767e-03 1.18045943e-02 9.99929692e-01 -1.51999293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.281193817 meters Centerline goodness : 0.878140 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99281930e-01 3.78836887e-02 6.70575320e-04 9.21236510e+00] [-3.78735922e-02 9.99217466e-01 -1.14038300e-02 -6.90174493e-02] [-1.10206972e-03 1.13702441e-02 9.99934749e-01 -1.51926075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.311193817 meters Centerline goodness : 0.878060 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.07, Z:-1.52 [[ 9.99289486e-01 3.76856404e-02 5.61282122e-04 9.21166496e+00] [-3.76776842e-02 9.99234829e-01 -1.04951329e-02 -7.29893918e-02] [-9.56368449e-04 1.04665282e-02 9.99944767e-01 -1.51808810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341193817 meters Centerline goodness : 0.879332 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.52 [[ 9.99312768e-01 3.70653517e-02 3.89639842e-04 9.21146640e+00] [-3.70595839e-02 9.99262712e-01 -1.00309208e-02 -7.65684531e-02] [-7.61152172e-04 1.00095873e-02 9.99949613e-01 -1.51752022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.371193817 meters Centerline goodness : 0.880607 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.52 [[ 9.99446517e-01 3.32647035e-02 3.46465724e-04 9.21067984e+00] [-3.32570789e-02 9.99356998e-01 -1.33999074e-02 -7.85774089e-02] [-7.91986895e-04 1.33809684e-02 9.99910157e-01 -1.51676433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401193817 meters Centerline goodness : 0.877323 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.08, Z:-1.51 [[ 9.99676889e-01 2.53983501e-02 1.02046833e-03 9.20734522e+00] [-2.53920441e-02 9.99660867e-01 -5.77877541e-03 -8.25088144e-02] [-1.16689361e-03 5.75099644e-03 9.99982782e-01 -1.51487752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43119381700001 meters Centerline goodness : 0.878776 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99909086e-01 1.32822380e-02 2.32431175e-03 9.20290456e+00] [-1.32874015e-02 9.99909253e-01 2.22037581e-03 -9.14962650e-02] [-2.29460926e-03 -2.25105801e-03 9.99994834e-01 -1.51279541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46119381700001 meters Centerline goodness : 0.880108 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99958058e-01 8.85049854e-03 2.35603764e-03 9.20265536e+00] [-8.84717235e-03 9.99959857e-01 -1.41847108e-03 -9.35740339e-02] [-2.36849724e-03 1.39756732e-03 9.99996219e-01 -1.51283965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49119381700001 meters Centerline goodness : 0.880069 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99988001e-01 4.43475887e-03 2.08083940e-03 9.20342496e+00] [-4.42332910e-03 9.99975280e-01 -5.46568684e-03 -9.45859864e-02] [-2.10502697e-03 5.45641703e-03 9.99982898e-01 -1.51318264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52119381700001 meters Centerline goodness : 0.879161 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99998114e-01 3.27793909e-04 1.91413912e-03 9.20422160e+00] [-3.09610788e-04 9.99954902e-01 -9.49195506e-03 -9.44231192e-02] [-1.91716420e-03 9.49134452e-03 9.99953118e-01 -1.51374174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551193817 meters Centerline goodness : 0.879201 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.09, Z:-1.51 [[ 9.99989490e-01 -4.26467635e-03 1.68271153e-03 9.20476856e+00] [ 4.28726279e-03 9.99897568e-01 -1.36554709e-02 -9.49194800e-02] [-1.62430300e-03 1.36625416e-02 9.99905344e-01 -1.51377662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581193817 meters Centerline goodness : 0.875320 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.51 [[ 9.99988776e-01 -4.50314907e-03 1.47281478e-03 9.20512078e+00] [ 4.52237640e-03 9.99901018e-01 -1.33229875e-02 -9.69719818e-02] [-1.41267360e-03 1.33294986e-02 9.99910160e-01 -1.51363783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611193817 meters Centerline goodness : 0.879809 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.51 [[ 9.99978469e-01 -6.48363282e-03 1.01204453e-03 9.20719087e+00] [ 6.49850591e-03 9.99859390e-01 -1.54586449e-02 -9.75358688e-02] [-9.11674050e-04 1.54648888e-02 9.99879996e-01 -1.51493403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.641193817 meters Centerline goodness : 0.872009 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.10, Z:-1.52 [[ 9.99972867e-01 -7.26772148e-03 1.20204367e-03 9.20699095e+00] [ 7.28607625e-03 9.99844741e-01 -1.60438880e-02 -9.69249345e-02] [-1.08525453e-03 1.60522109e-02 9.99870566e-01 -1.51507234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.671193817 meters Centerline goodness : 0.872381 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99969075e-01 -7.77987690e-03 1.14973331e-03 9.20764140e+00] [ 7.79792856e-03 9.99831256e-01 -1.66328271e-02 -9.48644270e-02] [-1.02013796e-03 1.66412782e-02 9.99861004e-01 -1.51572138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.701193817 meters Centerline goodness : 0.878348 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99976216e-01 -6.86638457e-03 6.48967034e-04 9.21023960e+00] [ 6.87568674e-03 9.99854308e-01 -1.56233150e-02 -8.91220190e-02] [-5.41596795e-04 1.56274055e-02 9.99877738e-01 -1.51762235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.731193817 meters Centerline goodness : 0.873209 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99973616e-01 -7.25166062e-03 4.26010203e-04 9.21113693e+00] [ 7.25765110e-03 9.99840304e-01 -1.63307113e-02 -8.64239883e-02] [-3.07517395e-04 1.63333722e-02 9.99866554e-01 -1.51815421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.761193817 meters Centerline goodness : 0.870312 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.09, Z:-1.52 [[ 9.99970053e-01 -7.73469247e-03 2.59650909e-04 9.21176148e+00] [ 7.73796959e-03 9.99828089e-01 -1.68498211e-02 -8.52152370e-02] [-1.29278088e-04 1.68513257e-02 9.99857998e-01 -1.51844690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.791193817 meters Centerline goodness : 0.872957 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.08, Z:-1.52 [[ 9.99963744e-01 -8.48499473e-03 7.18698609e-04 9.23199559e+00] [ 8.49641133e-03 9.99806520e-01 -1.77407085e-02 -8.47471645e-02] [-5.68029737e-04 1.77461717e-02 9.99842363e-01 -1.51894738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82119381700001 meters Centerline goodness : 0.871537 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.08, Z:-1.52 [[ 9.99960146e-01 -8.90067895e-03 6.96106814e-04 9.23199560e+00] [ 8.91206858e-03 9.99787980e-01 -1.85626162e-02 -8.24531955e-02] [-5.30739338e-04 1.85680801e-02 9.99827457e-01 -1.51872415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85119381700001 meters Centerline goodness : 0.875268 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.08, Z:-1.52 [[ 9.99973892e-01 -7.08239798e-03 1.43358990e-03 9.25220507e+00] [ 7.10635333e-03 9.99822337e-01 -1.74583372e-02 -8.02034815e-02] [-1.30968831e-03 1.74680690e-02 9.99846564e-01 -1.51911302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88119381700001 meters Centerline goodness : 0.878491 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.07, Z:-1.52 [[ 9.99996596e-01 -2.52205460e-03 6.68894623e-04 9.27535340e+00] [ 2.53353781e-03 9.99839043e-01 -1.77614335e-02 -6.84601338e-02] [-6.23991655e-04 1.77630677e-02 9.99842030e-01 -1.52280200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91119381700001 meters Centerline goodness : 0.878031 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.06, Z:-1.53 [[ 9.99998200e-01 1.12835893e-03 -1.52513133e-03 9.29939620e+00] [-1.15259864e-03 9.99871532e-01 -1.59872073e-02 -6.34865022e-02] [ 1.50689609e-03 1.59889363e-02 9.99871033e-01 -1.52541108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters Centerline goodness : 0.873692 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.06, Z:-1.53 [[ 9.99988968e-01 4.33091999e-03 -1.81851949e-03 9.30099882e+00] [-4.35571593e-03 9.99894456e-01 -1.38601711e-02 -5.86383412e-02] [ 1.75830026e-03 1.38679391e-02 9.99902290e-01 -1.52644668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971193817 meters Centerline goodness : 0.873366 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.05, Z:-1.53 [[ 9.99978458e-01 6.51794238e-03 7.74089629e-04 9.31952159e+00] [-6.50279053e-03 9.99813503e-01 -1.81843913e-02 -5.22202091e-02] [-8.92470079e-04 1.81789659e-02 9.99834351e-01 -1.53009233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.001193817 meters Centerline goodness : 0.876098 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.04, Z:-1.53 [[ 9.99882726e-01 1.52654517e-02 1.22487507e-03 9.31783033e+00] [-1.52508102e-02 9.99821142e-01 -1.11846334e-02 -4.37413002e-02] [-1.39539448e-03 1.11646414e-02 9.99936700e-01 -1.52842752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.031193817 meters Centerline goodness : 0.878839 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.04, Z:-1.53 [[ 9.99821545e-01 1.88500714e-02 1.24621560e-03 9.31792619e+00] [-1.88386663e-02 9.99785506e-01 -8.60503995e-03 -3.86749537e-02] [-1.40815391e-03 8.58002730e-03 9.99962199e-01 -1.52820180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.061193817 meters Centerline goodness : 0.877215 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99755516e-01 2.20777794e-02 1.21647589e-03 9.31781864e+00] [-2.20695648e-02 9.99735975e-01 -6.39652936e-03 -3.34751043e-02] [-1.35737588e-03 6.36811841e-03 9.99978802e-01 -1.52760415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.091193817 meters Centerline goodness : 0.881107 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99669830e-01 2.56608032e-02 1.32464961e-03 9.31751764e+00] [-2.56558182e-02 9.99664164e-01 -3.65223360e-03 -2.92405471e-02] [-1.41792399e-03 3.61704277e-03 9.99992453e-01 -1.52707780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.121193817 meters Centerline goodness : 0.880394 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99474019e-01 3.23878343e-02 1.64725520e-03 9.31561011e+00] [-3.23906517e-02 9.99473816e-01 1.71344269e-03 -2.39669932e-02] [-1.59089375e-03 -1.76589712e-03 9.99997175e-01 -1.52471682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.151193817 meters Centerline goodness : 0.879933 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99332876e-01 3.64811724e-02 1.71108857e-03 9.31552436e+00] [-3.64904715e-02 9.99317395e-01 5.76105902e-03 -2.40004863e-02] [-1.49975038e-03 -5.81965410e-03 9.99981941e-01 -1.52441743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18119381700001 meters Centerline goodness : 0.877622 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.52 [[ 9.99159838e-01 4.09424762e-02 1.82531784e-03 9.31524684e+00] [-4.09591350e-02 9.99107898e-01 1.02838886e-02 -2.54854677e-02] [-1.40264160e-03 -1.03500119e-02 9.99945453e-01 -1.52399342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21119381700001 meters Centerline goodness : 0.877622 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.52 [[ 9.99158078e-01 4.09840937e-02 1.85477753e-03 9.31519657e+00] [-4.10009636e-02 9.99106838e-01 1.02199048e-02 -2.53615059e-02] [-1.43426737e-03 -1.02873481e-02 9.99946055e-01 -1.52400647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24119381700001 meters Centerline goodness : 0.880203 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.02, Z:-1.52 [[ 9.99138368e-01 4.14670150e-02 1.73441473e-03 9.31560728e+00] [-4.14827048e-02 9.99086304e-01 1.02831422e-02 -2.48642096e-02] [-1.30641879e-03 -1.03462301e-02 9.99945623e-01 -1.52412273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27119381700001 meters Centerline goodness : 0.880213 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99057318e-01 4.33928224e-02 1.24041011e-03 9.31797831e+00] [-4.34045725e-02 9.98986003e-01 1.19586329e-02 -2.56733432e-02] [-7.20233502e-04 -1.20011992e-02 9.99927724e-01 -1.52568905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301193817 meters Centerline goodness : 0.879429 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.99009192e-01 4.44946177e-02 9.28918496e-04 9.31905581e+00] [-4.45028300e-02 9.98928673e-01 1.26887749e-02 -2.63406639e-02] [-3.63341133e-04 -1.27175422e-02 9.99919063e-01 -1.52622656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331193817 meters Centerline goodness : 0.878687 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.03, Z:-1.53 [[ 9.98956916e-01 4.56569483e-02 7.23786819e-04 9.31999238e+00] [-4.56625897e-02 9.98861699e-01 1.37925378e-02 -2.83673983e-02] [-9.32377446e-05 -1.38112010e-02 9.99904616e-01 -1.52685004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361193817 meters Centerline goodness : 0.882467 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.04, Z:-1.53 [[ 9.98830673e-01 4.83447908e-02 -2.62097340e-04 9.34230169e+00] [-4.83315368e-02 9.98657784e-01 1.86197083e-02 -3.88899366e-02] [ 1.16191145e-03 -1.85852682e-02 9.99826604e-01 -1.52881565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.391193817 meters Centerline goodness : 0.878625 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.04, Z:-1.53 [[ 9.98914338e-01 4.65753520e-02 -9.38600984e-04 9.34408819e+00] [-4.65527304e-02 9.98771436e-01 1.69841518e-02 -4.30466391e-02] [ 1.72849070e-03 -1.69220183e-02 9.99855318e-01 -1.52966256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.421193817 meters Centerline goodness : 0.878111 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.05, Z:-1.53 [[ 9.99013088e-01 4.43969923e-02 -1.32524795e-03 9.34483606e+00] [-4.43714885e-02 9.98897247e-01 1.53447683e-02 -4.81777530e-02] [ 2.00504809e-03 -1.52708212e-02 9.99881384e-01 -1.52984514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.451193817 meters Centerline goodness : 0.885457 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.07, Z:-1.53 [[ 9.99056510e-01 4.33575876e-02 2.49182612e-03 9.36127338e+00] [-4.34012910e-02 9.98825423e-01 2.15430562e-02 -6.65789314e-02] [-1.55484433e-03 -2.16308791e-02 9.99764816e-01 -1.53136363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.481193817 meters Centerline goodness : 0.881292 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.08, Z:-1.54 [[ 9.99130854e-01 4.08424573e-02 8.33246114e-03 9.37405822e+00] [-4.10551928e-02 9.98786697e-01 2.71956679e-02 -7.55475015e-02] [-7.21161344e-03 -2.75141217e-02 9.99595401e-01 -1.53525031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.511193817 meters Centerline goodness : 0.880697 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.08, Z:-1.54 [[ 9.99240594e-01 3.81036943e-02 8.14516526e-03 9.37437271e+00] [-3.82980665e-02 9.98948226e-01 2.52131050e-02 -8.07335392e-02] [-7.17588594e-03 -2.55059021e-02 9.99648916e-01 -1.53541200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.541193817 meters Centerline goodness : 0.882809 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.10, Z:-1.54 [[ 9.99363235e-01 3.48566047e-02 7.62511513e-03 9.37557110e+00] [-3.50229163e-02 9.99124359e-01 2.28891090e-02 -9.50962872e-02] [-6.82060164e-03 -2.31415878e-02 9.99708931e-01 -1.53603551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57119381700001 meters Centerline goodness : 0.880213 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.10, Z:-1.54 [[ 9.99421010e-01 3.32351698e-02 7.28476693e-03 9.37688503e+00] [-3.33874270e-02 9.99202870e-01 2.18838892e-02 -1.01922440e-01] [-6.55164525e-03 -2.21144383e-02 9.99733978e-01 -1.53709557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60119381700001 meters Centerline goodness : 0.885978 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.11, Z:-1.54 [[ 9.99460809e-01 3.21224609e-02 6.79987849e-03 9.37865520e+00] [-3.22594911e-02 9.99256668e-01 2.11053486e-02 -1.07981622e-01] [-6.11686819e-03 -2.13133294e-02 9.99754133e-01 -1.53840684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63119381700001 meters Centerline goodness : 0.884423 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.12, Z:-1.54 [[ 9.99412673e-01 3.36173793e-02 6.64686302e-03 9.37964069e+00] [-3.37663356e-02 9.99147850e-01 2.37362297e-02 -1.15022329e-01] [-5.84324906e-03 -2.39467290e-02 9.99696159e-01 -1.53942016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66119381700001 meters Centerline goodness : 0.884518 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.13, Z:-1.54 [[ 9.99285157e-01 3.72808622e-02 6.27001728e-03 9.38079791e+00] [-3.74464432e-02 9.98884322e-01 2.87728209e-02 -1.26432122e-01] [-5.19034638e-03 -2.89870427e-02 9.99566312e-01 -1.54002619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691193817 meters Centerline goodness : 0.879137 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.13, Z:-1.54 [[ 9.99233000e-01 3.86920047e-02 6.02828698e-03 9.38128924e+00] [-3.88614106e-02 9.98760023e-01 3.11160382e-02 -1.32041379e-01] [-4.81687014e-03 -3.13264400e-02 9.99497600e-01 -1.54005085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721193817 meters Centerline goodness : 0.882492 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.14, Z:-1.54 [[ 9.99306001e-01 3.68362597e-02 5.53229740e-03 9.38203765e+00] [-3.69835301e-02 9.98882715e-01 2.94200501e-02 -1.36550714e-01] [-4.44239165e-03 -2.96042365e-02 9.99551827e-01 -1.54004167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.751193817 meters Centerline goodness : 0.884235 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.15, Z:-1.54 [[ 9.99470163e-01 3.21641309e-02 4.98613374e-03 9.38103544e+00] [-3.22848249e-02 9.99130385e-01 2.63849272e-02 -1.50707883e-01] [-4.13314947e-03 -2.65319239e-02 9.99639422e-01 -1.53841032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.781193817 meters Centerline goodness : 0.886135 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.16, Z:-1.54 [[ 9.99662732e-01 2.56329634e-02 4.16817525e-03 9.38199723e+00] [-2.57125213e-02 9.99463074e-01 2.03083848e-02 -1.55329660e-01] [-3.64537316e-03 -2.04087097e-02 9.99785075e-01 -1.53828017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.811193817 meters Centerline goodness : 0.886095 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.16, Z:-1.54 [[ 9.99799916e-01 1.96821232e-02 3.56955902e-03 9.38228219e+00] [-1.97334347e-02 9.99693356e-01 1.49594295e-02 -1.60869635e-01] [-3.27403110e-03 -1.50268760e-02 9.99881730e-01 -1.53771615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.841193817 meters Centerline goodness : 0.886532 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.17, Z:-1.54 [[ 9.99910265e-01 1.29495881e-02 3.43067245e-03 9.38260772e+00] [-1.29803489e-02 9.99874331e-01 9.10123957e-03 -1.66695155e-01] [-3.31238402e-03 -9.14495420e-03 9.99952698e-01 -1.53796210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.871193817 meters Centerline goodness : 0.889560 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.18, Z:-1.54 [[ 9.99990436e-01 3.08653328e-03 3.09852036e-03 9.38323319e+00] [-3.09590806e-03 9.99990631e-01 3.02534568e-03 -1.81045897e-01] [-3.08915350e-03 -3.03490948e-03 9.99990623e-01 -1.53733385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.901193817 meters Centerline goodness : 0.890365 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.19, Z:-1.54 [[ 9.99996013e-01 -1.11667610e-03 2.59366701e-03 9.38549245e+00] [ 1.11628810e-03 9.99999366e-01 1.51040430e-04 -1.87761956e-01] [-2.59383403e-03 -1.48144548e-04 9.99996625e-01 -1.53871799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93119381700001 meters Centerline goodness : 0.892501 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.20, Z:-1.54 [[ 9.99988843e-01 -4.04835984e-03 2.43398828e-03 9.38613791e+00] [ 4.05109244e-03 9.99991168e-01 -1.11880276e-03 -1.95820430e-01] [-2.42943746e-03 1.12865059e-03 9.99996412e-01 -1.53888184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96119381700001 meters Centerline goodness : 0.892086 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.21, Z:-1.54 [[ 9.99925265e-01 -1.20634732e-02 1.98399272e-03 9.38845840e+00] [ 1.20769533e-02 9.99903064e-01 -6.92892488e-03 -2.10675222e-01] [-1.90021350e-03 6.95236764e-03 9.99974027e-01 -1.54038385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99119381700001 meters Centerline goodness : 0.893336 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.22, Z:-1.54 [[ 9.99890274e-01 -1.47018071e-02 1.81554351e-03 9.38984695e+00] [ 1.47165238e-02 9.99856609e-01 -8.37767891e-03 -2.17149554e-01] [-1.69211616e-03 8.40347815e-03 9.99963258e-01 -1.54143302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02119381700001 meters Centerline goodness : 0.892844 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.22, Z:-1.54 [[ 9.99890649e-01 -1.46865001e-02 1.73136601e-03 9.39014272e+00] [ 1.46978179e-02 9.99869425e-01 -6.71622882e-03 -2.23602174e-01] [-1.63250205e-03 6.74094169e-03 9.99975947e-01 -1.54132914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051193817 meters Centerline goodness : 0.893475 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.23, Z:-1.54 [[ 9.99836484e-01 -1.80064767e-02 1.66506490e-03 9.39034239e+00] [ 1.80212185e-02 9.99794271e-01 -9.30868333e-03 -2.27094166e-01] [-1.49710576e-03 9.33716771e-03 9.99955287e-01 -1.54113991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters Centerline goodness : 0.893856 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.23, Z:-1.54 [[ 9.99830194e-01 -1.83747391e-02 1.39723720e-03 9.39083762e+00] [ 1.83853874e-02 9.99798697e-01 -8.03383258e-03 -2.32845103e-01] [-1.24933635e-03 8.05815713e-03 9.99966752e-01 -1.54069184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111193817 meters Centerline goodness : 0.895858 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.24, Z:-1.54 [[ 9.99669051e-01 -2.56888768e-02 1.36787319e-03 9.39149516e+00] [ 2.57050485e-02 9.99578035e-01 -1.35278432e-02 -2.40976034e-01] [-1.01978089e-03 1.35585274e-02 9.99907559e-01 -1.54076988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.141193817 meters Centerline goodness : 0.890459 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.24, Z:-1.54 [[ 9.99562578e-01 -2.95448704e-02 1.32402197e-03 9.39236527e+00] [ 2.95629506e-02 9.99421929e-01 -1.67880844e-02 -2.43812270e-01] [-8.27254817e-04 1.68198829e-02 9.99858194e-01 -1.54139299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.171193817 meters Centerline goodness : 0.894236 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.25, Z:-1.54 [[ 9.99511486e-01 -3.12403688e-02 9.10666605e-04 9.39495780e+00] [ 3.12515636e-02 9.99356544e-01 -1.76022303e-02 -2.46423169e-01] [-3.60180465e-04 1.76220911e-02 9.99844654e-01 -1.54320647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.201193817 meters Centerline goodness : 0.895271 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99357899e-01 -3.58182481e-02 9.17548529e-04 9.39587704e+00] [ 3.58297479e-02 9.99118960e-01 -2.18525382e-02 -2.46459856e-01] [-1.34020497e-04 2.18713822e-02 9.99760784e-01 -1.54396180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.231193817 meters Centerline goodness : 0.893526 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99337745e-01 -3.63821602e-02 6.40757247e-04 9.39645180e+00] [ 3.63874386e-02 9.99094095e-01 -2.20667966e-02 -2.46746417e-01] [ 1.62660948e-04 2.20754983e-02 9.99756293e-01 -1.54378986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.261193817 meters Centerline goodness : 0.892408 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.25, Z:-1.54 [[ 9.99322484e-01 -3.68011945e-02 4.94067000e-04 9.39654615e+00] [ 3.68030674e-02 9.99074358e-01 -2.22702090e-02 -2.46523523e-01] [ 3.25960623e-04 2.22733038e-02 9.99751866e-01 -1.54340416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.291193817 meters Centerline goodness : 0.895351 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99294066e-01 -3.75674521e-02 2.36218781e-04 9.39754333e+00] [ 3.75628121e-02 9.99024706e-01 -2.32093148e-02 -2.44309509e-01] [ 6.35926422e-04 2.32018036e-02 9.99730600e-01 -1.54389864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32119381700001 meters Centerline goodness : 0.895887 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99388545e-01 -3.49645447e-02 -1.27844509e-04 9.39868475e+00] [ 3.49547523e-02 9.99182849e-01 -2.02928623e-02 -2.42666238e-01] [ 8.37270733e-04 2.02759854e-02 9.99794070e-01 -1.54453780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35119381700001 meters Centerline goodness : 0.899607 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.24, Z:-1.54 [[ 9.99449023e-01 -3.31847553e-02 -6.50721980e-04 9.39994664e+00] [ 3.31659561e-02 9.99262399e-01 -1.93565586e-02 -2.35551115e-01] [ 1.29258467e-03 1.93243118e-02 9.99812433e-01 -1.54492302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38119381700001 meters Centerline goodness : 0.899807 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:-1.55 [[ 9.99504726e-01 -3.12570594e-02 3.64677098e-03 9.41625842e+00] [ 3.13330404e-02 9.99242706e-01 -2.30706440e-02 -2.30224082e-01] [-2.92288881e-03 2.31734821e-02 9.99727186e-01 -1.54611080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41119381700001 meters Centerline goodness : 0.902333 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.23, Z:-1.55 [[ 9.99603992e-01 -2.79390426e-02 3.35683189e-03 9.41638134e+00] [ 2.80008539e-02 9.99406858e-01 -2.00470384e-02 -2.27451367e-01] [-2.79474575e-03 2.01330938e-02 9.99793403e-01 -1.54561878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters Centerline goodness : 0.902292 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.22, Z:-1.55 [[ 9.99647288e-01 -2.59250073e-02 5.76146622e-03 9.43533733e+00] [ 2.60527823e-02 9.99388162e-01 -2.33356912e-02 -2.22015256e-01] [-5.15296317e-03 2.34775626e-02 9.99711084e-01 -1.54735001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471193817 meters Centerline goodness : 0.903064 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99779338e-01 -2.06699662e-02 3.74533123e-03 9.45828156e+00] [ 2.07491399e-02 9.99531440e-01 -2.25027526e-02 -2.14481617e-01] [-3.27844518e-03 2.25754995e-02 9.99739765e-01 -1.54954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501193817 meters Centerline goodness : 0.903962 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99843253e-01 -1.73530517e-02 3.51296521e-03 9.45916101e+00] [ 1.74181413e-02 9.99659414e-01 -1.94336051e-02 -2.11803669e-01] [-3.17453638e-03 1.94917483e-02 9.99804978e-01 -1.55012174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.531193817 meters Centerline goodness : 0.901098 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.21, Z:-1.55 [[ 9.99892034e-01 -1.43399213e-02 3.20739384e-03 9.46058948e+00] [ 1.43913246e-02 9.99758256e-01 -1.66228680e-02 -2.09010020e-01] [-2.96824786e-03 1.66672320e-02 9.99856686e-01 -1.55114488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561193817 meters Centerline goodness : 0.897623 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.20, Z:-1.55 [[ 9.99912696e-01 -1.17434008e-02 6.05745194e-03 9.47899127e+00] [ 1.18647800e-02 9.99721348e-01 -2.04072071e-02 -1.99544421e-01] [-5.81611400e-03 2.04772958e-02 9.99773401e-01 -1.55421711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.591193817 meters Centerline goodness : 0.897830 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.20, Z:-1.56 [[ 9.99939138e-01 -9.56783190e-03 5.49328938e-03 9.48098960e+00] [ 9.66486214e-03 9.99792759e-01 -1.79172920e-02 -1.97825967e-01] [-5.32072131e-03 1.79692934e-02 9.99824382e-01 -1.55519612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621193817 meters Centerline goodness : 0.903991 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.19, Z:-1.56 [[ 9.99935790e-01 -1.00447241e-02 5.24586045e-03 9.48179703e+00] [ 1.01418162e-02 9.99771414e-01 -1.88218957e-02 -1.94945979e-01] [-5.05560057e-03 1.88738897e-02 9.99809090e-01 -1.55551551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.651193817 meters Centerline goodness : 0.897194 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.19, Z:-1.56 [[ 9.99961505e-01 -7.24083847e-03 4.95577015e-03 9.48245659e+00] [ 7.31733941e-03 9.99851588e-01 -1.55967443e-02 -1.93989747e-01] [-4.84210115e-03 1.56324069e-02 9.99866082e-01 -1.55544668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68119381700001 meters Centerline goodness : 0.902042 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.19, Z:-1.56 [[ 9.99938006e-01 -8.01210585e-03 7.73246634e-03 9.50159767e+00] [ 8.17384874e-03 9.99743586e-01 -2.11175282e-02 -1.85550939e-01] [-7.56128775e-03 2.11794230e-02 9.99747098e-01 -1.55748737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71119381700001 meters Centerline goodness : 0.897720 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.18, Z:-1.56 [[ 9.99931633e-01 -8.92856926e-03 7.55053067e-03 9.50207707e+00] [ 9.09695609e-03 9.99703897e-01 -2.25690992e-02 -1.81388526e-01] [-7.34678517e-03 2.26362431e-02 9.99716773e-01 -1.55746411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74119381700001 meters Centerline goodness : 0.898806 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.18, Z:-1.56 [[ 9.99923799e-01 -9.98928261e-03 7.25335861e-03 9.50308653e+00] [ 1.01618978e-02 9.99656348e-01 -2.41644798e-02 -1.76971883e-01] [-7.00948016e-03 2.42363463e-02 9.99681683e-01 -1.55783968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77119381700001 meters Centerline goodness : 0.894958 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.17, Z:-1.56 [[ 9.99878441e-01 -1.51606865e-02 3.64108849e-03 9.51440306e+00] [ 1.52508663e-02 9.99541207e-01 -2.61684310e-02 -1.65660971e-01] [-3.24268661e-03 2.62207798e-02 9.99650917e-01 -1.55969089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801193817 meters Centerline goodness : 0.895643 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.16, Z:-1.56 [[ 9.99855541e-01 -1.66695706e-02 3.32005362e-03 9.51640053e+00] [ 1.67571510e-02 9.99456814e-01 -2.83773482e-02 -1.60183514e-01] [-2.84521201e-03 2.84288834e-02 9.99591768e-01 -1.56120399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831193817 meters Centerline goodness : 0.893305 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.15, Z:-1.56 [[ 9.99832993e-01 -1.80118708e-02 3.09161007e-03 9.51753367e+00] [ 1.80977853e-02 9.99371765e-01 -3.04720362e-02 -1.54383844e-01] [-2.54080943e-03 3.05228985e-02 9.99530838e-01 -1.56183367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861193817 meters Centerline goodness : 0.893801 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.15, Z:-1.56 [[ 9.99858643e-01 -1.65955931e-02 2.69830616e-03 9.51891050e+00] [ 1.66673025e-02 9.99435339e-01 -2.91754188e-02 -1.49697918e-01] [-2.21259915e-03 2.92162681e-02 9.99570665e-01 -1.56241261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.891193817 meters Centerline goodness : 0.892503 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.14, Z:-1.56 [[ 9.99854177e-01 -1.64115105e-02 4.72084922e-03 9.53905541e+00] [ 1.65576812e-02 9.99324822e-01 -3.27985243e-02 -1.42328039e-01] [-4.17938848e-03 3.28719079e-02 9.99450834e-01 -1.56400720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.921193817 meters Centerline goodness : 0.894323 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.12, Z:-1.57 [[ 9.99865080e-01 -1.39651334e-02 8.64852132e-03 9.55632146e+00] [ 1.42752144e-02 9.99217182e-01 -3.68949961e-02 -1.23812074e-01] [-8.12650756e-03 3.70134777e-02 9.99281723e-01 -1.56677883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.951193817 meters Centerline goodness : 0.892569 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.11, Z:-1.57 [[ 0.99988427 -0.01027714 0.01121691 9.57525775] [ 0.01069298 0.99923325 -0.03766402 -0.11444548] [-0.01082124 0.0377796 0.9992275 -1.56790538] [ 0. 0. 0. 1. ]] SLAMing on 99.981193817 meters Centerline goodness : 0.892226 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.10, Z:-1.57 [[ 9.99885093e-01 -6.00063245e-03 1.39209769e-02 9.59381117e+00] [ 6.52797993e-03 9.99250677e-01 -3.81506118e-02 -1.04859086e-01] [-1.36816178e-02 3.82371038e-02 9.99175028e-01 -1.56915808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.011193817 meters Centerline goodness : 0.890779 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.09, Z:-1.57 [[ 9.99892805e-01 2.27031428e-03 1.44645725e-02 9.63275861e+00] [-1.69408238e-03 9.99209179e-01 -3.97258948e-02 -8.61371430e-02] [-1.45433239e-02 3.96971322e-02 9.99105915e-01 -1.57097782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041193817 meters Centerline goodness : 0.889453 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.08, Z:-1.57 [[ 9.99879011e-01 6.93563867e-03 1.39233904e-02 9.63547372e+00] [-6.43229582e-03 9.99335556e-01 -3.58757983e-02 -7.98290157e-02] [-1.41629607e-02 3.57818984e-02 9.99259259e-01 -1.57253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07119381700001 meters Centerline goodness : 0.891538 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.07, Z:-1.57 [[ 9.99848218e-01 1.00567081e-02 1.42268808e-02 9.65619313e+00] [-9.54064153e-03 9.99310266e-01 -3.58882754e-02 -7.35256206e-02] [-1.45779860e-02 3.57470946e-02 9.99254536e-01 -1.57355701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10119381700001 meters Centerline goodness : 0.891538 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.07, Z:-1.57 [[ 9.99848218e-01 1.00567081e-02 1.42268808e-02 9.65619313e+00] [-9.54064153e-03 9.99310266e-01 -3.58882754e-02 -7.35256206e-02] [-1.45779860e-02 3.57470946e-02 9.99254536e-01 -1.57355701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13119381700001 meters Centerline goodness : 0.893565 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.06, Z:-1.57 [[ 0.99979192 0.01418614 0.01465841 9.6556493 ] [-0.0136967 0.99936257 -0.03296758 -0.06197122] [-0.01511675 0.03275995 0.99934892 -1.57303867] [ 0. 0. 0. 1. ]] SLAMing on 100.16119381700001 meters Centerline goodness : 0.894172 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.06, Z:-1.57 [[ 0.99984121 0.01404529 0.01096786 9.66567625] [-0.01375884 0.99957322 -0.02576973 -0.05763758] [-0.01132512 0.02561473 0.99960774 -1.57066941] [ 0. 0. 0. 1. ]] SLAMing on 100.191193817 meters Centerline goodness : 0.893884 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.05, Z:-1.57 [[ 9.99904743e-01 1.26058229e-02 5.62114664e-03 9.66096009e+00] [-1.25334495e-02 9.99840420e-01 -1.27297422e-02 -5.40225884e-02] [-5.78071849e-03 1.26580772e-02 9.99903173e-01 -1.56722815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters Centerline goodness : 0.892756 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.05, Z:-1.57 [[ 9.99888619e-01 1.36490702e-02 6.03752217e-03 9.65926994e+00] [-1.35775031e-02 9.99838899e-01 -1.17400090e-02 -4.95359946e-02] [-6.19678972e-03 1.16567270e-02 9.99912856e-01 -1.56585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.251193817 meters Centerline goodness : 0.897214 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.04, Z:-1.56 [[ 9.99918139e-01 1.12181497e-02 6.15379247e-03 9.65769930e+00] [-1.11239989e-02 9.99823711e-01 -1.51262451e-02 -3.97653980e-02] [-6.32239610e-03 1.50565520e-02 9.99866655e-01 -1.56384304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.281193817 meters Centerline goodness : 0.895813 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.04, Z:-1.56 [[ 9.99903058e-01 1.23203257e-02 6.48720203e-03 9.65635115e+00] [-1.22282234e-02 9.99826508e-01 -1.40507801e-02 -3.62042070e-02] [-6.65918674e-03 1.39700910e-02 9.99880239e-01 -1.56276820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.311193817 meters Centerline goodness : 0.896868 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.03, Z:-1.56 [[ 9.99874699e-01 1.42248527e-02 6.94544602e-03 9.65517206e+00] [-1.41385070e-02 9.99824062e-01 -1.23267207e-02 -3.25643212e-02] [-7.11956984e-03 1.22269779e-02 9.99899901e-01 -1.56211251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.341193817 meters Centerline goodness : 0.898087 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.02, Z:-1.56 [[ 9.99846330e-01 1.61947252e-02 6.71169871e-03 9.65669992e+00] [-1.61139759e-02 9.99799161e-01 -1.19154637e-02 -2.15816370e-02] [-6.90331840e-03 1.18054805e-02 9.99906483e-01 -1.56291201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.371193817 meters Centerline goodness : 0.896582 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.02, Z:-1.56 [[ 9.99794759e-01 1.92092453e-02 6.43768762e-03 9.65801690e+00] [-1.91450606e-02 9.99767823e-01 -9.88772926e-03 -1.56440301e-02] [-6.62612876e-03 9.76244997e-03 9.99930392e-01 -1.56351125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.401193817 meters Centerline goodness : 0.898741 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.00, Z:-1.57 [[ 9.99638806e-01 2.61842548e-02 6.05325872e-03 9.66076761e+00] [-2.61513960e-02 9.99643164e-01 -5.44518072e-03 -2.56110250e-03] [-6.19367670e-03 5.28491279e-03 9.99966853e-01 -1.56500441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43119381700001 meters Centerline goodness : 0.900547 Centerline is valid? [False, False] Translation: X:9.66, Y:0.00, Z:-1.56 [[ 9.99480691e-01 3.15456866e-02 6.57399291e-03 9.65937394e+00] [-3.15422858e-02 9.99502226e-01 -6.20373829e-04 2.33632052e-03] [-6.59029066e-03 4.12692900e-04 9.99978199e-01 -1.56397889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46119381700001 meters Centerline goodness : 0.901141 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.99366266e-01 3.49821776e-02 6.58131682e-03 9.65977934e+00] [-3.49939349e-02 9.99386113e-01 1.67984131e-03 7.68351119e-03] [-6.51851213e-03 -1.90908291e-03 9.99976932e-01 -1.56390596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49119381700001 meters Centerline goodness : 0.902882 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.99249440e-01 3.81724891e-02 6.58921797e-03 9.65998508e+00] [-3.81985863e-02 9.99262630e-01 3.88119497e-03 1.25159560e-02] [-6.43620441e-03 -4.12998071e-03 9.99970759e-01 -1.56362242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52119381700001 meters Centerline goodness : 0.901201 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98967830e-01 4.49294763e-02 6.67951314e-03 9.66060745e+00] [-4.49907327e-02 9.98943907e-01 9.32223630e-03 1.90603433e-02] [-6.25361576e-03 -9.61313037e-03 9.99934238e-01 -1.56358273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551193817 meters Centerline goodness : 0.901828 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98806509e-01 4.83828481e-02 6.68256765e-03 9.66077099e+00] [-4.84628037e-02 9.98748368e-01 1.23714629e-02 2.10861043e-02] [-6.07563693e-03 -1.26805536e-02 9.99901140e-01 -1.56331144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581193817 meters Centerline goodness : 0.902919 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98774395e-01 4.90846457e-02 6.35656292e-03 9.66119052e+00] [-4.91580902e-02 9.98719339e-01 1.19650915e-02 2.39823297e-02] [-5.76112004e-03 -1.22629036e-02 9.99908211e-01 -1.56275750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.611193817 meters Centerline goodness : 0.906520 Centerline is valid? [False, False] Translation: X:9.66, Y:0.02, Z:-1.56 [[ 9.98610247e-01 5.23475614e-02 6.10793673e-03 9.66176371e+00] [-5.24362622e-02 9.98505530e-01 1.53995012e-02 2.43381993e-02] [-5.29268227e-03 -1.56983770e-02 9.99862765e-01 -1.56223804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.641193817 meters Centerline goodness : 0.908476 Centerline is valid? [False, False] Translation: X:9.67, Y:0.02, Z:-1.56 [[ 9.98561664e-01 5.28551852e-02 8.99626453e-03 9.66766297e+00] [-5.30903651e-02 9.98188755e-01 2.82952689e-02 2.12436198e-02] [-7.48441841e-03 -2.87321858e-02 9.99559125e-01 -1.55930937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.671193817 meters Centerline goodness : 0.908920 Centerline is valid? [False, False] Translation: X:9.68, Y:0.02, Z:-1.56 [[ 0.99858585 0.05159658 0.01280968 9.67601253] [-0.05206548 0.99786369 0.03946199 0.01798059] [-0.01074621 -0.04007313 0.99913896 -1.55954039] [ 0. 0. 0. 1. ]] SLAMing on 100.701193817 meters Centerline goodness : 0.910135 Centerline is valid? [False, False] Translation: X:9.68, Y:0.02, Z:-1.56 [[ 0.99859256 0.05147089 0.01279265 9.67574554] [-0.05194045 0.99786557 0.03957907 0.01744414] [-0.01072817 -0.04018782 0.99913455 -1.55870645] [ 0. 0. 0. 1. ]] SLAMing on 100.731193817 meters Centerline goodness : 0.911552 Centerline is valid? [False, False] Translation: X:9.68, Y:0.01, Z:-1.56 [[ 0.99866706 0.04927672 0.01535946 9.6830754 ] [-0.04999314 0.99747711 0.05039933 0.01335763] [-0.01283719 -0.05110002 0.99861103 -1.55801283] [ 0. 0. 0. 1. ]] SLAMing on 100.761193817 meters Centerline goodness : 0.913437 Centerline is valid? [False, False] Translation: X:9.68, Y:0.01, Z:-1.56 [[ 0.99868746 0.04880318 0.01554393 9.68217206] [-0.04952895 0.99750277 0.05034977 0.01240845] [-0.01304788 -0.05105356 0.99861068 -1.55709736] [ 0. 0. 0. 1. ]] SLAMing on 100.791193817 meters Centerline goodness : 0.910142 Centerline is valid? [False, False] Translation: X:9.66, Y:0.01, Z:-1.56 [[ 9.98953869e-01 4.29674402e-02 1.56513839e-02 9.66188195e+00] [-4.38746804e-02 9.97038298e-01 6.31636335e-02 7.29331421e-03] [-1.28910495e-02 -6.37842556e-02 9.97880449e-01 -1.55652946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82119381700001 meters Centerline goodness : 0.912271 Centerline is valid? [False, False] Translation: X:9.65, Y:0.01, Z:-1.55 [[ 9.99116663e-01 4.10246489e-02 9.10337970e-03 9.65140759e+00] [-4.14370724e-02 9.97837066e-01 5.10309685e-02 9.44512702e-03] [-6.99016212e-03 -5.13631083e-02 9.98655581e-01 -1.55274805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85119381700001 meters Centerline goodness : 0.905807 Centerline is valid? [False, False] Translation: X:9.63, Y:0.01, Z:-1.56 [[ 9.99231467e-01 3.81614178e-02 8.95443468e-03 9.62617880e+00] [-3.85897213e-02 9.97800846e-01 5.38916055e-02 9.39712226e-03] [-6.87816243e-03 -5.41957372e-02 9.98506641e-01 -1.55549925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88119381700001 meters Centerline goodness : 0.905462 Centerline is valid? [False, False] Translation: X:9.61, Y:0.01, Z:-1.56 [[ 9.99256766e-01 3.84538171e-02 2.68707267e-03 9.61287486e+00] [-3.85425575e-02 9.97821916e-01 5.35340482e-02 8.27527623e-03] [-6.22631507e-04 -5.35978265e-02 9.98562409e-01 -1.55723280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91119381700001 meters Centerline goodness : 0.904147 Centerline is valid? [False, False] Translation: X:9.60, Y:0.01, Z:-1.56 [[ 9.99319799e-01 3.68334560e-02 -1.79886441e-03 9.59583929e+00] [-3.67016077e-02 9.98129982e-01 4.88828332e-02 1.17371270e-02] [ 3.59602419e-03 -4.87835618e-02 9.98802900e-01 -1.55699650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941193817 meters Centerline goodness : 0.904800 Centerline is valid? [False, False] Translation: X:9.59, Y:0.02, Z:-1.55 [[ 9.99324482e-01 3.57175162e-02 -8.65097390e-03 9.58586912e+00] [-3.53671343e-02 9.98661614e-01 3.77378575e-02 1.61724447e-02] [ 9.98729810e-03 -3.74064048e-02 9.99250226e-01 -1.55352276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971193817 meters Centerline goodness : 0.903044 Centerline is valid? [False, False] Translation: X:9.56, Y:0.02, Z:-1.55 [[ 0.99941064 0.03218116 -0.01194763 9.56268106] [-0.0315657 0.99832182 0.04855047 0.01611 ] [ 0.01348999 -0.04814472 0.99874927 -1.55138406] [ 0. 0. 0. 1. ]] SLAMing on 101.001193817 meters Centerline goodness : 0.901486 Centerline is valid? [False, False] Translation: X:9.54, Y:0.02, Z:-1.55 [[ 0.99946922 0.02833431 -0.01607636 9.54433258] [-0.0276262 0.99870678 0.04267985 0.0164756 ] [ 0.01726488 -0.04221306 0.99895945 -1.55046147] [ 0. 0. 0. 1. ]] SLAMing on 101.031193817 meters Centerline goodness : 0.900492 Centerline is valid? [False, False] Translation: X:9.52, Y:0.02, Z:-1.55 [[ 0.99951561 0.026374 -0.01652155 9.52359872] [-0.02570888 0.99889853 0.03925267 0.01744888] [ 0.0175386 -0.03880891 0.99909272 -1.55038338] [ 0. 0. 0. 1. ]] SLAMing on 101.061193817 meters Centerline goodness : 0.900069 Centerline is valid? [False, False] Translation: X:9.50, Y:0.02, Z:-1.55 [[ 0.99955883 0.02296318 -0.01883733 9.50343661] [-0.02233972 0.99921665 0.03266522 0.02068273] [ 0.01957267 -0.03222999 0.99928882 -1.54935322] [ 0. 0. 0. 1. ]] SLAMing on 101.091193817 meters Centerline goodness : 0.897739 Centerline is valid? [False, False] Translation: X:9.48, Y:0.02, Z:-1.55 [[ 0.9995734 0.02147499 -0.01979489 9.48209726] [-0.02088122 0.99933984 0.02972991 0.02180627] [ 0.02042027 -0.02930388 0.99936194 -1.54860196] [ 0. 0. 0. 1. ]] SLAMing on 101.121193817 meters Centerline goodness : 0.897945 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 0.99967169 0.01828618 -0.01794786 9.45387841] [-0.01772308 0.99936077 0.03104749 0.02092035] [ 0.01850413 -0.03071921 0.99935676 -1.54997161] [ 0. 0. 0. 1. ]] SLAMing on 101.151193817 meters Centerline goodness : 0.899142 Centerline is valid? [False, False] Translation: X:9.43, Y:0.02, Z:-1.55 [[ 0.9996842 0.01900036 -0.01644623 9.43006137] [-0.01848847 0.99935651 0.03073681 0.02096599] [ 0.01701966 -0.03042304 0.9993922 -1.54842525] [ 0. 0. 0. 1. ]] SLAMing on 101.18119381700001 meters Centerline goodness : 0.900700 Centerline is valid? [False, False] Translation: X:9.41, Y:0.02, Z:-1.55 [[ 0.9996884 0.02031029 -0.01451169 9.4057401 ] [-0.0198445 0.99930512 0.03155103 0.02128389] [ 0.01514242 -0.03125322 0.99939679 -1.5465161 ] [ 0. 0. 0. 1. ]] SLAMing on 101.21119381700001 meters Centerline goodness : 0.905539 Centerline is valid? [False, False] Translation: X:9.40, Y:0.02, Z:-1.54 [[ 0.99969312 0.02046832 -0.01395416 9.40201947] [-0.02001749 0.99929643 0.03171658 0.0208617 ] [ 0.01459353 -0.03142752 0.99939949 -1.54303823] [ 0. 0. 0. 1. ]] SLAMing on 101.24119381700001 meters Centerline goodness : 0.905283 Centerline is valid? [False, False] Translation: X:9.37, Y:0.02, Z:-1.54 [[ 0.99978421 0.01829677 -0.00983644 9.37146592] [-0.01793985 0.99921839 0.03522457 0.02153463] [ 0.01047325 -0.0350405 0.99933101 -1.54416057] [ 0. 0. 0. 1. ]] SLAMing on 101.27119381700001 meters Centerline goodness : 0.905085 Centerline is valid? [False, False] Translation: X:9.35, Y:0.02, Z:-1.54 [[ 9.99811461e-01 1.75740247e-02 -8.25803984e-03 9.34811171e+00] [-1.72864628e-02 9.99282809e-01 3.36904537e-02 2.19648888e-02] [ 8.84419411e-03 -3.35413495e-02 9.99398198e-01 -1.54263586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters Centerline goodness : 0.907810 Centerline is valid? [False, False] Translation: X:9.33, Y:0.02, Z:-1.54 [[ 9.99873605e-01 1.42216680e-02 -7.10767962e-03 9.32536493e+00] [-1.40178701e-02 9.99511193e-01 2.79441429e-02 2.35724344e-02] [ 7.50161765e-03 -2.78409763e-02 9.99584216e-01 -1.54109481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331193817 meters Centerline goodness : 0.908745 Centerline is valid? [False, False] Translation: X:9.30, Y:0.02, Z:-1.54 [[ 9.99970368e-01 4.86599534e-03 -5.96530980e-03 9.30175670e+00] [-4.66595029e-03 9.99441087e-01 3.31019926e-02 2.04321215e-02] [ 6.12304986e-03 -3.30731779e-02 9.99434177e-01 -1.53777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361193817 meters Centerline goodness : 0.908624 Centerline is valid? [False, False] Translation: X:9.26, Y:0.02, Z:-1.54 [[ 9.99999353e-01 1.02384262e-03 -4.95550434e-04 9.26202101e+00] [-1.00988544e-03 9.99624310e-01 2.73901152e-02 2.07826530e-02] [ 5.23407428e-04 -2.73895970e-02 9.99624698e-01 -1.54004593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.391193817 meters Centerline goodness : 0.912164 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99996269e-01 -2.64401872e-03 6.85792765e-04 9.23812445e+00] [ 2.62731542e-03 9.99724841e-01 2.33096308e-02 2.06227024e-02] [-7.47235163e-04 -2.33077421e-02 9.99728058e-01 -1.53761589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421193817 meters Centerline goodness : 0.914295 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99977105e-01 -6.73747395e-03 6.28667757e-04 9.23800994e+00] [ 6.72409671e-03 9.99791365e-01 1.92876286e-02 2.03430553e-02] [-7.58486490e-04 -1.92829598e-02 9.99813779e-01 -1.53716911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.451193817 meters Centerline goodness : 0.913800 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99933282e-01 -1.15277799e-02 7.35440856e-04 9.23780085e+00] [ 1.15154254e-02 9.99820689e-01 1.50327814e-02 2.00303398e-02] [-9.08603578e-04 -1.50233095e-02 9.99886731e-01 -1.53712949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481193817 meters Centerline goodness : 0.910681 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99883253e-01 -1.52737512e-02 4.39203597e-04 9.23927516e+00] [ 1.52679532e-02 9.99822118e-01 1.10734567e-02 2.12872191e-02] [-6.08258693e-04 -1.10654582e-02 9.99938591e-01 -1.53805623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.511193817 meters Centerline goodness : 0.911199 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99854100e-01 -1.70810591e-02 1.26509994e-04 9.24107186e+00] [ 1.70790353e-02 9.99807311e-01 9.67717354e-03 2.11875880e-02] [-2.91781990e-04 -9.67360098e-03 9.99953167e-01 -1.53936916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541193817 meters Centerline goodness : 0.909019 Centerline is valid? [False, False] Translation: X:9.24, Y:0.02, Z:-1.54 [[ 9.99778020e-01 -2.10690419e-02 -7.36770486e-05 9.24233697e+00] [ 2.10691357e-02 9.99763864e-01 5.32044640e-03 2.28719184e-02] [-3.84370572e-05 -5.32081768e-03 9.99985844e-01 -1.54026173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57119381700001 meters Centerline goodness : 0.908465 Centerline is valid? [False, False] Translation: X:9.25, Y:0.02, Z:-1.54 [[ 9.99724360e-01 -2.34679406e-02 -6.78771460e-04 9.24644823e+00] [ 2.34699363e-02 9.99719739e-01 3.09919031e-03 2.44008065e-02] [ 6.05849613e-04 -3.11426677e-03 9.99994967e-01 -1.54401439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60119381700001 meters Centerline goodness : 0.905932 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99722674e-01 -2.35264506e-02 -1.03942542e-03 9.24843230e+00] [ 2.35293419e-02 9.99719047e-01 2.86297336e-03 2.54571418e-02] [ 9.71777790e-04 -2.88663638e-03 9.99995361e-01 -1.54564048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63119381700001 meters Centerline goodness : 0.905590 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99721326e-01 -2.35685017e-02 -1.34029828e-03 9.24990303e+00] [ 2.35717999e-02 9.99719019e-01 2.50070326e-03 2.70941444e-02] [ 1.28098385e-03 -2.53159962e-03 9.99995975e-01 -1.54676416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66119381700001 meters Centerline goodness : 0.905479 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99762256e-01 -2.17383648e-02 -1.69540971e-03 9.25186063e+00] [ 2.17455928e-02 9.99753994e-01 4.36821924e-03 2.83482073e-02] [ 1.60003469e-03 -4.40404841e-03 9.99989022e-01 -1.54833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691193817 meters Centerline goodness : 0.904745 Centerline is valid? [False, False] Translation: X:9.25, Y:0.03, Z:-1.55 [[ 9.99814570e-01 -1.91630439e-02 -1.89848181e-03 9.25210354e+00] [ 1.91744367e-02 9.99797075e-01 6.17650682e-03 3.39152227e-02] [ 1.77973589e-03 -6.21176382e-03 9.99979123e-01 -1.54823324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters Centerline goodness : 0.906866 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99835549e-01 -1.80539965e-02 -1.71092413e-03 9.25069850e+00] [ 1.80651980e-02 9.99813857e-01 6.77489586e-03 3.73281253e-02] [ 1.58829171e-03 -6.80468991e-03 9.99975586e-01 -1.54697674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.751193817 meters Centerline goodness : 0.905107 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99883268e-01 -1.51756345e-02 -1.77475958e-03 9.25051236e+00] [ 1.51920541e-02 9.99838158e-01 9.63637643e-03 3.93959329e-02] [ 1.62823422e-03 -9.66221380e-03 9.99951994e-01 -1.54672051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781193817 meters Centerline goodness : 0.906958 Centerline is valid? [False, False] Translation: X:9.25, Y:0.04, Z:-1.55 [[ 9.99879397e-01 -1.53818101e-02 -2.14279777e-03 9.25142634e+00] [ 1.53997677e-02 9.99844152e-01 8.63243134e-03 4.30875866e-02] [ 2.00968140e-03 -8.66438883e-03 9.99960444e-01 -1.54683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.811193817 meters Centerline goodness : 0.909650 Centerline is valid? [False, False] Translation: X:9.25, Y:0.05, Z:-1.55 [[ 9.99879933e-01 -1.53959074e-02 -1.75667351e-03 9.24967492e+00] [ 1.54082302e-02 9.99855137e-01 7.23132984e-03 4.99920947e-02] [ 1.64508615e-03 -7.25752882e-03 9.99972311e-01 -1.54535611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841193817 meters Centerline goodness : 0.908384 Centerline is valid? [False, False] Translation: X:9.26, Y:0.06, Z:-1.54 [[ 9.99893597e-01 -1.45468002e-02 1.08827775e-03 9.25668280e+00] [ 1.45508634e-02 9.99886819e-01 -3.82373677e-03 5.55505939e-02] [-1.03253145e-03 3.83916530e-03 9.99992097e-01 -1.54426934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.871193817 meters Centerline goodness : 0.910861 Centerline is valid? [False, False] Translation: X:9.26, Y:0.06, Z:-1.54 [[ 9.99932530e-01 -1.15697117e-02 1.03773486e-03 9.25601913e+00] [ 1.15705188e-02 9.99932759e-01 -7.75154584e-04 5.76652939e-02] [-1.02869677e-03 7.87109415e-04 9.99999161e-01 -1.54327774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901193817 meters Centerline goodness : 0.913190 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99967350e-01 -7.92270635e-03 1.59068995e-03 9.25291796e+00] [ 7.91857826e-03 9.99965307e-01 2.58489489e-03 6.60142385e-02] [-1.61111413e-03 -2.57221449e-03 9.99995394e-01 -1.54079117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93119381700001 meters Centerline goodness : 0.915335 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99983786e-01 -5.48928055e-03 1.51480743e-03 9.25288629e+00] [ 5.48195275e-03 9.99973454e-01 4.79992684e-03 6.96920002e-02] [-1.54111537e-03 -4.79154491e-03 9.99987333e-01 -1.54054401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96119381700001 meters Centerline goodness : 0.916033 Centerline is valid? [False, False] Translation: X:9.25, Y:0.07, Z:-1.54 [[ 9.99985802e-01 -4.97902280e-03 1.89850742e-03 9.25078232e+00] [ 4.96979175e-03 9.99975955e-01 4.83637212e-03 7.42951578e-02] [-1.92254218e-03 -4.82686827e-03 9.99986502e-01 -1.53886129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99119381700001 meters Centerline goodness : 0.913714 Centerline is valid? [False, False] Translation: X:9.25, Y:0.08, Z:-1.54 [[ 9.99989906e-01 -3.90381249e-03 2.22440512e-03 9.25022764e+00] [ 3.89288672e-03 9.99980441e-01 4.89511195e-03 8.25972369e-02] [-2.24347122e-03 -4.88640318e-03 9.99985545e-01 -1.53889736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02119381700001 meters Centerline goodness : 0.913714 Centerline is valid? [False, False] Translation: X:9.25, Y:0.08, Z:-1.54 [[ 9.99989786e-01 -3.93175531e-03 2.22908726e-03 9.25020784e+00] [ 3.92088855e-03 9.99980510e-01 4.85857316e-03 8.27204840e-02] [-2.24814653e-03 -4.84978353e-03 9.99985713e-01 -1.53888883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051193817 meters Centerline goodness : 0.915242 Centerline is valid? [False, False] Translation: X:9.25, Y:0.09, Z:-1.54 [[ 9.99995831e-01 -1.94869206e-03 2.13101287e-03 9.25094849e+00] [ 1.93444502e-03 9.99975902e-01 6.66732024e-03 8.59922199e-02] [-2.14395407e-03 -6.66317012e-03 9.99975503e-01 -1.53963186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters Centerline goodness : 0.917837 Centerline is valid? [False, False] Translation: X:9.25, Y:0.09, Z:-1.54 [[ 9.99994914e-01 -2.68301714e-03 1.72435720e-03 9.25237899e+00] [ 2.67484354e-03 9.99985260e-01 4.72503880e-03 9.18483680e-02] [-1.73700914e-03 -4.72040238e-03 9.99987350e-01 -1.54028536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.111193817 meters Centerline goodness : 0.916238 Centerline is valid? [False, False] Translation: X:9.25, Y:0.10, Z:-1.54 [[ 9.99998775e-01 -3.08065205e-05 1.56482234e-03 9.25285668e+00] [ 2.03442842e-05 9.99977652e-01 6.68547001e-03 9.66517500e-02] [-1.56499332e-03 -6.68542998e-03 9.99976428e-01 -1.54043042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141193817 meters Centerline goodness : 0.914280 Centerline is valid? [False, False] Translation: X:9.25, Y:0.10, Z:-1.54 [[ 9.99993980e-01 3.17499446e-03 1.40013061e-03 9.25368446e+00] [-3.18732553e-03 9.99955363e-01 8.89459971e-03 1.02117712e-01] [-1.37182781e-03 -8.89900883e-03 9.99959462e-01 -1.54094717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.171193817 meters Centerline goodness : 0.913288 Centerline is valid? [False, False] Translation: X:9.26, Y:0.11, Z:-1.54 [[ 9.99904469e-01 1.37868189e-02 9.87818552e-04 9.25629083e+00] [-1.38016647e-02 9.99759323e-01 1.70531798e-02 1.13013857e-01] [-7.52471704e-04 -1.70651843e-02 9.99854096e-01 -1.54269890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.201193817 meters Centerline goodness : 0.913666 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:-1.54 [[ 9.99776519e-01 2.11299199e-02 6.61909493e-04 9.25810750e+00] [-2.11396197e-02 9.99503251e-01 2.33745192e-02 1.17527679e-01] [-1.67678971e-04 -2.33832880e-02 9.99726559e-01 -1.54370856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.231193817 meters Centerline goodness : 0.913333 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:-1.54 [[ 9.99592427e-01 2.85469156e-02 2.33311359e-04 9.26039113e+00] [-2.85413231e-02 9.99154846e-01 2.95801812e-02 1.22277425e-01] [ 6.11308761e-04 -2.95747841e-02 9.99562383e-01 -1.54490443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.261193817 meters Centerline goodness : 0.913412 Centerline is valid? [False, False] Translation: X:9.26, Y:0.13, Z:-1.55 [[ 9.99402527e-01 3.45534369e-02 -8.05286011e-04 9.26375019e+00] [-3.45068327e-02 9.98838397e-01 3.36323522e-02 1.27759091e-01] [ 1.96646395e-03 -3.35844699e-02 9.99433948e-01 -1.54555021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.291193817 meters Centerline goodness : 0.913428 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98782779e-01 4.92716675e-02 -2.29411961e-03 9.25841603e+00] [-4.91879303e-02 9.98393999e-01 2.81063967e-02 1.40008765e-01] [ 3.67528429e-03 -2.79593420e-02 9.99602305e-01 -1.54179303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32119381700001 meters Centerline goodness : 0.912761 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98569060e-01 5.34296342e-02 -2.25955873e-03 9.25881618e+00] [-5.33325289e-02 9.98082633e-01 3.14117668e-02 1.42959346e-01] [ 3.93354553e-03 -3.12463105e-02 9.99503975e-01 -1.54158984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35119381700001 meters Centerline goodness : 0.914258 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98527207e-01 5.41929522e-02 -2.55758096e-03 9.25946452e+00] [-5.40884499e-02 9.98058750e-01 3.08734622e-02 1.46642038e-01] [ 4.22574012e-03 -3.06896564e-02 9.99520029e-01 -1.54115016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38119381700001 meters Centerline goodness : 0.915043 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98457403e-01 5.54221771e-02 -3.34609920e-03 9.26165326e+00] [-5.52903880e-02 9.97977304e-01 3.13731379e-02 1.47557539e-01] [ 5.07809867e-03 -3.11397347e-02 9.99502141e-01 -1.54159720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41119381700001 meters Centerline goodness : 0.918227 Centerline is valid? [False, False] Translation: X:9.26, Y:0.15, Z:-1.54 [[ 9.98400344e-01 5.64404799e-02 -3.35030633e-03 9.26111506e+00] [-5.63036324e-02 9.97893139e-01 3.22363736e-02 1.45224247e-01] [ 5.16268409e-03 -3.19961721e-02 9.99474658e-01 -1.54063465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441193817 meters Centerline goodness : 0.918456 Centerline is valid? [False, False] Translation: X:9.26, Y:0.14, Z:-1.54 [[ 9.98557478e-01 5.35538856e-02 -3.86572898e-03 9.26157150e+00] [-5.34206771e-02 9.98155524e-01 2.88406291e-02 1.44671491e-01] [ 5.40312649e-03 -2.85925160e-02 9.99576547e-01 -1.54003060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471193817 meters Centerline goodness : 0.919281 Centerline is valid? [False, False] Translation: X:9.28, Y:0.14, Z:-1.54 [[ 9.98708270e-01 5.08110514e-02 1.68429719e-04 9.27817898e+00] [-5.07945270e-02 9.98287264e-01 2.90250784e-02 1.41199277e-01] [ 1.30665351e-03 -2.89961412e-02 9.99578669e-01 -1.53913341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.501193817 meters Centerline goodness : 0.920381 Centerline is valid? [False, False] Translation: X:9.30, Y:0.14, Z:-1.54 [[ 9.98820153e-01 4.84224268e-02 3.68393874e-03 9.29575052e+00] [-4.85123492e-02 9.98358284e-01 3.04514076e-02 1.36390596e-01] [-2.20335970e-03 -3.05941962e-02 9.99529459e-01 -1.53920559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.531193817 meters Centerline goodness : 0.925992 Centerline is valid? [False, False] Translation: X:9.31, Y:0.13, Z:-1.54 [[ 9.98905139e-01 4.62713052e-02 6.89132859e-03 9.31359143e+00] [-4.64708956e-02 9.98395616e-01 3.23519828e-02 1.30853511e-01] [-5.38330378e-03 -3.26368081e-02 9.99452780e-01 -1.53955310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.561193817 meters Centerline goodness : 0.922346 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:-1.54 [[ 9.99000512e-01 4.41989854e-02 6.66540961e-03 9.31282502e+00] [-4.43878846e-02 9.98517079e-01 3.15175889e-02 1.20845276e-01] [-5.26247989e-03 -3.17819509e-02 9.99480972e-01 -1.53809588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.591193817 meters Centerline goodness : 0.924482 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:-1.54 [[ 9.99127002e-01 4.13368674e-02 6.04134013e-03 9.31389112e+00] [-4.14960657e-02 9.98713027e-01 2.91610350e-02 1.16150098e-01] [-4.82813926e-03 -2.93862693e-02 9.99556470e-01 -1.53818643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.621193817 meters Centerline goodness : 0.922652 Centerline is valid? [False, False] Translation: X:9.32, Y:0.11, Z:-1.54 [[ 9.99235953e-01 3.87107759e-02 5.38389755e-03 9.31561123e+00] [-3.88437473e-02 9.98872511e-01 2.72923022e-02 1.10187310e-01] [-4.32132107e-03 -2.74805804e-02 9.99612997e-01 -1.53895948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.651193817 meters Centerline goodness : 0.916824 Centerline is valid? [False, False] Translation: X:9.34, Y:0.09, Z:-1.54 [[ 9.99326494e-01 3.65969443e-02 2.68737580e-03 9.34478875e+00] [-3.66567214e-02 9.98955457e-01 2.72815022e-02 9.28078673e-02] [-1.68614910e-03 -2.73616384e-02 9.99624178e-01 -1.54079677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68119381700001 meters Centerline goodness : 0.916000 Centerline is valid? [False, False] Translation: X:9.37, Y:0.08, Z:-1.54 [[ 9.99465978e-01 3.25918143e-02 2.35225484e-03 9.36590146e+00] [-3.26441116e-02 9.99090895e-01 2.74179774e-02 8.49980592e-02] [-1.45651476e-03 -2.74801229e-02 9.99621289e-01 -1.54206269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71119381700001 meters Centerline goodness : 0.915474 Centerline is valid? [False, False] Translation: X:9.39, Y:0.08, Z:-1.54 [[ 9.99546819e-01 2.99811100e-02 2.69989250e-03 9.38707536e+00] [-3.00489674e-02 9.99093395e-01 3.01570526e-02 7.61925058e-02] [-1.79330286e-03 -3.02245150e-02 9.99541526e-01 -1.54437295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74119381700001 meters Centerline goodness : 0.913004 Centerline is valid? [False, False] Translation: X:9.42, Y:0.05, Z:-1.55 [[ 9.99732745e-01 2.28263110e-02 3.66047564e-03 9.42370107e+00] [-2.30494459e-02 9.96376263e-01 8.18722503e-02 4.59597143e-02] [-1.77836960e-03 -8.19347414e-02 9.96636110e-01 -1.54514513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77119381700001 meters Centerline goodness : 0.908190 Centerline is valid? [False, False] Translation: X:9.43, Y:0.04, Z:-1.54 [[ 9.99793170e-01 2.03171265e-02 -9.12284914e-04 9.43341418e+00] [-2.01901588e-02 9.96937554e-01 7.55504501e-02 4.16156172e-02] [ 2.44445914e-03 -7.55164048e-02 9.97141563e-01 -1.54344419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters Centerline goodness : 0.907976 Centerline is valid? [False, False] Translation: X:9.45, Y:0.03, Z:-1.55 [[ 9.99826737e-01 1.83848681e-02 2.91408900e-03 9.44742523e+00] [-1.85648764e-02 9.96282614e-01 8.41207368e-02 3.23864775e-02] [-1.35670756e-03 -8.41602615e-02 9.96451308e-01 -1.54665233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831193817 meters Centerline goodness : 0.907947 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 9.99863467e-01 1.62721320e-02 2.87473697e-03 9.45178745e+00] [-1.64829338e-02 9.94437104e-01 1.04034415e-01 2.19565526e-02] [-1.16588338e-03 -1.04067595e-01 9.94569543e-01 -1.54684742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861193817 meters Centerline goodness : 0.905795 Centerline is valid? [False, False] Translation: X:9.45, Y:0.02, Z:-1.55 [[ 9.99863767e-01 1.63890678e-02 1.96095001e-03 9.45400610e+00] [-1.65045277e-02 9.94263777e-01 1.05674702e-01 1.73100792e-02] [-2.17791717e-04 -1.05692670e-01 9.94398819e-01 -1.54705709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.891193817 meters Centerline goodness : 0.904452 Centerline is valid? [False, False] Translation: X:9.47, Y:0.00, Z:-1.54 [[ 9.99831401e-01 1.74691199e-02 -5.65679112e-03 9.46518490e+00] [-1.66265546e-02 9.92036316e-01 1.24849934e-01 1.84855208e-03] [ 7.79276068e-03 -1.24734831e-01 9.92159511e-01 -1.54137073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921193817 meters Centerline goodness : 0.903200 Centerline is valid? [False, False] Translation: X:9.45, Y:0.00, Z:-1.54 [[ 9.99807358e-01 1.83332742e-02 -7.00986637e-03 9.45440000e+00] [-1.74272787e-02 9.93479483e-01 1.12671235e-01 1.51795970e-03] [ 9.02979106e-03 -1.12527367e-01 9.93607596e-01 -1.54093837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.951193817 meters Centerline goodness : 0.901847 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.00, Z:-1.54 [[ 9.99799517e-01 1.83637561e-02 -7.98118114e-03 9.45551280e+00] [-1.73438709e-02 9.93431299e-01 1.13108111e-01 -6.35945867e-05] [ 1.00058449e-02 -1.12947010e-01 9.93550631e-01 -1.53951869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.981193817 meters Centerline goodness : 0.903632 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.01, Z:-1.53 [[ 9.99760508e-01 1.96993829e-02 -9.53206972e-03 9.45564196e+00] [-1.84451768e-02 9.92913828e-01 1.17396364e-01 -7.72468212e-03] [ 1.17771598e-02 -1.17192428e-01 9.93039392e-01 -1.53348560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.011193817 meters Centerline goodness : 0.905071 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.01, Z:-1.53 [[ 9.99797045e-01 1.71902752e-02 -1.05053545e-02 9.45610684e+00] [-1.58769385e-02 9.93310589e-01 1.14376556e-01 -8.00678014e-03] [ 1.24012443e-02 -1.14186550e-01 9.93381921e-01 -1.53116034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.041193817 meters Centerline goodness : 0.906949 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.01, Z:-1.53 [[ 0.99980941 0.01643061 -0.01054458 9.45406572] [-0.01512643 0.99340266 0.11367652 -0.00984892] [ 0.01234279 -0.11349535 0.99346186 -1.52799435] [ 0. 0. 0. 1. ]] SLAMing on 103.07119381700001 meters Centerline goodness : 0.909398 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.01, Z:-1.53 [[ 0.99980261 0.01663292 -0.0108668 9.45310114] [-0.01528781 0.99337276 0.11391593 -0.01083095] [ 0.01268953 -0.11372731 0.99343096 -1.52542256] [ 0. 0. 0. 1. ]] SLAMing on 103.10119381700001 meters Centerline goodness : 0.911937 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.02, Z:-1.52 [[ 0.99976403 0.01855586 -0.0112941 9.45204916] [-0.01711874 0.99307525 0.11622605 -0.01515175] [ 0.01337257 -0.11600529 0.99315857 -1.5217376 ] [ 0. 0. 0. 1. ]] SLAMing on 103.13119381700001 meters Centerline goodness : 0.914207 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.01, Z:-1.52 [[ 0.99968059 0.02197756 -0.01247852 9.46700676] [-0.02057796 0.99447329 0.1029535 -0.01379921] [ 0.01467223 -0.10266383 0.99460789 -1.51816117] [ 0. 0. 0. 1. ]] SLAMing on 103.16119381700001 meters Centerline goodness : 0.913980 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.01, Z:-1.52 [[ 9.99654014e-01 2.48111283e-02 -8.73272256e-03 9.47138908e+00] [-2.39463525e-02 9.95823025e-01 8.81083142e-02 -1.34491512e-02] [ 1.08823129e-02 -8.78687131e-02 9.96072620e-01 -1.51923636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191193817 meters Centerline goodness : 0.916131 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.01, Z:-1.52 [[ 0.99952973 0.02892842 -0.01017217 9.48753011] [-0.02808696 0.99679502 0.07490536 -0.01429087] [ 0.01230646 -0.07458443 0.99713876 -1.51566017] [ 0. 0. 0. 1. ]] SLAMing on 103.221193817 meters Centerline goodness : 0.912866 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.02, Z:-1.51 [[ 0.99939001 0.0327102 -0.01223303 9.50218366] [-0.03188413 0.99753403 0.06252415 -0.01614442] [ 0.01424804 -0.06209597 0.99796848 -1.5112469 ] [ 0. 0. 0. 1. ]] SLAMing on 103.251193817 meters Centerline goodness : 0.913033 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.02, Z:-1.51 [[ 0.99939108 0.03356492 -0.00953183 9.50830224] [-0.03303088 0.99812484 0.0515341 -0.02346625] [ 0.01124369 -0.05118787 0.99862575 -1.51036324] [ 0. 0. 0. 1. ]] SLAMing on 103.281193817 meters Centerline goodness : 0.912064 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.03, Z:-1.51 [[ 0.99932132 0.03359815 -0.01510178 9.50813373] [-0.03301946 0.99876735 0.03706081 -0.02643881] [ 0.01632833 -0.036537 0.9991989 -1.51019301] [ 0. 0. 0. 1. ]] SLAMing on 103.311193817 meters Centerline goodness : 0.912955 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.03, Z:-1.51 [[ 0.99941782 0.03035029 -0.0155844 9.50954013] [-0.02979478 0.99895288 0.03471906 -0.03168418] [ 0.01662182 -0.03423451 0.99927559 -1.51087921] [ 0. 0. 0. 1. ]] SLAMing on 103.341193817 meters Centerline goodness : 0.916494 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.04, Z:-1.51 [[ 0.99957962 0.02434203 -0.01574926 9.50913516] [-0.02387317 0.99928546 0.02930274 -0.03623958] [ 0.0164513 -0.02891444 0.9994465 -1.51037526] [ 0. 0. 0. 1. ]] SLAMing on 103.371193817 meters Centerline goodness : 0.915208 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.04, Z:-1.51 [[ 0.99971675 0.01726441 -0.0163818 9.51038525] [-0.016885 0.99959234 0.02302286 -0.04064549] [ 0.0167726 -0.02273974 0.99960071 -1.51081647] [ 0. 0. 0. 1. ]] SLAMing on 103.401193817 meters Centerline goodness : 0.915126 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.05, Z:-1.51 [[ 9.99813448e-01 9.47928331e-03 -1.68289189e-02 9.51242887e+00] [-9.15385302e-03 9.99771632e-01 1.93104018e-02 -5.37408669e-02] [ 1.70081245e-02 -1.91527500e-02 9.99671894e-01 -1.51343029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43119381700001 meters Centerline goodness : 0.914307 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.06, Z:-1.52 [[ 9.99830791e-01 4.90777956e-03 -1.77285902e-02 9.51638742e+00] [-4.62880601e-03 9.99865362e-01 1.57427077e-02 -5.90539450e-02] [ 1.78034650e-02 -1.56579817e-02 9.99718893e-01 -1.51594930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46119381700001 meters Centerline goodness : 0.911638 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.07, Z:-1.52 [[ 9.99818379e-01 -5.27578043e-03 -1.83132661e-02 9.52006968e+00] [ 5.41355183e-03 9.99957358e-01 7.48163364e-03 -6.96465231e-02] [ 1.82730138e-02 -7.57941463e-03 9.99804306e-01 -1.51893582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49119381700001 meters Centerline goodness : 0.913308 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.07, Z:-1.52 [[ 9.99766905e-01 -1.01298274e-02 -1.90662556e-02 9.52360094e+00] [ 1.01979231e-02 9.99941952e-01 3.47769531e-03 -7.49667399e-02] [ 1.90299204e-02 -3.67132088e-03 9.99812174e-01 -1.52109294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52119381700001 meters Centerline goodness : 0.912297 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.08, Z:-1.52 [[ 9.99704089e-01 -1.43256883e-02 -1.96598454e-02 9.52636531e+00] [ 1.43341518e-02 9.99897219e-01 2.89640128e-04 -7.97544684e-02] [ 1.96536755e-02 -5.71361629e-04 9.99806685e-01 -1.52268810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551193817 meters Centerline goodness : 0.909398 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.08, Z:-1.52 [[ 9.99631353e-01 -1.83930620e-02 -1.99713061e-02 9.52762648e+00] [ 1.83425523e-02 9.99828090e-01 -2.70936893e-03 -8.41312462e-02] [ 2.00177064e-02 2.34204540e-03 9.99796882e-01 -1.52312064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581193817 meters Centerline goodness : 0.913678 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.09, Z:-1.53 [[ 9.99546446e-01 -2.63669200e-02 -1.45495204e-02 9.53897013e+00] [ 2.63717037e-02 9.99652197e-01 1.36997940e-04 -9.34657503e-02] [ 1.45408478e-02 -5.20631444e-04 9.99894141e-01 -1.52603811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.611193817 meters Centerline goodness : 0.911573 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.09, Z:-1.53 [[ 9.99432242e-01 -3.02403197e-02 -1.48565557e-02 9.54062845e+00] [ 3.01949500e-02 9.99538684e-01 -3.26877422e-03 -9.48133413e-02] [ 1.49485509e-02 2.81832539e-03 9.99884292e-01 -1.52701434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.641193817 meters Centerline goodness : 0.909440 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.10, Z:-1.53 [[ 9.99382439e-01 -3.15675171e-02 -1.54347537e-02 9.54344276e+00] [ 3.15128196e-02 9.99496222e-01 -3.77430551e-03 -9.68246164e-02] [ 1.55461235e-02 3.28558203e-03 9.99873754e-01 -1.52872372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.671193817 meters Centerline goodness : 0.911152 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.10, Z:-1.53 [[ 9.99253920e-01 -3.52879979e-02 -1.56958472e-02 9.54423719e+00] [ 3.51750530e-02 9.99353660e-01 -7.41471864e-03 -9.73802671e-02] [ 1.59473529e-02 6.85708442e-03 9.99849320e-01 -1.52869522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.701193817 meters Centerline goodness : 0.915373 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.10, Z:-1.53 [[ 9.99175397e-01 -3.95622819e-02 -9.12977788e-03 9.55250634e+00] [ 3.95471125e-02 9.99216020e-01 -1.83619696e-03 -1.02804442e-01] [ 9.19526446e-03 1.47362647e-03 9.99956637e-01 -1.53002914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.731193817 meters Centerline goodness : 0.914537 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.10, Z:-1.53 [[ 9.99112204e-01 -4.10226202e-02 -9.58893738e-03 9.55446038e+00] [ 4.09962912e-02 9.99155013e-01 -2.92646376e-03 -1.03156190e-01] [ 9.70088606e-03 2.53075479e-03 9.99949743e-01 -1.53105445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.761193817 meters Centerline goodness : 0.917219 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99070325e-01 -4.29600154e-02 -3.59490183e-03 9.56750891e+00] [ 4.29134364e-02 9.99004772e-01 -1.21615507e-02 -1.01266612e-01] [ 4.11378448e-03 1.19959748e-02 9.99919583e-01 -1.53483758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.791193817 meters Centerline goodness : 0.914837 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99182613e-01 -4.02366281e-02 -3.88848789e-03 9.56794122e+00] [ 4.02023643e-02 9.99155224e-01 -8.52100216e-03 -1.02675573e-01] [ 4.22805938e-03 8.35771079e-03 9.99956135e-01 -1.53469938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82119381700001 meters Centerline goodness : 0.915863 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.53 [[ 9.99179298e-01 -4.02921229e-02 -4.15641371e-03 9.56855764e+00] [ 4.02535802e-02 9.99149199e-01 -8.97369475e-03 -1.00489174e-01] [ 4.51444664e-03 8.79901949e-03 9.99951097e-01 -1.53477359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85119381700001 meters Centerline goodness : 0.915944 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99275831e-01 -3.77570063e-02 -4.71401079e-03 9.57027311e+00] [ 3.77267262e-02 9.99267885e-01 -6.35513540e-03 -9.88466999e-02] [ 4.95051048e-03 6.17268901e-03 9.99968695e-01 -1.53565036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88119381700001 meters Centerline goodness : 0.915168 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99376637e-01 -3.49050814e-02 -5.28891613e-03 9.57214629e+00] [ 3.48861284e-02 9.99384685e-01 -3.63441580e-03 -9.68907689e-02] [ 5.41252136e-03 3.44764044e-03 9.99979409e-01 -1.53673990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91119381700001 meters Centerline goodness : 0.915168 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.10, Z:-1.54 [[ 9.99376637e-01 -3.49050814e-02 -5.28891613e-03 9.57214629e+00] [ 3.48861284e-02 9.99384685e-01 -3.63441580e-03 -9.68907689e-02] [ 5.41252136e-03 3.44764044e-03 9.99979409e-01 -1.53673990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters Centerline goodness : 0.914775 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.09, Z:-1.54 [[ 9.99563494e-01 -2.95277911e-02 -9.65321201e-04 9.58557059e+00] [ 2.95184684e-02 9.99527616e-01 -8.55595652e-03 -8.87477289e-02] [ 1.21750370e-03 8.52372698e-03 9.99962931e-01 -1.54099325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971193817 meters Centerline goodness : 0.914291 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.09, Z:-1.54 [[ 9.99662228e-01 -2.59533730e-02 -1.36073320e-03 9.58636856e+00] [ 2.59455821e-02 9.99648442e-01 -5.46061102e-03 -8.56826301e-02] [ 1.50197610e-03 5.42346156e-03 9.99984165e-01 -1.54121674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.001193817 meters Centerline goodness : 0.915300 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.08, Z:-1.54 [[ 9.99738792e-01 -2.27820920e-02 -1.82342569e-03 9.58716915e+00] [ 2.27765860e-02 9.99736122e-01 -2.98546039e-03 -8.16993556e-02] [ 1.89095956e-03 2.94314915e-03 9.99993881e-01 -1.54126515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.031193817 meters Centerline goodness : 0.913555 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.07, Z:-1.54 [[ 9.99844630e-01 -1.76156342e-02 6.36895837e-04 9.60532829e+00] [ 1.76187291e-02 9.99831082e-01 -5.23342371e-03 -6.97390953e-02] [-5.44598176e-04 5.24383189e-03 9.99986103e-01 -1.54302656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061193817 meters Centerline goodness : 0.909155 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.06, Z:-1.55 [[ 9.99914069e-01 -1.24801419e-02 4.01267057e-03 9.61695132e+00] [ 1.25275580e-02 9.99849315e-01 -1.20169799e-02 -6.33516539e-02] [-3.86209231e-03 1.20662162e-02 9.99919742e-01 -1.54595206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.091193817 meters Centerline goodness : 0.910530 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.06, Z:-1.55 [[ 9.99947136e-01 -6.08381293e-03 8.28934502e-03 9.63063949e+00] [ 6.21340498e-03 9.99857464e-01 -1.56985547e-02 -5.76475717e-02] [-8.19265642e-03 1.57492299e-02 9.99842409e-01 -1.55053542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.121193817 meters Centerline goodness : 0.909362 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.05, Z:-1.55 [[ 9.99952523e-01 -3.12115737e-03 9.23089379e-03 9.65138913e+00] [ 3.28667824e-03 9.99833112e-01 -1.79707100e-02 -5.04892827e-02] [-9.17326385e-03 1.80001958e-02 9.99795901e-01 -1.55272427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.151193817 meters Centerline goodness : 0.908210 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.04, Z:-1.55 [[ 9.99959348e-01 4.84873944e-03 7.60211822e-03 9.67834652e+00] [-4.67128490e-03 9.99720179e-01 -2.31892802e-02 -3.63724084e-02] [-7.71242976e-03 2.31528259e-02 9.99702188e-01 -1.55240827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18119381700001 meters Centerline goodness : 0.907274 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.03, Z:-1.55 [[ 9.99933712e-01 7.16996992e-03 9.00903882e-03 9.69897645e+00] [-6.93803358e-03 9.99650297e-01 -2.55175826e-02 -3.02667834e-02] [-9.18884863e-03 2.54533860e-02 9.99633778e-01 -1.55475182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21119381700001 meters Centerline goodness : 0.907344 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.03, Z:-1.56 [[ 9.99915290e-01 9.57554124e-03 8.81594745e-03 9.72080035e+00] [-9.34172819e-03 9.99613298e-01 -2.61913427e-02 -2.62979115e-02] [-9.06333458e-03 2.61067679e-02 9.99618073e-01 -1.55650441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24119381700001 meters Centerline goodness : 0.905093 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99868138e-01 1.41785044e-02 7.91683284e-03 9.74998147e+00] [-1.38893664e-02 9.99274771e-01 -3.54544378e-02 -1.87705394e-02] [-8.41378223e-03 3.53398029e-02 9.99339935e-01 -1.55630248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27119381700001 meters Centerline goodness : 0.908495 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99810550e-01 1.77470377e-02 7.99421961e-03 9.74962222e+00] [-1.74838858e-02 9.99339242e-01 -3.18652333e-02 -1.80748170e-02] [-8.55445086e-03 3.17194264e-02 9.99460204e-01 -1.55566556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters Centerline goodness : 0.907686 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99754810e-01 2.07503967e-02 7.72927139e-03 9.75039550e+00] [-2.05211716e-02 9.99379099e-01 -2.86408308e-02 -1.74716319e-02] [-8.31878088e-03 2.84751946e-02 9.99559884e-01 -1.55568505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331193817 meters Centerline goodness : 0.907989 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99679102e-01 2.41048792e-02 7.78760817e-03 9.75044561e+00] [-2.39029802e-02 9.99400284e-01 -2.50543307e-02 -1.70429036e-02] [-8.38686943e-03 2.48601438e-02 9.99655758e-01 -1.55555895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361193817 meters Centerline goodness : 0.904896 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99741374e-01 2.21728703e-02 5.05459984e-03 9.75093718e+00] [-2.21195805e-02 9.99701595e-01 -1.03656056e-02 -1.81032459e-02] [-5.28292675e-03 1.02511192e-02 9.99933500e-01 -1.55522213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.391193817 meters Centerline goodness : 0.907334 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99753175e-01 2.17221991e-02 4.66207761e-03 9.75142686e+00] [-2.16707738e-02 9.99706704e-01 -1.08112985e-02 -1.72263064e-02] [-4.89555542e-03 1.07075992e-02 9.99930688e-01 -1.55487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421193817 meters Centerline goodness : 0.907322 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99766258e-01 2.11358556e-02 4.55022124e-03 9.75113441e+00] [-2.10857463e-02 9.99719419e-01 -1.07923608e-02 -1.88592566e-02] [-4.77705031e-03 1.06938933e-02 9.99931408e-01 -1.55422524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.451193817 meters Centerline goodness : 0.909310 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.55 [[ 9.99798517e-01 1.96885288e-02 3.90998179e-03 9.75266822e+00] [-1.96431017e-02 9.99742797e-01 -1.13353061e-02 -2.06495284e-02] [-4.13215163e-03 1.12562181e-02 9.99928109e-01 -1.55481953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.481193817 meters Centerline goodness : 0.909653 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.02, Z:-1.56 [[ 9.99822024e-01 1.85607942e-02 3.37893906e-03 9.75385426e+00] [-1.85209719e-02 9.99762814e-01 -1.14581192e-02 -2.26000969e-02] [-3.59080941e-03 1.13934987e-02 9.99928645e-01 -1.55522448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.511193817 meters Centerline goodness : 0.907675 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99949881e-01 9.70971697e-03 2.44071735e-03 9.75077456e+00] [-9.70977847e-03 9.99952859e-01 1.33463430e-05 -2.94044309e-02] [-2.44047270e-03 -3.70444988e-05 9.99997021e-01 -1.55320211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541193817 meters Centerline goodness : 0.908604 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99955814e-01 9.07617009e-03 2.44794950e-03 9.75068087e+00] [-9.07751732e-03 9.99958653e-01 5.39798726e-04 -3.24781039e-02] [-2.44294898e-03 -5.61996178e-04 9.99996858e-01 -1.55332817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57119381700001 meters Centerline goodness : 0.909278 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.55 [[ 9.99983411e-01 5.32105425e-03 2.20552952e-03 9.75117307e+00] [-5.31374781e-03 9.99980419e-01 -3.30551170e-03 -3.29943674e-02] [-2.22307513e-03 3.29373724e-03 9.99992105e-01 -1.55336761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60119381700001 meters Centerline goodness : 0.908536 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.03, Z:-1.56 [[ 9.99995089e-01 2.76349769e-03 1.47821243e-03 9.75477457e+00] [-2.75483212e-03 9.99979196e-01 -5.83245409e-03 -3.25289057e-02] [-1.49429965e-03 5.82835322e-03 9.99981899e-01 -1.55616623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63119381700001 meters Centerline goodness : 0.906721 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.03, Z:-1.56 [[ 9.99996248e-01 2.69110901e-03 5.11707570e-04 9.75941607e+00] [-2.68806747e-03 9.99979249e-01 -5.85448131e-03 -3.21291316e-02] [-5.27451999e-04 5.85308384e-03 9.99982731e-01 -1.55950826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66119381700001 meters Centerline goodness : 0.897935 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.03, Z:-1.56 [[ 9.99988761e-01 1.32275701e-03 -4.55290906e-03 9.78786408e+00] [-1.36012138e-03 9.99965344e-01 -8.21341325e-03 -3.28254583e-02] [ 4.54188693e-03 8.21951345e-03 9.99955904e-01 -1.56499293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691193817 meters Centerline goodness : 0.895503 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.03, Z:-1.57 [[ 9.99986369e-01 1.72305602e-03 -4.92877522e-03 9.78931688e+00] [-1.76159893e-03 9.99967822e-01 -7.82635346e-03 -3.36486396e-02] [ 4.91513137e-03 7.83492931e-03 9.99957227e-01 -1.56594286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters Centerline goodness : 0.893929 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.03, Z:-1.57 [[ 9.99984687e-01 5.40252263e-03 -1.19936757e-03 9.80301082e+00] [-5.41864489e-03 9.99889087e-01 -1.38727296e-02 -3.29998881e-02] [ 1.12428680e-03 1.38790161e-02 9.99903050e-01 -1.57071375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.751193817 meters Centerline goodness : 0.894909 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.03, Z:-1.58 [[ 9.99959807e-01 8.06833889e-03 3.90984678e-03 9.81716688e+00] [-7.98880634e-03 9.99769116e-01 -1.99472752e-02 -2.93814483e-02] [-4.06988543e-03 1.99152385e-02 9.99793388e-01 -1.57528187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781193817 meters Centerline goodness : 0.895530 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.03, Z:-1.58 [[ 9.99928111e-01 9.83114611e-03 6.86447069e-03 9.83554375e+00] [-9.67468567e-03 9.99700804e-01 -2.24656058e-02 -2.53210340e-02] [-7.08327952e-03 2.23975792e-02 9.99724050e-01 -1.57670499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.811193817 meters Centerline goodness : 0.896749 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.58 [[ 9.99878747e-01 1.40891770e-02 6.63225419e-03 9.83609879e+00] [-1.39642004e-02 9.99730834e-01 -1.85272690e-02 -2.41746465e-02] [-6.89150299e-03 1.84324084e-02 9.99806358e-01 -1.57639771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841193817 meters Centerline goodness : 0.900660 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99803618e-01 1.86961621e-02 6.57111286e-03 9.83568688e+00] [-1.85977341e-02 9.99718481e-01 -1.47337159e-02 -2.27235855e-02] [-6.84472691e-03 1.46086147e-02 9.99869861e-01 -1.57489385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.871193817 meters Centerline goodness : 0.899459 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99797083e-01 1.91586480e-02 6.22401273e-03 9.83540813e+00] [-1.90661208e-02 9.99711619e-01 -1.46000597e-02 -2.29815626e-02] [-6.50193524e-03 1.44784293e-02 9.99874042e-01 -1.57333242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.901193817 meters Centerline goodness : 0.904364 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.02, Z:-1.57 [[ 9.99788632e-01 1.96893096e-02 5.91799885e-03 9.83510654e+00] [-1.96042228e-02 9.99708287e-01 -1.41072680e-02 -2.42659004e-02] [-6.19403486e-03 1.39882684e-02 9.99882974e-01 -1.57193114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93119381700001 meters Centerline goodness : 0.905884 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99782915e-01 2.00404470e-02 5.70123481e-03 9.83447949e+00] [-1.99599051e-02 9.99704851e-01 -1.38496300e-02 -2.53987368e-02] [-5.97710487e-03 1.37328273e-02 9.99887836e-01 -1.57015361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96119381700001 meters Centerline goodness : 0.913652 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99696601e-01 2.37134981e-02 6.66146349e-03 9.82961232e+00] [-2.36498425e-02 9.99675380e-01 -9.47734429e-03 -2.76403290e-02] [-6.88404202e-03 9.31692631e-03 9.99932900e-01 -1.56574908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99119381700001 meters Centerline goodness : 0.911520 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99689211e-01 2.41014611e-02 6.37182713e-03 9.82991085e+00] [-2.40408437e-02 9.99666551e-01 -9.42468397e-03 -2.69955434e-02] [-6.59685111e-03 9.26857079e-03 9.99935285e-01 -1.56523632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02119381700001 meters Centerline goodness : 0.911203 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99681368e-01 2.45643650e-02 5.80980077e-03 9.83127142e+00] [-2.45112636e-02 9.99658670e-01 -9.04108031e-03 -2.76832561e-02] [-6.02990611e-03 8.89579397e-03 9.99942251e-01 -1.56552062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05119381700001 meters Centerline goodness : 0.909950 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.03, Z:-1.57 [[ 9.99663244e-01 2.53877459e-02 5.37229846e-03 9.83232938e+00] [-2.53515763e-02 9.99656165e-01 -6.69689908e-03 -3.40697439e-02] [-5.54047045e-03 6.55844762e-03 9.99963144e-01 -1.56625393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters Centerline goodness : 0.912847 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99665684e-01 2.52933980e-02 5.36330963e-03 9.83230376e+00] [-2.52639358e-02 9.99665732e-01 -5.49167884e-03 -3.85527525e-02] [-5.50042006e-03 5.35434458e-03 9.99970538e-01 -1.56648193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.111193817 meters Centerline goodness : 0.910375 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99758356e-01 2.14415515e-02 4.84665674e-03 9.83284174e+00] [-2.13959370e-02 9.99728055e-01 -9.27520096e-03 -4.02347267e-02] [-5.04421341e-03 9.16926090e-03 9.99945239e-01 -1.56611279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141193817 meters Centerline goodness : 0.908681 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.04, Z:-1.57 [[ 9.99768580e-01 2.09760940e-02 4.77389058e-03 9.83278529e+00] [-2.09354473e-02 9.99745451e-01 -8.41076252e-03 -4.33605863e-02] [-4.94910033e-03 8.30887257e-03 9.99953233e-01 -1.56620652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.171193817 meters Centerline goodness : 0.910895 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.56 [[ 9.99922896e-01 1.23198715e-02 1.55624208e-03 9.83008011e+00] [-1.23204582e-02 9.99924033e-01 3.67922248e-04 -4.65294967e-02] [-1.55159111e-03 -3.87067495e-04 9.99998721e-01 -1.56406405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201193817 meters Centerline goodness : 0.910293 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.57 [[ 9.99944947e-01 1.04592183e-02 8.41665116e-04 9.83241274e+00] [-1.04582130e-02 9.99944603e-01 -1.19005177e-03 -4.79852449e-02] [-8.54065501e-04 1.18118394e-03 9.99998938e-01 -1.56509735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.231193817 meters Centerline goodness : 0.912385 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.05, Z:-1.57 [[ 9.99977427e-01 6.70226605e-03 4.73532145e-04 9.83325605e+00] [-6.69981202e-03 9.99965022e-01 -5.00670564e-03 -4.82455469e-02] [-5.07071855e-04 5.00342005e-03 9.99987354e-01 -1.56525630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261193817 meters Centerline goodness : 0.912077 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.05, Z:-1.57 [[ 9.99999958e-01 -2.70542075e-04 -1.01065635e-04 9.83528598e+00] [ 2.69377180e-04 9.99935510e-01 -1.13536016e-02 -5.18398339e-02] [ 1.04130745e-04 1.13535739e-02 9.99935541e-01 -1.56647032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.291193817 meters Centerline goodness : 0.909288 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.05, Z:-1.57 [[ 9.99994165e-01 -3.33096663e-03 -7.58028079e-04 9.83862299e+00] [ 3.32001093e-03 9.99896172e-01 -1.40222075e-02 -5.38593136e-02] [ 8.04656880e-04 1.40196091e-02 9.99901397e-01 -1.56899421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32119381700001 meters Centerline goodness : 0.908162 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.06, Z:-1.57 [[ 9.99988349e-01 -4.53563836e-03 -1.65240696e-03 9.84283224e+00] [ 4.51088909e-03 9.99881986e-01 -1.46855817e-02 -5.51112141e-02] [ 1.71882045e-03 1.46779568e-02 9.99890796e-01 -1.57203741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35119381700001 meters Centerline goodness : 0.905287 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.06, Z:-1.57 [[ 9.99974641e-01 -5.14162832e-03 -4.92753213e-03 9.86705672e+00] [ 5.06879913e-03 9.99879391e-01 -1.46802890e-02 -5.53479531e-02] [ 5.00241841e-03 1.46549401e-02 9.99880097e-01 -1.57435063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38119381700001 meters Centerline goodness : 0.902383 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99968243e-01 -5.51195707e-03 -5.75595856e-03 9.87138362e+00] [ 5.42440883e-03 9.99871026e-01 -1.51164406e-02 -5.31584131e-02] [ 5.83853736e-03 1.50847379e-02 9.99869173e-01 -1.57756017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41119381700001 meters Centerline goodness : 0.901281 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99966778e-01 -5.35666375e-03 -6.14395869e-03 9.87261143e+00] [ 5.26335737e-03 9.99872081e-01 -1.51036206e-02 -5.28357610e-02] [ 6.22407777e-03 1.50707810e-02 9.99867057e-01 -1.57808745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters Centerline goodness : 0.901550 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99964606e-01 -5.25542748e-03 -6.57017989e-03 9.87381550e+00] [ 5.15574650e-03 9.99872731e-01 -1.50976998e-02 -5.30364774e-02] [ 6.64868857e-03 1.50632912e-02 9.99864437e-01 -1.57850442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471193817 meters Centerline goodness : 0.899992 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.05, Z:-1.58 [[ 9.99962447e-01 -5.01488134e-03 -7.06795697e-03 9.87491556e+00] [ 4.90833989e-03 9.99875274e-01 -1.50114515e-02 -5.30077789e-02] [ 7.14235607e-03 1.49761958e-02 9.99862341e-01 -1.57859296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501193817 meters Centerline goodness : 0.900753 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.05, Z:-1.58 [[ 9.99995518e-01 -5.36627771e-04 -2.94556598e-03 9.89194357e+00] [ 4.82048190e-04 9.99828764e-01 -1.84989410e-02 -4.88030868e-02] [ 2.95498863e-03 1.84974381e-02 9.99824541e-01 -1.58401743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.531193817 meters Centerline goodness : 0.900584 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.04, Z:-1.59 [[ 9.99996041e-01 2.41176395e-03 -1.44961338e-03 9.91302446e+00] [-2.43859169e-03 9.99820307e-01 -1.87991282e-02 -4.49862358e-02] [ 1.40401383e-03 1.88025888e-02 9.99822230e-01 -1.58567490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561193817 meters Centerline goodness : 0.899586 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99883435e-01 1.51128099e-02 2.17250531e-03 9.94760168e+00] [-1.50357285e-02 9.99376397e-01 -3.19490944e-02 -3.58827319e-02] [-2.65399112e-03 3.19127050e-02 9.99487136e-01 -1.58478477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.591193817 meters Centerline goodness : 0.902117 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99798538e-01 2.00031500e-02 1.66068099e-03 9.94804854e+00] [-1.99483966e-02 9.99403184e-01 -2.82017108e-02 -3.50197827e-02] [-2.22381292e-03 2.81629013e-02 9.99600873e-01 -1.58312335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.621193817 meters Centerline goodness : 0.904335 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99692701e-01 2.47324049e-02 1.67675494e-03 9.94742743e+00] [-2.46852831e-02 9.99409227e-01 -2.39130350e-02 -3.49737427e-02] [-2.26719122e-03 2.38642954e-02 9.99712636e-01 -1.58173022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.651193817 meters Centerline goodness : 0.902801 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99586822e-01 2.87042667e-02 1.50028275e-03 9.94761864e+00] [-2.86679314e-02 9.99382747e-01 -2.03045337e-02 -3.45319027e-02] [-2.08218344e-03 2.02531343e-02 9.99792716e-01 -1.58082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68119381700001 meters Centerline goodness : 0.899354 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.03, Z:-1.58 [[ 9.99500363e-01 3.15671569e-02 1.59337965e-03 9.94594011e+00] [-3.15344274e-02 9.99348921e-01 -1.75303898e-02 -3.47297485e-02] [-2.14572680e-03 1.74713846e-02 9.99845061e-01 -1.57864396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71119381700001 meters Centerline goodness : 0.898110 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99487866e-01 3.19601053e-02 1.59895678e-03 9.94530820e+00] [-3.19287521e-02 9.99348672e-01 -1.68162572e-02 -3.61682137e-02] [-2.13536468e-03 1.67565923e-02 9.99857318e-01 -1.57777136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74119381700001 meters Centerline goodness : 0.899463 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99497369e-01 3.16769861e-02 1.25612929e-03 9.94621491e+00] [-3.16518820e-02 9.99361812e-01 -1.65567957e-02 -3.76459307e-02] [-1.77979703e-03 1.65087149e-02 9.99862138e-01 -1.57820111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77119381700001 meters Centerline goodness : 0.896622 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99505310e-01 3.14399496e-02 8.15511194e-04 9.94732824e+00] [-3.14227585e-02 9.99376465e-01 -1.61025259e-02 -3.93871584e-02] [-1.32126530e-03 1.60689345e-02 9.99870013e-01 -1.57878286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80119381700001 meters Centerline goodness : 0.898477 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99511166e-01 3.12515566e-02 8.77517460e-04 9.94672805e+00] [-3.12352573e-02 9.99403501e-01 -1.47309684e-02 -4.43576067e-02] [-1.33735972e-03 1.46963580e-02 9.99891108e-01 -1.57859861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831193817 meters Centerline goodness : 0.898477 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.04, Z:-1.58 [[ 9.99511166e-01 3.12515566e-02 8.77517460e-04 9.94672805e+00] [-3.12352573e-02 9.99403501e-01 -1.47309684e-02 -4.43576067e-02] [-1.33735972e-03 1.46963580e-02 9.99891108e-01 -1.57859861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861193817 meters Centerline goodness : 0.897447 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99488555e-01 3.19739369e-02 5.44389429e-04 9.94755773e+00] [-3.19640106e-02 9.99402357e-01 -1.31616868e-02 -4.80264632e-02] [-9.64895020e-04 1.31375544e-02 9.99913233e-01 -1.57906887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.891193817 meters Centerline goodness : 0.898846 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99474746e-01 3.24072571e-02 -4.07408209e-05 9.94903482e+00] [-3.24052744e-02 9.99398025e-01 -1.23889184e-02 -5.01507279e-02] [-3.60774566e-04 1.23837313e-02 9.99923254e-01 -1.57962895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921193817 meters Centerline goodness : 0.897297 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99442491e-01 3.33839010e-02 -4.71574605e-04 9.94972566e+00] [-3.33871273e-02 9.99374963e-01 -1.16181793e-02 -5.10845975e-02] [ 8.34197064e-05 1.16274466e-02 9.99932395e-01 -1.57928072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.951193817 meters Centerline goodness : 0.898935 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.05, Z:-1.58 [[ 9.99427274e-01 3.38352713e-02 -5.46703762e-04 9.94928277e+00] [-3.38392163e-02 9.99368194e-01 -1.08682711e-02 -5.28336382e-02] [ 1.78627450e-04 1.08805466e-02 9.99940789e-01 -1.57845087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981193817 meters Centerline goodness : 0.900070 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99415508e-01 3.41720967e-02 -9.54177506e-04 9.94972698e+00] [-3.41798527e-02 9.99367076e-01 -9.85822597e-03 -5.61847080e-02] [ 6.16697333e-04 9.88507756e-03 9.99950951e-01 -1.57809690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.011193817 meters Centerline goodness : 0.901211 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99402921e-01 3.45347660e-02 -1.07269726e-03 9.94977571e+00] [-3.45426281e-02 9.99367326e-01 -8.47086252e-03 -6.01174473e-02] [ 7.79479336e-04 8.50285854e-03 9.99963546e-01 -1.57812840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041193817 meters Centerline goodness : 0.900244 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.06, Z:-1.58 [[ 9.99404502e-01 3.44784958e-02 -1.36899316e-03 9.95058719e+00] [-3.44879221e-02 9.99376275e-01 -7.59234888e-03 -6.34245248e-02] [ 1.10636652e-03 7.63504139e-03 9.99970241e-01 -1.57873610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07119381700001 meters Centerline goodness : 0.904763 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99386989e-01 3.49852904e-02 -1.29476269e-03 9.95016685e+00] [-3.49918436e-02 9.99372781e-01 -5.44207959e-03 -6.89485165e-02] [ 1.10355785e-03 5.48404967e-03 9.99984354e-01 -1.57883824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10119381700001 meters Centerline goodness : 0.903139 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99482451e-01 3.21059968e-02 -2.00858730e-03 9.95141908e+00] [-3.21225204e-02 9.99445017e-01 -8.82057373e-03 -6.93789577e-02] [ 1.72427926e-03 8.88052954e-03 9.99959081e-01 -1.57881486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13119381700001 meters Centerline goodness : 0.904489 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.07, Z:-1.58 [[ 9.99466692e-01 3.25908216e-02 -2.04199205e-03 9.95142060e+00] [-3.26047419e-02 9.99442380e-01 -7.20137383e-03 -7.32013776e-02] [ 1.80615471e-03 7.26411190e-03 9.99971985e-01 -1.57906244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16119381700001 meters Centerline goodness : 0.903706 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:-1.58 [[ 9.99503286e-01 3.13737023e-02 -2.97849287e-03 9.95466457e+00] [-3.13949740e-02 9.99479766e-01 -7.38597790e-03 -7.65380778e-02] [ 2.74521788e-03 7.47581889e-03 9.99968287e-01 -1.58133271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191193817 meters Centerline goodness : 0.900023 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.08, Z:-1.58 [[ 9.99660549e-01 2.37512826e-02 -1.07081393e-02 9.95442575e+00] [-2.37250611e-02 9.99715220e-01 2.56918024e-03 -8.49668353e-02] [ 1.07661112e-02 -2.31425686e-03 9.99939366e-01 -1.58075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters Centerline goodness : 0.898240 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.09, Z:-1.58 [[ 9.99742625e-01 1.98603043e-02 -1.09659735e-02 9.95557356e+00] [-1.98678472e-02 9.99802447e-01 -5.79324073e-04 -8.63493256e-02] [ 1.09523016e-02 7.97045256e-04 9.99939704e-01 -1.58218466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.251193817 meters Centerline goodness : 0.893387 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.10, Z:-1.58 [[ 9.99895535e-01 7.67799246e-03 -1.22461224e-02 9.95426714e+00] [-7.55833299e-03 9.99923533e-01 9.78774630e-03 -9.68411953e-02] [ 1.23203362e-02 -9.69416355e-03 9.99877109e-01 -1.58319435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.281193817 meters Centerline goodness : 0.894787 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.10, Z:-1.58 [[ 9.99913850e-01 1.18757107e-03 -1.30722094e-02 9.95736148e+00] [-1.14103115e-03 9.99992987e-01 3.56710121e-03 -9.87492530e-02] [ 1.30763539e-02 -3.55187811e-03 9.99908192e-01 -1.58489919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.311193817 meters Centerline goodness : 0.893182 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.10, Z:-1.59 [[ 9.99906175e-01 -2.97819983e-03 -1.33705485e-02 9.95842925e+00] [ 2.97762670e-03 9.99995565e-01 -6.27718102e-05 -1.01025211e-01] [ 1.33706762e-02 2.29534183e-05 9.99910608e-01 -1.58542271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.341193817 meters Centerline goodness : 0.894623 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.10, Z:-1.59 [[ 9.99967840e-01 -4.58859282e-03 -6.57758876e-03 9.96562809e+00] [ 4.55833894e-03 9.99978998e-01 -4.60717523e-03 -1.02676917e-01] [ 6.59859107e-03 4.57704418e-03 9.99967754e-01 -1.59335135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.371193817 meters Centerline goodness : 0.896227 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.10, Z:-1.60 [[ 9.99996866e-01 -2.50290590e-03 -5.23704180e-05 9.97630067e+00] [ 2.50212887e-03 9.99929426e-01 -1.16138912e-02 -1.01862079e-01] [ 8.14351988e-05 1.16137238e-02 9.99932555e-01 -1.59708274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.401193817 meters Centerline goodness : 0.900692 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.10, Z:-1.60 [[ 9.99991629e-01 3.09443712e-04 4.08002509e-03 9.99236131e+00] [-2.59313382e-04 9.99924545e-01 -1.22815793e-02 -9.86820167e-02] [-4.08351769e-03 1.22804185e-02 9.99916255e-01 -1.59589531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43119381700001 meters Centerline goodness : 0.898965 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.10, Z:-1.60 [[ 9.99984214e-01 4.11260700e-03 3.82868309e-03 9.99270146e+00] [-4.08029508e-03 9.99956316e-01 -8.40933412e-03 -9.87772544e-02] [-3.86310012e-03 8.39357922e-03 9.99957311e-01 -1.59552227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46119381700001 meters Centerline goodness : 0.901176 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.10, Z:-1.60 [[ 9.99964657e-01 5.54477447e-03 6.31976712e-03 1.00116497e+01] [-5.46974322e-03 9.99915080e-01 -1.18285540e-02 -9.57055407e-02] [-6.38481711e-03 1.17935685e-02 9.99910069e-01 -1.59718986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49119381700001 meters Centerline goodness : 0.899274 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.09, Z:-1.60 [[ 9.99933121e-01 7.32052707e-03 8.95344691e-03 1.00306542e+01] [-7.18355078e-03 9.99858115e-01 -1.52363715e-02 -9.23127945e-02] [-9.06371482e-03 1.51710350e-02 9.99843832e-01 -1.59943582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52119381700001 meters Centerline goodness : 0.901902 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.09, Z:-1.60 [[ 9.99862086e-01 1.51819701e-02 6.73177524e-03 1.00597620e+01] [-1.50364101e-02 9.99662803e-01 -2.11704073e-02 -9.01851333e-02] [-7.05091380e-03 2.10662659e-02 9.99753218e-01 -1.59914141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55119381700001 meters Centerline goodness : 0.898610 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99835984e-01 1.66685868e-02 7.08254124e-03 1.00810629e+01] [-1.64942934e-02 9.99576045e-01 -2.39930849e-02 -8.87104474e-02] [-7.47946938e-03 2.38723281e-02 9.99687036e-01 -1.60144065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581193817 meters Centerline goodness : 0.899934 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99759838e-01 2.07762754e-02 6.97232933e-03 1.00815781e+01] [-2.06401783e-02 9.99605374e-01 -1.90546376e-02 -9.12507442e-02] [-7.36546227e-03 1.89061513e-02 9.99794133e-01 -1.60193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.611193817 meters Centerline goodness : 0.897232 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99666949e-01 2.48543753e-02 6.94625733e-03 1.00821086e+01] [-2.47545869e-02 9.99594113e-01 -1.41003741e-02 -9.37352474e-02] [-7.29389392e-03 1.39237263e-02 9.99876457e-01 -1.60265409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.641193817 meters Centerline goodness : 0.898321 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99656192e-01 2.53702103e-02 6.62196586e-03 1.00833211e+01] [-2.52774072e-02 9.99586035e-01 -1.37408313e-02 -9.35603691e-02] [-6.96783238e-03 1.35687209e-02 9.99883663e-01 -1.60340626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.671193817 meters Centerline goodness : 0.895826 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.09, Z:-1.60 [[ 9.99648120e-01 2.58148196e-02 6.10175239e-03 1.00845763e+01] [-2.57327092e-02 9.99582067e-01 -1.31726667e-02 -9.45150426e-02] [-6.43925228e-03 1.30110169e-02 9.99894619e-01 -1.60380458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.701193817 meters Centerline goodness : 0.895310 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.10, Z:-1.60 [[ 9.99643417e-01 2.60350914e-02 5.93398238e-03 1.00846266e+01] [-2.59661456e-02 9.99597660e-01 -1.14139094e-02 -9.96112498e-02] [-6.22875707e-03 1.12557567e-02 9.99917252e-01 -1.60392819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.731193817 meters Centerline goodness : 0.895774 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.10, Z:-1.60 [[ 9.99646926e-01 2.59623096e-02 5.65529437e-03 1.00849255e+01] [-2.59016072e-02 9.99608775e-01 -1.05547954e-02 -1.02803483e-01] [-5.92710875e-03 1.04045876e-02 9.99928304e-01 -1.60385119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761193817 meters Centerline goodness : 0.895147 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99638696e-01 2.62668808e-02 5.70336695e-03 1.00841765e+01] [-2.62127948e-02 9.99612570e-01 -9.35942344e-03 -1.06108965e-01] [-5.94700015e-03 9.20654065e-03 9.99939935e-01 -1.60313918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.791193817 meters Centerline goodness : 0.899784 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99636224e-01 2.63802032e-02 5.61296129e-03 1.00840161e+01] [-2.63336265e-02 9.99619445e-01 -8.21618203e-03 -1.09351817e-01] [-5.82756980e-03 8.06538355e-03 9.99950493e-01 -1.60296254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82119381700001 meters Centerline goodness : 0.897824 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.11, Z:-1.60 [[ 9.99634262e-01 2.65262834e-02 5.26285059e-03 1.00847593e+01] [-2.64854556e-02 9.99619686e-01 -7.68143268e-03 -1.10823437e-01] [-5.46460892e-03 7.53923430e-03 9.99956648e-01 -1.60319437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85119381700001 meters Centerline goodness : 0.897556 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.11, Z:-1.60 [[ 9.99629667e-01 2.68044000e-02 4.69606918e-03 1.00858767e+01] [-2.67714813e-02 9.99617504e-01 -6.93781377e-03 -1.12984743e-01] [-4.88023689e-03 6.80952374e-03 9.99964906e-01 -1.60335248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88119381700001 meters Centerline goodness : 0.900141 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.60 [[ 9.99623953e-01 2.70916104e-02 4.24241420e-03 1.00868976e+01] [-2.70663414e-02 9.99616201e-01 -5.90455103e-03 -1.15813516e-01] [-4.40074976e-03 5.78750401e-03 9.99973569e-01 -1.60386143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91119381700001 meters Centerline goodness : 0.899907 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.61 [[ 9.99648647e-01 2.62396859e-02 3.74988646e-03 1.00884713e+01] [-2.62208273e-02 9.99643707e-01 -4.99278395e-03 -1.21607437e-01] [-3.87955948e-03 4.89270459e-03 9.99980505e-01 -1.60538066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters Centerline goodness : 0.895810 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.12, Z:-1.61 [[ 9.99666920e-01 2.55262412e-02 3.80271284e-03 1.00885801e+01] [-2.55090586e-02 9.99664461e-01 -4.50047716e-03 -1.23827910e-01] [-3.91631714e-03 4.40197451e-03 9.99982642e-01 -1.60610078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971193817 meters Centerline goodness : 0.896918 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99766236e-01 2.12847698e-02 3.79893175e-03 1.00884150e+01] [-2.12588427e-02 9.99751290e-01 -6.73949037e-03 -1.28216612e-01] [-3.94143541e-03 6.65715402e-03 9.99970073e-01 -1.60685010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001193817 meters Centerline goodness : 0.899613 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99786455e-01 2.02237755e-02 4.24776991e-03 1.00875732e+01] [-2.02000693e-02 9.99780545e-01 -5.55152725e-03 -1.32018875e-01] [-4.35911055e-03 5.46453650e-03 9.99975568e-01 -1.60765064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.031193817 meters Centerline goodness : 0.901088 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99865968e-01 1.59057867e-02 3.87975923e-03 1.00887269e+01] [-1.58682232e-02 9.99828696e-01 -9.52780145e-03 -1.33032925e-01] [-4.03064179e-03 9.46495953e-03 9.99947083e-01 -1.60840630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061193817 meters Centerline goodness : 0.898926 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99927458e-01 1.15356602e-02 3.46501204e-03 1.00897264e+01] [-1.14876439e-02 9.99841910e-01 -1.35716556e-02 -1.33809924e-01] [-3.62102227e-03 1.35308663e-02 9.99901897e-01 -1.60872528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.091193817 meters Centerline goodness : 0.898196 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.13, Z:-1.61 [[ 9.99966215e-01 7.47673361e-03 3.41570778e-03 1.00896061e+01] [-7.41615615e-03 9.99820824e-01 -1.74161150e-02 -1.34323236e-01] [-3.54531142e-03 1.73901951e-02 9.99842494e-01 -1.60846978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121193817 meters Centerline goodness : 0.902039 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.14, Z:-1.61 [[ 9.99987099e-01 -1.67830174e-03 4.79423676e-03 1.01051460e+01] [ 1.72927201e-03 9.99941821e-01 -1.06472853e-02 -1.35634600e-01] [-4.77608848e-03 1.06554385e-02 9.99931823e-01 -1.60579045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.151193817 meters Centerline goodness : 0.898300 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.14, Z:-1.61 [[ 9.99986525e-01 -2.54996939e-03 4.52193525e-03 1.01057156e+01] [ 2.60028474e-03 9.99934387e-01 -1.11562020e-02 -1.35007004e-01] [-4.49319058e-03 1.11678100e-02 9.99927543e-01 -1.60566707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18119381700001 meters Centerline goodness : 0.904670 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99985145e-01 -3.46463923e-03 4.20791539e-03 1.01067784e+01] [ 3.51497266e-03 9.99921655e-01 -1.20137056e-02 -1.33633823e-01] [-4.16596256e-03 1.20283178e-02 9.99918979e-01 -1.60615965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21119381700001 meters Centerline goodness : 0.898275 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99984683e-01 -3.91495192e-03 3.91242933e-03 1.01076854e+01] [ 3.96445485e-03 9.99911161e-01 -1.27261113e-02 -1.31572011e-01] [-3.86225964e-03 1.27414270e-02 9.99911366e-01 -1.60650843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24119381700001 meters Centerline goodness : 0.901919 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.13, Z:-1.61 [[ 9.99991591e-01 -1.93878796e-03 3.61361393e-03 1.01089920e+01] [ 1.98013185e-03 9.99932223e-01 -1.14729024e-02 -1.25890149e-01] [-3.59112548e-03 1.14799614e-02 9.99927655e-01 -1.60725554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27119381700001 meters Centerline goodness : 0.900752 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.12, Z:-1.61 [[ 9.99994416e-01 4.88244364e-04 3.30604241e-03 1.01105479e+01] [-4.56413891e-04 9.99953604e-01 -9.62188789e-03 -1.21512038e-01] [-3.31058686e-03 9.62032524e-03 9.99948243e-01 -1.60829611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30119381700001 meters Centerline goodness : 0.897111 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.11, Z:-1.61 [[ 9.99979690e-01 1.88368394e-03 6.08870173e-03 1.01290952e+01] [-1.78854202e-03 9.99876809e-01 -1.55938328e-02 -1.08359822e-01] [-6.11732551e-03 1.55826262e-02 9.99859870e-01 -1.61111056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331193817 meters Centerline goodness : 0.895717 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.10, Z:-1.61 [[ 9.99964666e-01 2.51970965e-03 8.01984718e-03 1.01488972e+01] [-2.36886377e-03 9.99821147e-01 -1.87633162e-02 -1.03910477e-01] [-8.06569092e-03 1.87436552e-02 9.99791788e-01 -1.61231532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361193817 meters Centerline goodness : 0.898672 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.10, Z:-1.61 [[ 9.99966709e-01 3.42695102e-03 7.40523686e-03 1.01515030e+01] [-3.29264763e-03 9.99831249e-01 -1.80729804e-02 -1.00271043e-01] [-7.46592243e-03 1.80479959e-02 9.99809247e-01 -1.61384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.391193817 meters Centerline goodness : 0.896365 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.10, Z:-1.62 [[ 9.99970025e-01 4.45806507e-03 6.33044000e-03 1.01746732e+01] [-4.33356353e-03 9.99799557e-01 -1.95464847e-02 -9.52584120e-02] [-6.41631061e-03 1.95184654e-02 9.99788908e-01 -1.61623511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421193817 meters Centerline goodness : 0.898100 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.08, Z:-1.62 [[ 9.99955780e-01 5.30293458e-03 7.76637505e-03 1.01960692e+01] [-5.11067952e-03 9.99685076e-01 -2.45688667e-02 -8.06316536e-02] [-7.89421633e-03 2.45280888e-02 9.99667972e-01 -1.62009670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.451193817 meters Centerline goodness : 0.898102 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.08, Z:-1.62 [[ 9.99946097e-01 7.42907192e-03 7.25344822e-03 1.01981354e+01] [-7.26051305e-03 9.99709225e-01 -2.29945860e-02 -7.58549546e-02] [-7.42216753e-03 2.29406828e-02 9.99709276e-01 -1.62117191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481193817 meters Centerline goodness : 0.895235 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.07, Z:-1.62 [[ 9.99927599e-01 9.88840127e-03 6.85690866e-03 1.01999912e+01] [-9.74095327e-03 9.99727514e-01 -2.12134675e-02 -7.09858832e-02] [-7.06480753e-03 2.11451388e-02 9.99751455e-01 -1.62227179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.511193817 meters Centerline goodness : 0.895300 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.07, Z:-1.62 [[ 9.99897919e-01 1.27225654e-02 6.50285068e-03 1.02014492e+01] [-1.25949781e-02 9.99734435e-01 -1.92983499e-02 -6.55238379e-02] [-6.74664827e-03 1.92144766e-02 9.99792622e-01 -1.62290709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541193817 meters Centerline goodness : 0.892219 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.05, Z:-1.63 [[ 9.99814198e-01 1.79726683e-02 6.96800033e-03 1.02232321e+01] [-1.78161769e-02 9.99601292e-01 -2.19052539e-02 -5.03800961e-02] [-7.35891800e-03 2.17770407e-02 9.99735769e-01 -1.62551039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57119381700001 meters Centerline goodness : 0.894066 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.04, Z:-1.63 [[ 9.99753387e-01 2.12418938e-02 6.47664634e-03 1.02252196e+01] [-2.11053588e-02 9.99567739e-01 -2.04670370e-02 -4.39088050e-02] [-6.90860536e-03 2.03252976e-02 9.99769550e-01 -1.62593557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60119381700001 meters Centerline goodness : 0.893599 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.04, Z:-1.63 [[ 9.99671642e-01 2.48818929e-02 6.12371946e-03 1.02266552e+01] [-2.47657770e-02 9.99524700e-01 -1.83583848e-02 -3.78812957e-02] [-6.57760022e-03 1.82006980e-02 9.99812717e-01 -1.62609390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63119381700001 meters Centerline goodness : 0.892277 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.03, Z:-1.63 [[ 9.99500837e-01 3.10163279e-02 6.00537688e-03 1.02277649e+01] [-3.09272823e-02 9.99418011e-01 -1.43924610e-02 -2.69374415e-02] [-6.44828310e-03 1.41995468e-02 9.99878389e-01 -1.62604124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66119381700001 meters Centerline goodness : 0.892182 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.63 [[ 9.99410564e-01 3.38159139e-02 5.91675425e-03 1.02280030e+01] [-3.37420013e-02 9.99356413e-01 -1.21752270e-02 -2.26646126e-02] [-6.32466274e-03 1.19684074e-02 9.99908374e-01 -1.62563250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691193817 meters Centerline goodness : 0.892182 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.63 [[ 9.99410564e-01 3.38159139e-02 5.91675425e-03 1.02280030e+01] [-3.37420013e-02 9.99356413e-01 -1.21752270e-02 -2.26646126e-02] [-6.32466274e-03 1.19684074e-02 9.99908374e-01 -1.62563250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721193817 meters Centerline goodness : 0.892068 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.62 [[ 9.99327778e-01 3.61461656e-02 6.11933366e-03 1.02272531e+01] [-3.60822680e-02 9.99296269e-01 -1.02487885e-02 -1.88355549e-02] [-6.48548170e-03 1.00210996e-02 9.99928756e-01 -1.62472055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.751193817 meters Centerline goodness : 0.891342 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.02, Z:-1.62 [[ 9.99278600e-01 3.74339658e-02 6.40134843e-03 1.02256693e+01] [-3.73747350e-02 9.99259567e-01 -9.13488683e-03 -1.58031642e-02] [-6.73856371e-03 8.88904822e-03 9.99937786e-01 -1.62311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.781193817 meters Centerline goodness : 0.893536 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99311942e-01 3.65371958e-02 6.37783617e-03 1.02253883e+01] [-3.64653174e-02 9.99273889e-01 -1.10442778e-02 -1.06249552e-02] [-6.77673209e-03 1.08041088e-02 9.99918670e-01 -1.62241624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.811193817 meters Centerline goodness : 0.890695 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99206597e-01 3.93067643e-02 6.41512242e-03 1.02257504e+01] [-3.92542889e-02 9.99196337e-01 -8.11059636e-03 -9.18885863e-03] [-6.72876812e-03 7.85234032e-03 9.99946531e-01 -1.62262191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841193817 meters Centerline goodness : 0.891583 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.99089321e-01 4.21851337e-02 6.39872291e-03 1.02261255e+01] [-4.21513987e-02 9.99097079e-01 -5.31849176e-03 -6.67886375e-03] [-6.61730666e-03 5.04393320e-03 9.99965384e-01 -1.62261618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.871193817 meters Centerline goodness : 0.892537 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98952687e-01 4.52948053e-02 6.47383171e-03 1.02263056e+01] [-4.52796395e-02 9.98971297e-01 -2.47038731e-03 -3.98610400e-03] [-6.57906777e-03 2.17466728e-03 9.99975993e-01 -1.62252501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901193817 meters Centerline goodness : 0.893164 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98787330e-01 4.87876155e-02 6.60591742e-03 1.02262064e+01] [-4.87904138e-02 9.98809004e-01 2.63025549e-04 -3.36427319e-04] [-6.58521741e-03 -5.85012031e-04 9.99978146e-01 -1.62211203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93119381700001 meters Centerline goodness : 0.894142 Centerline is valid? [False, False] Translation: X:10.23, Y:0.00, Z:-1.62 [[ 9.98771465e-01 4.91207880e-02 6.53518491e-03 1.02262312e+01] [-4.91222009e-02 9.98792774e-01 5.57553383e-05 1.06086613e-03] [-6.52455672e-03 -3.76709507e-04 9.99978644e-01 -1.62181469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96119381700001 meters Centerline goodness : 0.893844 Centerline is valid? [False, False] Translation: X:10.22, Y:0.00, Z:-1.62 [[ 9.98625181e-01 5.19620815e-02 6.90578930e-03 1.02246913e+01] [-5.19840991e-02 9.98643262e-01 3.04785398e-03 1.61589263e-03] [-6.73804711e-03 -3.40265497e-03 9.99971510e-01 -1.62014429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99119381700001 meters Centerline goodness : 0.898426 Centerline is valid? [False, False] Translation: X:10.22, Y:0.00, Z:-1.62 [[ 9.98430365e-01 5.54706183e-02 7.73414662e-03 1.02209307e+01] [-5.55204526e-02 9.98437136e-01 6.38473813e-03 2.97603009e-03] [-7.36789383e-03 -6.80411974e-03 9.99949708e-01 -1.61662252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02119381700001 meters Centerline goodness : 0.895331 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.00, Z:-1.62 [[ 9.98405606e-01 5.52805671e-02 1.14151307e-02 1.02246349e+01] [-5.55030529e-02 9.98254324e-01 2.01919743e-02 -2.18603858e-04] [-1.02789798e-02 -2.07933549e-02 9.99730953e-01 -1.61569240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05119381700001 meters Centerline goodness : 0.889985 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98387246e-01 5.56535765e-02 1.12065322e-02 1.02250364e+01] [-5.58762015e-02 9.98224284e-01 2.06429067e-02 -7.14018207e-04] [-1.00377810e-02 -2.12357932e-02 9.99724104e-01 -1.61562806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081193817 meters Centerline goodness : 0.892458 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.00, Z:-1.62 [[ 9.98389199e-01 5.57264599e-02 1.06569174e-02 1.02262654e+01] [-5.59475510e-02 9.98197540e-01 2.17150415e-02 -3.94770792e-03] [-9.42760633e-03 -2.22762913e-02 9.99707401e-01 -1.61570929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.111193817 meters Centerline goodness : 0.890344 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.98394746e-01 5.56566231e-02 1.05010422e-02 1.02265236e+01] [-5.58804038e-02 9.98186633e-01 2.23791409e-02 -6.26374521e-03] [-9.23645258e-03 -2.29300192e-02 9.99694404e-01 -1.61561843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.141193817 meters Centerline goodness : 0.894962 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.01, Z:-1.62 [[ 9.98590686e-01 5.21036389e-02 1.00922010e-02 1.02270410e+01] [-5.22856375e-02 9.98457112e-01 1.86977767e-02 -6.94269727e-03] [-9.10240767e-03 -1.91991028e-02 9.99774245e-01 -1.61573328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.171193817 meters Centerline goodness : 0.887774 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.98888878e-01 4.63974082e-02 8.26375162e-03 1.02060081e+01] [-4.66254866e-02 9.98463049e-01 2.99600362e-02 -9.23782329e-03] [-6.86098261e-03 -3.03120484e-02 9.99516937e-01 -1.61329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.201193817 meters Centerline goodness : 0.888413 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99164818e-01 4.01557547e-02 7.56192204e-03 1.02078141e+01] [-4.03271671e-02 9.98896475e-01 2.40738771e-02 -1.35713099e-02] [-6.58687257e-03 -2.43587219e-02 9.99681582e-01 -1.61457828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.231193817 meters Centerline goodness : 0.889339 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99297301e-01 3.67804167e-02 7.21843712e-03 1.02084488e+01] [-3.69199657e-02 9.99112861e-01 2.02585083e-02 -1.32168290e-02] [-6.46691699e-03 -2.05107771e-02 9.99768717e-01 -1.61485432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261193817 meters Centerline goodness : 0.887633 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99406391e-01 3.37197388e-02 7.06002240e-03 1.02083609e+01] [-3.38325160e-02 9.99291049e-01 1.65154769e-02 -1.22727582e-02] [-6.49811962e-03 -1.67445315e-02 9.99838685e-01 -1.61452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.291193817 meters Centerline goodness : 0.890759 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99513864e-01 3.04491896e-02 6.69943551e-03 1.02086204e+01] [-3.05323044e-02 9.99453412e-01 1.26749713e-02 -1.14989340e-02] [-6.30983108e-03 -1.28733588e-02 9.99897226e-01 -1.61415951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32119381700001 meters Centerline goodness : 0.891363 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.01, Z:-1.61 [[ 9.99587697e-01 2.79082568e-02 6.75026674e-03 1.02066372e+01] [-2.79757184e-02 9.99557426e-01 1.01149538e-02 -1.37645328e-02] [-6.46498852e-03 -1.02996269e-02 9.99926058e-01 -1.61173521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35119381700001 meters Centerline goodness : 0.890138 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.01, Z:-1.61 [[ 9.99615280e-01 2.68474205e-02 6.96483890e-03 1.02046370e+01] [-2.69110236e-02 9.99595451e-01 9.20494696e-03 -1.44011236e-02] [-6.71489220e-03 -9.38883658e-03 9.99933378e-01 -1.60980188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38119381700001 meters Centerline goodness : 0.891578 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.01, Z:-1.61 [[ 9.99700200e-01 2.35266173e-02 6.78296360e-03 1.02046861e+01] [-2.35634038e-02 9.99707785e-01 5.39542879e-03 -1.39931296e-02] [-6.65404533e-03 -5.55364095e-03 9.99962440e-01 -1.60955122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41119381700001 meters Centerline goodness : 0.890373 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.02, Z:-1.61 [[ 9.99784078e-01 1.96443816e-02 6.77458867e-03 1.02044221e+01] [-1.96579187e-02 9.99804887e-01 1.93744354e-03 -1.61053124e-02] [-6.73520698e-03 -2.07019952e-03 9.99975175e-01 -1.60938886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441193817 meters Centerline goodness : 0.884410 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99835194e-01 1.70087286e-02 6.34730270e-03 1.02067727e+01] [-1.70052482e-02 9.99855219e-01 -6.01896689e-04 -1.71224388e-02] [-6.35662123e-03 4.93860035e-04 9.99979675e-01 -1.61140505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471193817 meters Centerline goodness : 0.889777 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99893371e-01 1.32632879e-02 6.10996146e-03 1.02078908e+01] [-1.32367140e-02 9.99902844e-01 -4.36938054e-03 -1.75258155e-02] [-6.16732019e-03 4.28803883e-03 9.99971788e-01 -1.61245327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501193817 meters Centerline goodness : 0.884205 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.61 [[ 9.99898823e-01 1.29704715e-02 5.84038417e-03 1.02091704e+01] [-1.29493921e-02 9.99909554e-01 -3.63270641e-03 -2.06748481e-02] [-5.88697384e-03 3.55670944e-03 9.99976346e-01 -1.61368437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.531193817 meters Centerline goodness : 0.886162 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.02, Z:-1.62 [[ 9.99957170e-01 7.67371583e-03 5.17411765e-03 1.02125130e+01] [-7.63047313e-03 9.99936224e-01 -8.32607789e-03 -2.31601189e-02] [-5.23767962e-03 8.28624032e-03 9.99951951e-01 -1.61639296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.561193817 meters Centerline goodness : 0.885960 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99972714e-01 5.80089416e-03 4.57397179e-03 1.02152928e+01] [-5.75497392e-03 9.99933543e-01 -9.98951526e-03 -2.36587316e-02] [-4.63161594e-03 9.96291960e-03 9.99939642e-01 -1.61834223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.591193817 meters Centerline goodness : 0.879530 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99976534e-01 5.36657495e-03 4.25819553e-03 1.02160485e+01] [-5.32373651e-03 9.99935741e-01 -1.00085879e-02 -2.43441239e-02] [-4.31163373e-03 9.98568350e-03 9.99940846e-01 -1.61853547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621193817 meters Centerline goodness : 0.878275 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.02, Z:-1.62 [[ 9.99979114e-01 5.03609288e-03 4.05076428e-03 1.02167351e+01] [-4.99514595e-03 9.99936962e-01 -1.00558290e-02 -2.47837360e-02] [-4.10115102e-03 1.00353848e-02 9.99941234e-01 -1.61888607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.651193817 meters Centerline goodness : 0.883562 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.62 [[ 9.99982569e-01 4.63132834e-03 3.66225807e-03 1.02177347e+01] [-4.59375383e-03 9.99937400e-01 -1.02026294e-02 -2.52004176e-02] [-3.70928054e-03 1.01856280e-02 9.99941245e-01 -1.61917844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68119381700001 meters Centerline goodness : 0.882721 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.03, Z:-1.62 [[ 9.99983571e-01 4.55348599e-03 3.48191463e-03 1.02181778e+01] [-4.51725452e-03 9.99936300e-01 -1.03436254e-02 -2.50598598e-02] [-3.52879239e-03 1.03277268e-02 9.99940441e-01 -1.61923354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71119381700001 meters Centerline goodness : 0.879624 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.02, Z:-1.62 [[ 9.99965111e-01 4.94724486e-03 6.73062539e-03 1.02359226e+01] [-4.84706370e-03 9.99878427e-01 -1.48201412e-02 -1.99009475e-02] [-6.80312600e-03 1.47870003e-02 9.99867522e-01 -1.62061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74119381700001 meters Centerline goodness : 0.879718 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.02, Z:-1.62 [[ 9.99947927e-01 6.33670610e-03 7.99929979e-03 1.02567415e+01] [-6.19995981e-03 9.99836176e-01 -1.70053678e-02 -1.70462085e-02] [-8.10574733e-03 1.69548869e-02 9.99823399e-01 -1.62272210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77119381700001 meters Centerline goodness : 0.879302 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99920206e-01 1.11404058e-02 5.95591567e-03 1.02849332e+01] [-1.10037231e-02 9.99686076e-01 -2.25092968e-02 -1.42247925e-02] [-6.20480866e-03 2.24419635e-02 9.99728893e-01 -1.62145509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80119381700001 meters Centerline goodness : 0.878045 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.01, Z:-1.62 [[ 9.99860231e-01 1.56694840e-02 5.82972885e-03 1.02850968e+01] [-1.55582176e-02 9.99704729e-01 -1.86654081e-02 -1.20580830e-02] [-6.12048481e-03 1.85720991e-02 9.99808790e-01 -1.62101708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831193817 meters Centerline goodness : 0.878339 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99621993e-01 2.67848531e-02 6.20028610e-03 1.02828849e+01] [-2.67320089e-02 9.99606884e-01 -8.45437550e-03 -8.32617690e-03] [-6.42429788e-03 8.28543358e-03 9.99945038e-01 -1.61822082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.861193817 meters Centerline goodness : 0.879563 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99412617e-01 3.37344750e-02 6.03369557e-03 1.02831716e+01] [-3.37300112e-02 9.99430628e-01 -8.40065099e-04 -8.60075912e-03] [-6.05859931e-03 6.36055040e-04 9.99981444e-01 -1.61747163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.891193817 meters Centerline goodness : 0.876378 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99247664e-01 3.82436552e-02 6.44429301e-03 1.02821037e+01] [-3.82672860e-02 9.99261111e-01 3.58437290e-03 -8.34106458e-03] [-6.30245187e-03 -3.82828185e-03 9.99972811e-01 -1.61648205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.921193817 meters Centerline goodness : 0.877726 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99231151e-01 3.86547447e-02 6.55112890e-03 1.02815944e+01] [-3.86792209e-02 9.99245007e-01 3.65154456e-03 -7.96973168e-03] [-6.40503332e-03 -3.90212964e-03 9.99971874e-01 -1.61593855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.951193817 meters Centerline goodness : 0.872120 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99334845e-01 3.58572601e-02 6.64257827e-03 1.02808584e+01] [-3.58578144e-02 9.99356901e-01 -3.56669378e-05 -7.19201538e-03] [-6.63958535e-03 -2.02545125e-04 9.99977937e-01 -1.61544350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.981193817 meters Centerline goodness : 0.875435 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.62 [[ 9.99435182e-01 3.29012978e-02 6.84258255e-03 1.02799601e+01] [-3.28777171e-02 9.99453146e-01 -3.53058426e-03 -7.22232971e-03] [-6.95500146e-03 3.30362163e-03 9.99970357e-01 -1.61500639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.011193817 meters Centerline goodness : 0.875119 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.61 [[ 9.99419308e-01 3.33541518e-02 6.96753965e-03 1.02796649e+01] [-3.33376853e-02 9.99441102e-01 -2.46627986e-03 -1.06040082e-02] [-7.04590618e-03 2.23256606e-03 9.99972685e-01 -1.61492402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.041193817 meters Centerline goodness : 0.871293 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.01, Z:-1.61 [[ 9.99405341e-01 3.37647095e-02 6.99349329e-03 1.02795665e+01] [-3.37544796e-02 9.99428913e-01 -1.57571027e-03 -1.34023333e-02] [-7.04270280e-03 1.33871153e-03 9.99974304e-01 -1.61491262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07119381700001 meters Centerline goodness : 0.868731 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.02, Z:-1.62 [[ 9.99498168e-01 3.09696641e-02 6.65518101e-03 1.02803530e+01] [-3.09402058e-02 9.99511176e-01 -4.48468151e-03 -1.55355057e-02] [-6.79081687e-03 4.27651829e-03 9.99967798e-01 -1.61542431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10119381700001 meters Centerline goodness : 0.872153 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.02, Z:-1.62 [[ 9.99563522e-01 2.89153201e-02 6.05551948e-03 1.02825894e+01] [-2.88782168e-02 9.99564156e-01 -6.12753948e-03 -1.98855333e-02] [-6.23005998e-03 5.94999234e-03 9.99962891e-01 -1.61708178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13119381700001 meters Centerline goodness : 0.872981 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.03, Z:-1.62 [[ 9.99694961e-01 2.40791589e-02 5.49346419e-03 1.02848253e+01] [-2.40282422e-02 9.99669373e-01 -9.15360041e-03 -3.02349416e-02] [-5.71205890e-03 9.01880992e-03 9.99943015e-01 -1.61933624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16119381700001 meters Centerline goodness : 0.873767 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.04, Z:-1.62 [[ 9.99799386e-01 1.98086278e-02 2.96755337e-03 1.02755674e+01] [-1.98071144e-02 9.99803675e-01 -5.38505385e-04 -3.80277579e-02] [-2.97763781e-03 4.79618684e-04 9.99995452e-01 -1.61891328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191193817 meters Centerline goodness : 0.876939 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.04, Z:-1.62 [[ 9.99855634e-01 1.67229834e-02 3.00869200e-03 1.02753375e+01] [-1.67171681e-02 9.99858361e-01 -1.94772254e-03 -4.44792010e-02] [-3.04083758e-03 1.89714455e-03 9.99993577e-01 -1.61929852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters Centerline goodness : 0.877397 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.06, Z:-1.62 [[ 9.99936346e-01 1.10002173e-02 2.50965846e-03 1.02777292e+01] [-1.09889995e-02 9.99929759e-01 -4.44071421e-03 -5.60889564e-02] [-2.55833100e-03 4.41285290e-03 9.99986991e-01 -1.62253932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.251193817 meters Centerline goodness : 0.876898 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.06, Z:-1.62 [[ 9.99961562e-01 8.51529098e-03 2.08888041e-03 1.02801044e+01] [-8.50191184e-03 9.99943808e-01 -6.33231480e-03 -6.05915824e-02] [-2.14268454e-03 6.31431192e-03 9.99977769e-01 -1.62458140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281193817 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.07, Z:-1.63 [[ 9.99977487e-01 6.55014584e-03 1.45646667e-03 1.02828582e+01] [-6.53863439e-03 9.99948414e-01 -7.77275541e-03 -6.56710989e-02] [-1.50730422e-03 7.76305712e-03 9.99968731e-01 -1.62668487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.311193817 meters Centerline goodness : 0.875933 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.07, Z:-1.63 [[ 9.99989972e-01 4.45012260e-03 -5.01312821e-04 1.03050253e+01] [-4.45511779e-03 9.99935497e-01 -1.04476888e-02 -7.10680679e-02] [ 4.54786988e-04 1.04498174e-02 9.99945296e-01 -1.62798898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341193817 meters Centerline goodness : 0.877713 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.08, Z:-1.63 [[ 9.99994399e-01 3.30000287e-03 -5.57923798e-04 1.03056516e+01] [-3.30563276e-03 9.99940346e-01 -1.04104397e-02 -8.04908107e-02] [ 5.23536035e-04 1.04122257e-02 9.99945654e-01 -1.62865167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.371193817 meters Centerline goodness : 0.876264 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.08, Z:-1.63 [[ 9.99994378e-01 3.14064098e-03 1.17509338e-03 1.03254039e+01] [-3.12709783e-03 9.99930643e-01 -1.13547604e-02 -8.35994331e-02] [-1.21067311e-03 1.13510219e-02 9.99934842e-01 -1.62928963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401193817 meters Centerline goodness : 0.877912 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.09, Z:-1.63 [[ 9.99993142e-01 3.54738611e-03 1.06419006e-03 1.03257647e+01] [-3.53639770e-03 9.99942177e-01 -1.01556511e-02 -8.72621732e-02] [-1.10015454e-03 1.01518181e-02 9.99947864e-01 -1.62947834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43119381700001 meters Centerline goodness : 0.879519 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.09, Z:-1.63 [[ 9.99994672e-01 3.21660261e-03 5.57130558e-04 1.03276604e+01] [-3.21106641e-03 9.99948107e-01 -9.66808437e-03 -9.10588704e-02] [-5.88200032e-04 9.66624387e-03 9.99953108e-01 -1.63062102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46119381700001 meters Centerline goodness : 0.879948 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99999732e-01 6.93100718e-04 2.37391405e-04 1.03288027e+01] [-6.90479801e-04 9.99940702e-01 -1.08681397e-02 -9.88633195e-02] [-2.44910043e-04 1.08679729e-02 9.99940912e-01 -1.63134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49119381700001 meters Centerline goodness : 0.879652 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99996541e-01 -2.62770857e-03 1.17958044e-04 1.03290834e+01] [ 2.62909379e-03 9.99900027e-01 -1.38932880e-02 -1.01276551e-01] [-8.14387398e-05 1.38935501e-02 9.99903477e-01 -1.63142496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52119381700001 meters Centerline goodness : 0.883420 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.10, Z:-1.63 [[ 9.99982441e-01 -5.92458566e-03 1.32451006e-04 1.03288785e+01] [ 5.92597871e-03 9.99839235e-01 -1.69229473e-02 -1.03437184e-01] [-3.21682623e-05 1.69234350e-02 9.99856788e-01 -1.63112294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55119381700001 meters Centerline goodness : 0.886374 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99986994e-01 -5.09966535e-03 7.13549439e-05 1.03281924e+01] [ 5.10016327e-03 9.99879030e-01 -1.46939864e-02 -1.10466163e-01] [ 3.58810112e-06 1.46941592e-02 9.99892035e-01 -1.62987737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters Centerline goodness : 0.880861 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99990006e-01 -4.46450595e-03 -2.34871458e-04 1.03286197e+01] [ 4.46084581e-03 9.99895107e-01 -1.37795603e-02 -1.12491350e-01] [ 2.96365750e-04 1.37783749e-02 9.99905030e-01 -1.62961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.611193817 meters Centerline goodness : 0.880861 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.11, Z:-1.63 [[ 9.99990006e-01 -4.46450595e-03 -2.34871458e-04 1.03286197e+01] [ 4.46084581e-03 9.99895107e-01 -1.37795603e-02 -1.12491350e-01] [ 2.96365750e-04 1.37783749e-02 9.99905030e-01 -1.62961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641193817 meters Centerline goodness : 0.879899 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.11, Z:-1.63 [[ 9.99993164e-01 -1.63286424e-04 3.69397795e-03 1.03410504e+01] [ 2.35376122e-04 9.99809371e-01 -1.95234559e-02 -1.13112972e-01] [-3.69008585e-03 1.95241919e-02 9.99802575e-01 -1.63366643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.671193817 meters Centerline goodness : 0.882234 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.12, Z:-1.63 [[ 9.99988738e-01 2.88884788e-03 3.76541699e-03 1.03614890e+01] [-2.82096053e-03 9.99835597e-01 -1.79114774e-02 -1.15111768e-01] [-3.81654148e-03 1.79006536e-02 9.99832486e-01 -1.63341871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701193817 meters Centerline goodness : 0.880021 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.12, Z:-1.63 [[ 9.99977914e-01 3.72433374e-03 5.50469121e-03 1.03815016e+01] [-3.61084468e-03 9.99783642e-01 -2.04848955e-02 -1.15366193e-01] [-5.57979281e-03 2.04645665e-02 9.99775008e-01 -1.63460802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.731193817 meters Centerline goodness : 0.884970 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.12, Z:-1.64 [[ 9.99967523e-01 5.43699752e-03 5.94914353e-03 1.04023538e+01] [-5.31150927e-03 9.99767257e-01 -2.09097877e-02 -1.19643758e-01] [-6.06144537e-03 2.08775097e-02 9.99763666e-01 -1.63524852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.761193817 meters Centerline goodness : 0.885205 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.12, Z:-1.64 [[ 9.99968004e-01 5.66024323e-03 5.65261752e-03 1.04032364e+01] [-5.54612976e-03 9.99784530e-01 -2.00033547e-02 -1.22713028e-01] [-5.76462341e-03 1.99713645e-02 9.99783934e-01 -1.63570015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.791193817 meters Centerline goodness : 0.878932 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.12, Z:-1.64 [[ 9.99975746e-01 4.68338799e-03 5.15489602e-03 1.04056555e+01] [-4.57717153e-03 9.99780861e-01 -2.04274071e-02 -1.24645371e-01] [-5.24943585e-03 2.04033169e-02 9.99778049e-01 -1.63748947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82119381700001 meters Centerline goodness : 0.881381 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99980956e-01 4.13802372e-03 4.57873894e-03 1.04077960e+01] [-4.04394867e-03 9.99784372e-01 -2.03680082e-02 -1.26529903e-01] [-4.66203493e-03 2.03491042e-02 9.99782066e-01 -1.63884904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85119381700001 meters Centerline goodness : 0.880862 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99984565e-01 3.49472836e-03 4.31938269e-03 1.04096722e+01] [-3.40798960e-03 9.99795607e-01 -1.99280945e-02 -1.30231544e-01] [-4.38814312e-03 1.99130665e-02 9.99792085e-01 -1.64063642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88119381700001 meters Centerline goodness : 0.882755 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.13, Z:-1.64 [[ 9.99988014e-01 2.94996812e-03 3.90767882e-03 1.04109369e+01] [-2.87212426e-03 9.99800256e-01 -1.97787614e-02 -1.32300664e-01] [-3.96524500e-03 1.97673010e-02 9.99796745e-01 -1.64115701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91119381700001 meters Centerline goodness : 0.882425 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99989403e-01 2.55233609e-03 3.83145791e-03 1.04111065e+01] [-2.47809532e-03 9.99811478e-01 -1.92579085e-02 -1.35363260e-01] [-3.87988825e-03 1.92482097e-02 9.99807208e-01 -1.64110971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters Centerline goodness : 0.884327 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99976600e-01 -5.73186652e-03 3.73443028e-03 1.04116234e+01] [ 5.83016716e-03 9.99622032e-01 -2.68663964e-02 -1.37947637e-01] [-3.57902419e-03 2.68875400e-02 9.99632058e-01 -1.64151456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971193817 meters Centerline goodness : 0.887017 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99941687e-01 -1.01814702e-02 3.60007217e-03 1.04126850e+01] [ 1.02885308e-02 9.99463680e-01 -3.10885649e-02 -1.38039686e-01] [-3.28161409e-03 3.11237915e-02 9.99510150e-01 -1.64247867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.001193817 meters Centerline goodness : 0.888799 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.14, Z:-1.64 [[ 9.99919723e-01 -1.22642862e-02 3.18348837e-03 1.04149638e+01] [ 1.23608522e-02 9.99400810e-01 -3.23300362e-02 -1.38654060e-01] [-2.78507603e-03 3.23667914e-02 9.99472178e-01 -1.64408357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.031193817 meters Centerline goodness : 0.889305 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99835748e-01 -1.78596892e-02 3.08356648e-03 1.04154220e+01] [ 1.79628706e-02 9.99134502e-01 -3.75177599e-02 -1.37333967e-01] [-2.41084212e-03 3.75669873e-02 9.99291203e-01 -1.64406103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.061193817 meters Centerline goodness : 0.891132 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99828967e-01 -1.82679449e-02 2.88441029e-03 1.04153932e+01] [ 1.83638087e-02 9.99119493e-01 -3.77227818e-02 -1.37292647e-01] [-2.19275285e-03 3.77692987e-02 9.99284080e-01 -1.64341204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.091193817 meters Centerline goodness : 0.891514 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99872429e-01 -1.57510999e-02 2.65112639e-03 1.04159438e+01] [ 1.58333633e-02 9.99277103e-01 -3.45626528e-02 -1.37408467e-01] [-2.10481010e-03 3.46002198e-02 9.99399017e-01 -1.64344974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.121193817 meters Centerline goodness : 0.895863 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.14, Z:-1.64 [[ 9.99907776e-01 -1.34039700e-02 2.18483167e-03 1.04174794e+01] [ 1.34673344e-02 9.99391854e-01 -3.21644784e-02 -1.35139341e-01] [-1.75237127e-03 3.21909359e-02 9.99480201e-01 -1.64417524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.151193817 meters Centerline goodness : 0.894852 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.13, Z:-1.64 [[ 9.99944781e-01 -1.03290658e-02 1.93539029e-03 1.04183173e+01] [ 1.03811064e-02 9.99521196e-01 -2.91480917e-02 -1.32767718e-01] [-1.63339106e-03 2.91665737e-02 9.99573230e-01 -1.64458428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18119381700001 meters Centerline goodness : 0.893147 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.13, Z:-1.65 [[ 9.99962904e-01 -8.50430833e-03 1.36686262e-03 1.04203825e+01] [ 8.53926349e-03 9.99571181e-01 -2.80095428e-02 -1.26857041e-01] [-1.12807470e-03 2.80201758e-02 9.99606721e-01 -1.64564202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21119381700001 meters Centerline goodness : 0.892586 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.12, Z:-1.65 [[ 9.99959347e-01 -8.94234389e-03 1.15677468e-03 1.04210553e+01] [ 8.97211285e-03 9.99539827e-01 -2.89764716e-02 -1.24195340e-01] [-8.97124793e-04 2.89856723e-02 9.99579425e-01 -1.64586233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24119381700001 meters Centerline goodness : 0.893488 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.12, Z:-1.65 [[ 9.99953780e-01 -9.56160593e-03 1.00699043e-03 1.04216793e+01] [ 9.58760711e-03 9.99500082e-01 -3.01274490e-02 -1.20899403e-01] [-7.18420221e-04 3.01357111e-02 9.99545558e-01 -1.64615743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27119381700001 meters Centerline goodness : 0.892477 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.11, Z:-1.65 [[ 9.99922633e-01 -1.24278309e-02 5.26305525e-04 1.04242499e+01] [ 1.24384667e-02 9.99367404e-01 -3.33177940e-02 -1.10319069e-01] [-1.11904678e-04 3.33217628e-02 9.99444670e-01 -1.64751566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30119381700001 meters Centerline goodness : 0.887807 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.11, Z:-1.65 [[ 9.99905992e-01 -1.37083607e-02 2.96763285e-04 1.04256062e+01] [ 1.37103228e-02 9.99288453e-01 -3.51370785e-02 -1.05167503e-01] [ 1.85119622e-04 3.51378441e-02 9.99382458e-01 -1.64842351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331193817 meters Centerline goodness : 0.891866 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.10, Z:-1.65 [[ 9.99882187e-01 -1.53487606e-02 -1.64709209e-04 1.04276476e+01] [ 1.53319073e-02 9.99184998e-01 -3.73399512e-02 -1.00111930e-01] [ 7.37696941e-04 3.73330267e-02 9.99302607e-01 -1.64959994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361193817 meters Centerline goodness : 0.891386 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.09, Z:-1.65 [[ 9.99854869e-01 -1.70237224e-02 -6.59399132e-04 1.04292085e+01] [ 1.69841818e-02 9.99068800e-01 -3.96619484e-02 -9.49832487e-02] [ 1.33397910e-03 3.96449928e-02 9.99212938e-01 -1.65006400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.391193817 meters Centerline goodness : 0.888181 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.09, Z:-1.65 [[ 9.99832789e-01 -1.82681507e-02 -8.17870565e-04 1.04295611e+01] [ 1.82182806e-02 9.98967058e-01 -4.16282439e-02 -8.96829097e-02] [ 1.57749679e-03 4.16063830e-02 9.99132834e-01 -1.64981880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.421193817 meters Centerline goodness : 0.884285 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.08, Z:-1.65 [[ 9.99756116e-01 -2.20485577e-02 1.25256531e-03 1.04444673e+01] [ 2.20765751e-02 9.99287560e-01 -3.06104209e-02 -7.80430007e-02] [-5.76757298e-04 3.06306079e-02 9.99530606e-01 -1.64770012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.451193817 meters Centerline goodness : 0.886871 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.07, Z:-1.65 [[ 9.99788320e-01 -2.03534669e-02 3.00847882e-03 1.04644609e+01] [ 2.04404979e-02 9.99263593e-01 -3.24724301e-02 -7.08810151e-02] [-2.34533682e-03 3.25270511e-02 9.99468104e-01 -1.64906195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481193817 meters Centerline goodness : 0.885625 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.06, Z:-1.65 [[ 9.99889613e-01 -1.47933747e-02 1.38485230e-03 1.04881546e+01] [ 1.48302741e-02 9.99372516e-01 -3.21657867e-02 -5.69452030e-02] [-9.08142790e-04 3.21827738e-02 9.99481588e-01 -1.65257659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.511193817 meters Centerline goodness : 0.885757 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.05, Z:-1.65 [[ 9.99942230e-01 -1.06887763e-02 -1.13433182e-03 1.05113499e+01] [ 1.06494869e-02 9.99483695e-01 -3.03138897e-02 -5.12364893e-02] [ 1.45776455e-03 3.03000584e-02 9.99539785e-01 -1.65442174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541193817 meters Centerline goodness : 0.882622 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.04, Z:-1.66 [[ 9.99966961e-01 -8.00108698e-03 -1.43510361e-03 1.05133536e+01] [ 7.95655296e-03 9.99555365e-01 -2.87361344e-02 -4.45123785e-02] [ 1.66438582e-03 2.87237665e-02 9.99586002e-01 -1.65598292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57119381700001 meters Centerline goodness : 0.884140 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.04, Z:-1.66 [[ 9.99983699e-01 -5.42451384e-03 -1.78243011e-03 1.05152626e+01] [ 5.37402852e-03 9.99615489e-01 -2.72028277e-02 -3.82987538e-02] [ 1.92930686e-03 2.71928055e-02 9.99628345e-01 -1.65730079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60119381700001 meters Centerline goodness : 0.884443 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.02, Z:-1.66 [[ 9.99999834e-01 4.73679161e-04 3.27954399e-04 1.05356705e+01] [-4.64720833e-04 9.99640783e-01 -2.67971756e-02 -2.49029490e-02] [-3.40529856e-04 2.67970187e-02 9.99640837e-01 -1.66022857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63119381700001 meters Centerline goodness : 0.886327 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.02, Z:-1.66 [[ 9.99985609e-01 4.51385065e-03 2.89950036e-03 1.05544952e+01] [-4.43792872e-03 9.99660418e-01 -2.56778636e-02 -1.83842664e-02] [-3.01442178e-03 2.56646263e-02 9.99666064e-01 -1.66060270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66119381700001 meters Centerline goodness : 0.889021 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.01, Z:-1.66 [[ 9.99963504e-01 8.06618849e-03 2.81568615e-03 1.05550959e+01] [-7.99814770e-03 9.99694352e-01 -2.33929773e-02 -1.17488551e-02] [-3.00351771e-03 2.33696033e-02 9.99722382e-01 -1.66062371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691193817 meters Centerline goodness : 0.888367 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.01, Z:-1.66 [[ 9.99916457e-01 1.27287832e-02 2.24863352e-03 1.05576741e+01] [-1.26831181e-02 9.99733821e-01 -1.92723855e-02 -6.01318796e-03] [-2.49334900e-03 1.92422557e-02 9.99811742e-01 -1.66203355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721193817 meters Centerline goodness : 0.887315 Centerline is valid? [False, False] Translation: X:10.56, Y:0.00, Z:-1.66 [[ 9.99833555e-01 1.80948158e-02 2.33223604e-03 1.05581020e+01] [-1.80573818e-02 9.99721707e-01 -1.51802035e-02 3.16375103e-03] [-2.60626998e-03 1.51355627e-02 9.99882054e-01 -1.66223357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.751193817 meters Centerline goodness : 0.890535 Centerline is valid? [False, False] Translation: X:10.56, Y:0.01, Z:-1.66 [[ 9.99793457e-01 2.01452730e-02 2.68555273e-03 1.05573114e+01] [-2.01079266e-02 9.99709679e-01 -1.32751030e-02 6.13573937e-03] [-2.95220363e-03 1.32183602e-02 9.99908276e-01 -1.66187100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781193817 meters Centerline goodness : 0.890273 Centerline is valid? [False, False] Translation: X:10.56, Y:0.01, Z:-1.66 [[ 9.99764226e-01 2.14926703e-02 3.09143578e-03 1.05556099e+01] [-2.14539538e-02 9.99697162e-01 -1.20545836e-02 9.63715475e-03] [-3.34958476e-03 1.19854179e-02 9.99922562e-01 -1.66049761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.811193817 meters Centerline goodness : 0.890408 Centerline is valid? [False, False] Translation: X:10.55, Y:0.01, Z:-1.66 [[ 9.99736908e-01 2.26368059e-02 3.69991682e-03 1.05531058e+01] [-2.25946015e-02 9.99683351e-01 -1.10761976e-02 1.37388771e-02] [-3.94947498e-03 1.09896854e-02 9.99931812e-01 -1.65852559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841193817 meters Centerline goodness : 0.890396 Centerline is valid? [False, False] Translation: X:10.55, Y:0.02, Z:-1.66 [[ 9.99732889e-01 2.26633444e-02 4.53032038e-03 1.05492038e+01] [-2.26090343e-02 9.99675919e-01 -1.16999302e-02 2.26035414e-02] [-4.79401173e-03 1.15943789e-02 9.99921291e-01 -1.65529355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.871193817 meters Centerline goodness : 0.893840 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99742944e-01 2.22317983e-02 4.44902065e-03 1.05492218e+01] [-2.21738605e-02 9.99673795e-01 -1.26737093e-02 2.57515011e-02] [-4.72932871e-03 1.25717995e-02 9.99909788e-01 -1.65490191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901193817 meters Centerline goodness : 0.892856 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99703385e-01 2.38687663e-02 4.83985703e-03 1.05476606e+01] [-2.38144945e-02 9.99656127e-01 -1.09771137e-02 2.81982887e-02] [-5.10020290e-03 1.08585990e-02 9.99928037e-01 -1.65366889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93119381700001 meters Centerline goodness : 0.891218 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99650884e-01 2.59168610e-02 5.14071834e-03 1.05467929e+01] [-2.58711502e-02 9.99626837e-01 -8.76755905e-03 3.00327322e-02] [-5.36602762e-03 8.63150186e-03 9.99948350e-01 -1.65308909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96119381700001 meters Centerline goodness : 0.890120 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.99579174e-01 2.85584488e-02 5.08822617e-03 1.05473162e+01] [-2.85284894e-02 9.99575766e-01 -5.86636310e-03 3.10809412e-02] [-5.25360180e-03 5.71873497e-03 9.99969847e-01 -1.65345704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99119381700001 meters Centerline goodness : 0.891045 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99486773e-01 3.16559663e-02 4.90814878e-03 1.05491145e+01] [-3.16383831e-02 9.99492827e-01 -3.61965648e-03 3.51964088e-02] [-5.02024322e-03 3.46251288e-03 9.99981404e-01 -1.65502935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02119381700001 meters Centerline goodness : 0.892918 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99370807e-01 3.51351629e-02 4.84871553e-03 1.05497954e+01] [-3.51328617e-02 9.99382494e-01 -5.58984048e-04 3.74542352e-02] [-4.86536142e-03 3.88283087e-04 9.99988089e-01 -1.65539938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05119381700001 meters Centerline goodness : 0.891724 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99245192e-01 3.85602753e-02 4.70652265e-03 1.05505622e+01] [-3.85711719e-02 9.99253330e-01 2.24678953e-03 4.05136847e-02] [-4.61637160e-03 -2.42662973e-03 9.99986400e-01 -1.65550854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters Centerline goodness : 0.891596 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.66 [[ 9.99087984e-01 4.24422223e-02 4.67529088e-03 1.05508976e+01] [-4.24670980e-02 9.99083507e-01 5.35647481e-03 4.36815960e-02] [-4.44366532e-03 -5.55013566e-03 9.99974725e-01 -1.65527123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.111193817 meters Centerline goodness : 0.891554 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98721547e-01 5.02612254e-02 5.39264883e-03 1.05485994e+01] [-5.03194108e-02 9.98669710e-01 1.12590933e-02 4.96876697e-02] [-4.81957922e-03 -1.15160539e-02 9.99922073e-01 -1.65242783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.141193817 meters Centerline goodness : 0.893481 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98533083e-01 5.38458131e-02 5.68423926e-03 1.05471532e+01] [-5.39212608e-02 9.98445928e-01 1.40792585e-02 5.24068249e-02] [-4.91729642e-03 -1.43651068e-02 9.99884725e-01 -1.65055540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.171193817 meters Centerline goodness : 0.896596 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.98307135e-01 5.78699417e-02 5.82537129e-03 1.05464324e+01] [-5.79644118e-02 9.98163145e-01 1.76199686e-02 5.39447745e-02] [-4.79500437e-03 -1.79278046e-02 9.99827786e-01 -1.64927426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.201193817 meters Centerline goodness : 0.895957 Centerline is valid? [False, False] Translation: X:10.55, Y:0.06, Z:-1.65 [[ 9.97973760e-01 6.33488922e-02 5.94071001e-03 1.05462108e+01] [-6.34654261e-02 9.97739991e-01 2.20692211e-02 5.50971459e-02] [-4.52922324e-03 -2.24015333e-02 9.99738795e-01 -1.64822519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.231193817 meters Centerline goodness : 0.894439 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97927286e-01 6.40859941e-02 5.84096253e-03 1.05464428e+01] [-6.42023245e-02 9.97681635e-01 2.25702486e-02 5.40086721e-02] [-4.38098423e-03 -2.28984703e-02 9.99728197e-01 -1.64818669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.261193817 meters Centerline goodness : 0.893408 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97880212e-01 6.48316032e-02 5.65204501e-03 1.05470556e+01] [-6.49473722e-02 9.97611412e-01 2.35225109e-02 5.13853667e-02] [-4.11354251e-03 -2.38397336e-02 9.99707330e-01 -1.64841341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.291193817 meters Centerline goodness : 0.897077 Centerline is valid? [False, False] Translation: X:10.55, Y:0.05, Z:-1.65 [[ 9.97980379e-01 6.32922007e-02 5.40931886e-03 1.05472906e+01] [-6.33970471e-02 9.97743262e-01 2.21178180e-02 4.65911238e-02] [-3.99722606e-03 -2.24160833e-02 9.99740737e-01 -1.64844460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32119381700001 meters Centerline goodness : 0.892909 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.65 [[ 9.98089349e-01 6.16120541e-02 4.64831342e-03 1.05494604e+01] [-6.16953704e-02 9.97881492e-01 2.06448161e-02 4.30866722e-02] [-3.36649641e-03 -2.08921504e-02 9.99776067e-01 -1.64957635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35119381700001 meters Centerline goodness : 0.890946 Centerline is valid? [False, False] Translation: X:10.55, Y:0.04, Z:-1.65 [[ 9.98265778e-01 5.87196103e-02 4.17648124e-03 1.05498508e+01] [-5.87859822e-02 9.98106420e-01 1.81047558e-02 3.94738027e-02] [-3.10546854e-03 -1.83188766e-02 9.99827373e-01 -1.64931903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38119381700001 meters Centerline goodness : 0.891042 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.98413952e-01 5.61760921e-02 3.71844865e-03 1.05507510e+01] [-5.62285685e-02 9.98290407e-01 1.59565250e-02 3.47771478e-02] [-2.81571640e-03 -1.61403003e-02 9.99865772e-01 -1.64970639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41119381700001 meters Centerline goodness : 0.889038 Centerline is valid? [False, False] Translation: X:10.55, Y:0.03, Z:-1.65 [[ 9.98500998e-01 5.46479727e-02 3.05889959e-03 1.05523528e+01] [-5.46878185e-02 9.98391342e-01 1.49656752e-02 2.88657042e-02] [-2.23613506e-03 -1.51105261e-02 9.99883329e-01 -1.65035429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters Centerline goodness : 0.889746 Centerline is valid? [False, False] Translation: X:10.58, Y:0.01, Z:-1.65 [[ 9.98706642e-01 5.07969957e-02 2.16990395e-03 1.05811579e+01] [-5.08432438e-02 9.97869385e-01 4.08858827e-02 6.42066029e-03] [-8.84007138e-05 -4.09433276e-02 9.99161466e-01 -1.64881174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471193817 meters Centerline goodness : 0.887629 Centerline is valid? [False, False] Translation: X:10.58, Y:0.00, Z:-1.65 [[ 9.98859014e-01 4.77297816e-02 1.59286003e-03 1.05827064e+01] [-4.77555900e-02 9.98098751e-01 3.89651926e-02 5.13113668e-05] [ 2.69968525e-04 -3.89968018e-02 9.99239299e-01 -1.64946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501193817 meters Centerline goodness : 0.887629 Centerline is valid? [False, False] Translation: X:10.58, Y:0.00, Z:-1.65 [[ 9.98859014e-01 4.77297816e-02 1.59286003e-03 1.05827064e+01] [-4.77555900e-02 9.98098751e-01 3.89651926e-02 5.13113668e-05] [ 2.69968525e-04 -3.89968018e-02 9.99239299e-01 -1.64946574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.531193817 meters Centerline goodness : 0.885732 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.01, Z:-1.65 [[ 9.99030939e-01 4.38927222e-02 3.25768991e-03 1.05918266e+01] [-4.39996684e-02 9.97830708e-01 4.89684418e-02 -9.26960397e-03] [-1.10126482e-03 -4.90643257e-02 9.98795014e-01 -1.64801794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561193817 meters Centerline goodness : 0.884781 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.02, Z:-1.65 [[ 9.99236543e-01 3.86854056e-02 5.45614751e-03 1.05915670e+01] [-3.89639116e-02 9.97002045e-01 6.68485997e-02 -1.96523020e-02] [-2.85372503e-03 -6.70101565e-02 9.97748212e-01 -1.64602559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.591193817 meters Centerline goodness : 0.881811 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.05, Z:-1.63 [[ 9.99637419e-01 2.68007463e-02 2.59831571e-03 1.05992644e+01] [-2.69167104e-02 9.92025079e-01 1.23132987e-01 -4.72506989e-02] [ 7.22461593e-04 -1.23158279e-01 9.92386778e-01 -1.62845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621193817 meters Centerline goodness : 0.886925 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.05, Z:-1.63 [[ 9.99742153e-01 2.20891832e-02 5.26260156e-03 1.05920003e+01] [-2.25491436e-02 9.93060033e-01 1.15426631e-01 -5.10894635e-02] [-2.67639929e-03 -1.15515535e-01 9.93302068e-01 -1.62726379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.651193817 meters Centerline goodness : 0.888336 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.05, Z:-1.63 [[ 9.99818531e-01 1.89869032e-02 1.54982132e-03 1.05910235e+01] [-1.90486933e-02 9.95462030e-01 9.32335435e-02 -5.25912394e-02] [ 2.27427996e-04 -9.32461466e-02 9.95643061e-01 -1.62578219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68119381700001 meters Centerline goodness : 0.886921 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99929245e-01 1.18857921e-02 -4.82823853e-04 1.05837426e+01] [-1.18153361e-02 9.97071285e-01 7.55595852e-02 -5.87275588e-02] [ 1.37949532e-03 -7.55485342e-02 9.97141172e-01 -1.62805327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71119381700001 meters Centerline goodness : 0.884729 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99951562e-01 9.66796263e-03 -1.84516791e-03 1.05788544e+01] [-9.53358867e-03 9.97995049e-01 6.25698963e-02 -5.91964870e-02] [ 2.44639186e-03 -6.25492744e-02 9.98038879e-01 -1.63228431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74119381700001 meters Centerline goodness : 0.881079 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.63 [[ 9.99930912e-01 9.50356994e-03 -6.91757436e-03 1.05808706e+01] [-9.16896826e-03 9.98857870e-01 4.68922805e-02 -5.94024808e-02] [ 7.35531766e-03 -4.68256138e-02 9.98875999e-01 -1.63413780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77119381700001 meters Centerline goodness : 0.880402 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.06, Z:-1.64 [[ 9.99955639e-01 5.95603224e-03 -7.29702338e-03 1.05822902e+01] [-5.63195903e-03 9.99030798e-01 4.36548492e-02 -6.13170039e-02] [ 7.54996078e-03 -4.36118161e-02 9.99020024e-01 -1.63515930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80119381700001 meters Centerline goodness : 0.882094 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.06, Z:-1.64 [[ 9.99882229e-01 6.18572747e-03 -1.40451146e-02 1.05856190e+01] [-5.78286236e-03 9.99575772e-01 2.85452999e-02 -6.36504690e-02] [ 1.42157297e-02 -2.84607171e-02 9.99493822e-01 -1.63691574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831193817 meters Centerline goodness : 0.881181 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.07, Z:-1.64 [[ 9.99864302e-01 7.25666160e-03 -1.47891178e-02 1.05882167e+01] [-6.81610753e-03 9.99537848e-01 2.96248451e-02 -6.50503039e-02] [ 1.49972604e-02 -2.95200208e-02 9.99451675e-01 -1.63821597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861193817 meters Centerline goodness : 0.883358 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.06, Z:-1.64 [[ 9.99870318e-01 9.96043437e-03 -1.26545139e-02 1.05979806e+01] [-9.69531261e-03 9.99735768e-01 2.08421439e-02 -6.38121991e-02] [ 1.28587670e-02 -2.07167516e-02 9.99702690e-01 -1.63897945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.891193817 meters Centerline goodness : 0.883401 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.64 [[ 9.99874016e-01 1.32471235e-02 -8.74451623e-03 1.06092294e+01] [-1.31311634e-02 9.99826813e-01 1.31877188e-02 -6.26941369e-02] [ 8.91770113e-03 -1.30712317e-02 9.99874801e-01 -1.64175166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921193817 meters Centerline goodness : 0.882321 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.06, Z:-1.64 [[ 9.99873994e-01 1.54339730e-02 -3.71336421e-03 1.06191705e+01] [-1.54176686e-02 9.99871547e-01 4.38002734e-03 -6.07020067e-02] [ 3.78048844e-03 -4.32222401e-03 9.99983513e-01 -1.64424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.951193817 meters Centerline goodness : 0.886455 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.64 [[ 9.99796007e-01 2.00099252e-02 -2.74735198e-03 1.06132429e+01] [-1.99866330e-02 9.99766136e-01 8.25877214e-03 -6.32999720e-02] [ 2.91196688e-03 -8.20217709e-03 9.99962122e-01 -1.63782792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981193817 meters Centerline goodness : 0.889232 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99773084e-01 2.11539765e-02 -2.50800611e-03 1.06110148e+01] [-2.11311571e-02 9.99737979e-01 8.80047513e-03 -6.41264636e-02] [ 2.69351400e-03 -8.74548109e-03 9.99958130e-01 -1.63485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.011193817 meters Centerline goodness : 0.892170 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99769009e-01 2.13372752e-02 -2.57845206e-03 1.06100348e+01] [-2.13147224e-02 9.99736863e-01 8.47861558e-03 -6.38227373e-02] [ 2.75868413e-03 -8.42169811e-03 9.99960732e-01 -1.63295777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041193817 meters Centerline goodness : 0.889024 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99769103e-01 2.13657006e-02 -2.29092713e-03 1.06085437e+01] [-2.13453337e-02 9.99735398e-01 8.57385321e-03 -6.44870596e-02] [ 2.47350732e-03 -8.52297293e-03 9.99960620e-01 -1.63154938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07119381700001 meters Centerline goodness : 0.892178 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99839606e-01 1.77258577e-02 -2.56038449e-03 1.06087949e+01] [-1.77148226e-02 9.99833962e-01 4.27015584e-03 -6.33201154e-02] [ 2.63565155e-03 -4.22411418e-03 9.99987605e-01 -1.63113567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10119381700001 meters Centerline goodness : 0.890017 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.06, Z:-1.63 [[ 9.99896445e-01 1.41275881e-02 -2.74068264e-03 1.06091296e+01] [-1.41261576e-02 9.99900075e-01 5.40588053e-04 -6.35962385e-02] [ 2.74804598e-03 -5.01816757e-04 9.99996098e-01 -1.63120220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13119381700001 meters Centerline goodness : 0.884930 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.07, Z:-1.63 [[ 9.99937330e-01 1.07743644e-02 -3.04123359e-03 1.06098756e+01] [-1.07826672e-02 9.99938147e-01 -2.72699219e-03 -6.50182801e-02] [ 3.01166387e-03 2.75961390e-03 9.99991657e-01 -1.63143603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16119381700001 meters Centerline goodness : 0.888724 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99971024e-01 6.49960540e-03 -3.96321035e-03 1.06151539e+01] [-6.52442684e-03 9.99958980e-01 -6.28253186e-03 -6.93621568e-02] [ 3.92221380e-03 6.30820749e-03 9.99972411e-01 -1.63590185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19119381700001 meters Centerline goodness : 0.887946 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99974677e-01 5.39545196e-03 -4.64058653e-03 1.06187994e+01] [-5.42835346e-03 9.99960012e-01 -7.10681481e-03 -7.02849607e-02] [ 4.60205649e-03 7.13182559e-03 9.99963978e-01 -1.63879836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters Centerline goodness : 0.886365 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.07, Z:-1.64 [[ 9.99970753e-01 5.32808751e-03 -5.48669651e-03 1.06235086e+01] [-5.36636515e-03 9.99961202e-01 -6.98551844e-03 -7.10864836e-02] [ 5.44926418e-03 7.01475775e-03 9.99960549e-01 -1.64249834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.251193817 meters Centerline goodness : 0.885112 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.07, Z:-1.65 [[ 9.99936790e-01 5.77352101e-03 -9.64787624e-03 1.06492904e+01] [-5.84851256e-03 9.99952766e-01 -7.76280437e-03 -7.27324823e-02] [ 9.60260182e-03 7.81873941e-03 9.99923326e-01 -1.64507031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281193817 meters Centerline goodness : 0.883927 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.07, Z:-1.65 [[ 9.99955035e-01 7.91820926e-03 -5.21828995e-03 1.06619193e+01] [-7.99570793e-03 9.99855498e-01 -1.50017230e-02 -7.31576404e-02] [ 5.09874911e-03 1.50427723e-02 9.99873851e-01 -1.64947754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.311193817 meters Centerline goodness : 0.885383 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.07, Z:-1.65 [[ 9.99969879e-01 6.99052642e-03 -3.37252993e-03 1.06822375e+01] [-7.05077618e-03 9.99809567e-01 -1.81966075e-02 -7.32033144e-02] [ 3.24468383e-03 1.82198384e-02 9.99828740e-01 -1.65084430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341193817 meters Centerline goodness : 0.885902 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.07, Z:-1.65 [[ 9.99964237e-01 7.66117422e-03 -3.58199155e-03 1.06827403e+01] [-7.72303707e-03 9.99815491e-01 -1.75880397e-02 -7.40288669e-02] [ 3.44658560e-03 1.76150745e-02 9.99838902e-01 -1.65085235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.371193817 meters Centerline goodness : 0.886520 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.07, Z:-1.65 [[ 9.99959506e-01 8.77120067e-03 -2.01318551e-03 1.07033316e+01] [-8.80889130e-03 9.99770150e-01 -1.95461271e-02 -7.38649975e-02] [ 1.84127977e-03 1.95630695e-02 9.99806929e-01 -1.65245651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401193817 meters Centerline goodness : 0.887811 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.07, Z:-1.65 [[ 9.99942281e-01 1.07421177e-02 -2.02695562e-04 1.07237323e+01] [-1.07440089e-02 9.99725014e-01 -2.08437576e-02 -7.36983737e-02] [-2.12662739e-05 2.08447323e-02 9.99782725e-01 -1.65411491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43119381700001 meters Centerline goodness : 0.886629 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.07, Z:-1.66 [[ 9.99880476e-01 1.53115504e-02 2.14251991e-03 1.07430547e+01] [-1.52628588e-02 9.99659867e-01 -2.11469858e-02 -7.48304107e-02] [-2.46558431e-03 2.11117573e-02 9.99774082e-01 -1.65551751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46119381700001 meters Centerline goodness : 0.888027 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.08, Z:-1.66 [[ 9.99844198e-01 1.69035627e-02 5.08415648e-03 1.07621137e+01] [-1.67852508e-02 9.99606451e-01 -2.24766219e-02 -7.52827685e-02] [-5.46209060e-03 2.23877811e-02 9.99734441e-01 -1.65673684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49119381700001 meters Centerline goodness : 0.883562 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.08, Z:-1.66 [[ 9.99818104e-01 1.71601487e-02 8.32396134e-03 1.07808301e+01] [-1.69518978e-02 9.99556710e-01 -2.44748138e-02 -7.59702696e-02] [-8.74026285e-03 2.43292550e-02 9.99665792e-01 -1.65771346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52119381700001 meters Centerline goodness : 0.885766 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.08, Z:-1.66 [[ 9.99810559e-01 1.76412283e-02 8.22389455e-03 1.07808957e+01] [-1.74459033e-02 9.99577530e-01 -2.32465382e-02 -7.92669913e-02] [-8.63051769e-03 2.30986611e-02 9.99695937e-01 -1.65752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55119381700001 meters Centerline goodness : 0.886938 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.09, Z:-1.66 [[ 9.99861270e-01 1.47374478e-02 7.76204403e-03 1.07824241e+01] [-1.45463494e-02 9.99603092e-01 -2.41259811e-02 -8.88189263e-02] [-8.11451860e-03 2.40097247e-02 9.99678792e-01 -1.65864435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters Centerline goodness : 0.884403 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.09, Z:-1.66 [[ 9.99898524e-01 1.22469893e-02 7.27688872e-03 1.07844624e+01] [-1.20566515e-02 9.99598313e-01 -2.56485701e-02 -9.46429020e-02] [-7.58808346e-03 2.55582325e-02 9.99644536e-01 -1.66021705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.611193817 meters Centerline goodness : 0.887678 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.10, Z:-1.66 [[ 9.99927496e-01 9.97435358e-03 6.74642528e-03 1.07866915e+01] [-9.78792851e-03 9.99584168e-01 -2.71235610e-02 -9.99923383e-02] [-7.01415988e-03 2.70555610e-02 9.99609323e-01 -1.66183773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641193817 meters Centerline goodness : 0.883511 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.11, Z:-1.66 [[ 9.99942962e-01 8.56258337e-03 6.38401808e-03 1.07882453e+01] [-8.38706476e-03 9.99599409e-01 -2.70310793e-02 -1.09273432e-01] [-6.61291657e-03 2.69759943e-02 9.99614208e-01 -1.66314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.671193817 meters Centerline goodness : 0.885267 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.11, Z:-1.66 [[ 9.99935064e-01 9.65654863e-03 6.05129613e-03 1.07890629e+01] [-9.50138711e-03 9.99638144e-01 -2.51655531e-02 -1.14017121e-01] [-6.29211882e-03 2.51064232e-02 9.99664982e-01 -1.66331614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701193817 meters Centerline goodness : 0.883603 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.12, Z:-1.66 [[ 9.99925448e-01 1.07771998e-02 5.74029458e-03 1.07897427e+01] [-1.06403916e-02 9.99670660e-01 -2.33528229e-02 -1.18459212e-01] [-5.99008211e-03 2.32900029e-02 9.99710806e-01 -1.66344053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.731193817 meters Centerline goodness : 0.891000 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.13, Z:-1.66 [[ 9.99891106e-01 1.36179071e-02 5.68591944e-03 1.07885125e+01] [-1.35071959e-02 9.99726803e-01 -1.90754891e-02 -1.28986667e-01] [-5.94413431e-03 1.89966110e-02 9.99801878e-01 -1.66174507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761193817 meters Centerline goodness : 0.892034 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.13, Z:-1.66 [[ 9.99885446e-01 1.41228775e-02 5.44426407e-03 1.07887706e+01] [-1.40237765e-02 9.99742673e-01 -1.78303736e-02 -1.33330146e-01] [-5.69467929e-03 1.77519819e-02 9.99826204e-01 -1.66138674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.791193817 meters Centerline goodness : 0.895516 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99882315e-01 1.44630062e-02 5.11638746e-03 1.07895066e+01] [-1.43759777e-02 9.99757923e-01 -1.66561316e-02 -1.37279850e-01] [-5.35604663e-03 1.65806183e-02 9.99848186e-01 -1.66144468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82119381700001 meters Centerline goodness : 0.891764 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99884097e-01 1.44891906e-02 4.67505951e-03 1.07907813e+01] [-1.44139440e-02 9.99772118e-01 -1.57464204e-02 -1.41048628e-01] [-4.90214704e-03 1.56772093e-02 9.99865088e-01 -1.66189786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85119381700001 meters Centerline goodness : 0.893615 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.14, Z:-1.66 [[ 9.99907288e-01 1.30441363e-02 3.90717931e-03 1.07934367e+01] [-1.29772286e-02 9.99776555e-01 -1.66862479e-02 -1.44680738e-01] [-4.12396396e-03 1.66339965e-02 9.99853141e-01 -1.66337073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88119381700001 meters Centerline goodness : 0.898645 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.15, Z:-1.66 [[ 9.99936639e-01 1.06271998e-02 3.71216246e-03 1.07941430e+01] [-1.05608526e-02 9.99791835e-01 -1.74572570e-02 -1.53890467e-01] [-3.89691148e-03 1.74169473e-02 9.99840719e-01 -1.66387865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91119381700001 meters Centerline goodness : 0.893220 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.16, Z:-1.66 [[ 9.99933705e-01 1.08892952e-02 3.74278248e-03 1.07944040e+01] [-1.08279639e-02 9.99812819e-01 -1.60337545e-02 -1.59088147e-01] [-3.91667819e-03 1.59921649e-02 9.99864446e-01 -1.66418524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94119381700001 meters Centerline goodness : 0.894316 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.16, Z:-1.67 [[ 9.99946432e-01 9.87497640e-03 3.10133577e-03 1.07970316e+01] [-9.82342379e-03 9.99820192e-01 -1.62198597e-02 -1.63102556e-01] [-3.26094886e-03 1.61885251e-02 9.99863640e-01 -1.66584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971193817 meters Centerline goodness : 0.894544 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.17, Z:-1.67 [[ 9.99958373e-01 8.77896479e-03 2.48637283e-03 1.07999650e+01] [-8.73666445e-03 9.99825013e-01 -1.65412906e-02 -1.66581122e-01] [-2.63115316e-03 1.65188794e-02 9.99860092e-01 -1.66799888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001193817 meters Centerline goodness : 0.896230 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.17, Z:-1.67 [[ 9.99985395e-01 5.06829899e-03 1.87666272e-03 1.08027887e+01] [-5.03194670e-03 9.99808838e-01 -1.88935954e-02 -1.72119210e-01] [-1.97206237e-03 1.88838762e-02 9.99819739e-01 -1.67018603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.031193817 meters Centerline goodness : 0.893659 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.18, Z:-1.67 [[ 9.99999511e-01 9.07523159e-04 -3.92415528e-04 1.07999347e+01] [-9.09543205e-04 9.99986178e-01 -5.17855513e-03 -1.78992454e-01] [ 3.87710445e-04 5.17890952e-03 9.99986514e-01 -1.66795418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061193817 meters Centerline goodness : 0.892292 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.18, Z:-1.67 [[ 9.99999320e-01 1.00507276e-03 -5.90882353e-04 1.08000699e+01] [-1.00742604e-03 9.99991509e-01 -3.99593688e-03 -1.83298613e-01] [ 5.86861128e-04 3.99652944e-03 9.99991842e-01 -1.66736256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.091193817 meters Centerline goodness : 0.891739 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999405e-01 -1.78360551e-05 -1.09055961e-03 1.08021388e+01] [ 1.28881760e-05 9.99989708e-01 -4.53684801e-03 -1.86116967e-01] [ 1.09062930e-03 4.53683126e-03 9.99989114e-01 -1.66848303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121193817 meters Centerline goodness : 0.897423 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999402e-01 2.31914007e-04 -1.06878110e-03 1.08011615e+01] [-2.35628859e-04 9.99993928e-01 -3.47696998e-03 -1.89964367e-01] [ 1.06796825e-03 3.47721973e-03 9.99993384e-01 -1.66694573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.151193817 meters Centerline goodness : 0.897848 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.19, Z:-1.67 [[ 9.99999060e-01 4.90833514e-04 -1.28047217e-03 1.08016588e+01] [-4.94912901e-04 9.99994798e-01 -3.18747636e-03 -1.90633628e-01] [ 1.27890099e-03 3.18810708e-03 9.99994100e-01 -1.66697766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18119381700001 meters Centerline goodness : 0.906100 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.67 [[ 9.99990593e-01 3.98247419e-03 1.71874149e-03 1.08170884e+01] [-3.96718048e-03 9.99953306e-01 -8.81172304e-03 -1.90640507e-01] [-1.75375369e-03 8.80482159e-03 9.99959699e-01 -1.67210793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21119381700001 meters Centerline goodness : 0.896252 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.67 [[ 9.99983521e-01 5.64513738e-03 1.04369587e-03 1.08201585e+01] [-5.63758598e-03 9.99958889e-01 -7.10189683e-03 -1.91892562e-01] [-1.08374414e-03 7.09589588e-03 9.99974237e-01 -1.67427162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24119381700001 meters Centerline goodness : 0.896014 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.19, Z:-1.68 [[ 9.99970467e-01 7.66893189e-03 5.02939949e-04 1.08225870e+01] [-7.66628995e-03 9.99957812e-01 -5.05986883e-03 -1.94560001e-01] [-5.41722520e-04 5.05586371e-03 9.99987072e-01 -1.67608492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27119381700001 meters Centerline goodness : 0.897572 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.20, Z:-1.68 [[ 9.99969757e-01 7.77467083e-03 1.99653809e-04 1.08235449e+01] [-7.77362204e-03 9.99958243e-01 -4.80452482e-03 -1.95824841e-01] [-2.36999071e-04 4.80282749e-03 9.99988438e-01 -1.67648251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30119381700001 meters Centerline goodness : 0.897649 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.20, Z:-1.68 [[ 9.99971334e-01 7.56892344e-03 -2.04558273e-04 1.08249997e+01] [-7.56981875e-03 9.99959814e-01 -4.80294038e-03 -1.96811396e-01] [ 1.68196965e-04 4.80435117e-03 9.99988445e-01 -1.67723769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331193817 meters Centerline goodness : 0.897908 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99972274e-01 7.42509740e-03 -5.64398401e-04 1.08263180e+01] [-7.42765086e-03 9.99961531e-01 -4.66542693e-03 -1.97947650e-01] [ 5.29735440e-04 4.66948973e-03 9.99988958e-01 -1.67791120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361193817 meters Centerline goodness : 0.899046 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99977124e-01 6.65514780e-03 -1.20828606e-03 1.08291121e+01] [-6.66141651e-03 9.99963976e-01 -5.26039987e-03 -1.98619838e-01] [ 1.17323380e-03 5.26832843e-03 9.99985434e-01 -1.67988702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.391193817 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99980431e-01 6.02087254e-03 -1.69904861e-03 1.08312213e+01] [-6.03076325e-03 9.99964542e-01 -5.87751910e-03 -1.98223639e-01] [ 1.66360057e-03 5.88765065e-03 9.99981284e-01 -1.68126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421193817 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99980431e-01 6.02087254e-03 -1.69904861e-03 1.08312213e+01] [-6.03076325e-03 9.99964542e-01 -5.87751910e-03 -1.98223639e-01] [ 1.66360057e-03 5.88765065e-03 9.99981284e-01 -1.68126199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.451193817 meters Centerline goodness : 0.896407 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99981416e-01 5.72795417e-03 -2.08742811e-03 1.08326690e+01] [-5.74074672e-03 9.99964457e-01 -6.17479973e-03 -1.98198633e-01] [ 2.05198495e-03 6.18666838e-03 9.99978757e-01 -1.68208426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481193817 meters Centerline goodness : 0.895337 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99983068e-01 5.24225001e-03 -2.52632655e-03 1.08335963e+01] [-5.25915860e-03 9.99963500e-01 -6.73344651e-03 -1.97431494e-01] [ 2.49093593e-03 6.74661885e-03 9.99974139e-01 -1.68207088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.511193817 meters Centerline goodness : 0.899003 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.20, Z:-1.68 [[ 9.99984063e-01 4.84047380e-03 -2.90567545e-03 1.08343779e+01] [-4.86092170e-03 9.99963179e-01 -7.07190635e-03 -1.97638592e-01] [ 2.87133709e-03 7.08591791e-03 9.99970772e-01 -1.68194175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.541193817 meters Centerline goodness : 0.899279 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99984675e-01 4.42554629e-03 -3.32633848e-03 1.08352688e+01] [-4.44967836e-03 9.99963580e-01 -7.28280174e-03 -1.98497106e-01] [ 3.29398696e-03 7.29749126e-03 9.99967948e-01 -1.68183787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57119381700001 meters Centerline goodness : 0.901288 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99986023e-01 3.90855587e-03 -3.56039461e-03 1.08360350e+01] [-3.93509665e-03 9.99964295e-01 -7.47819750e-03 -1.99712297e-01] [ 3.53103853e-03 7.49210347e-03 9.99965699e-01 -1.68201671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60119381700001 meters Centerline goodness : 0.904811 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99989925e-01 2.72378473e-03 -3.56809682e-03 1.08363351e+01] [-2.75295734e-03 9.99962617e-01 -8.19672163e-03 -1.99765520e-01] [ 3.54563733e-03 8.20646186e-03 9.99960040e-01 -1.68211767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63119381700001 meters Centerline goodness : 0.904903 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99990099e-01 2.12876853e-03 -3.90780265e-03 1.08375962e+01] [-2.16301369e-03 9.99959115e-01 -8.78006800e-03 -1.98736219e-01] [ 3.88895214e-03 8.78843369e-03 9.99953819e-01 -1.68272899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66119381700001 meters Centerline goodness : 0.903375 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.68 [[ 9.99989817e-01 2.12014340e-03 -3.98389304e-03 1.08381448e+01] [-2.15463978e-03 9.99960053e-01 -8.67471420e-03 -1.98619445e-01] [ 3.96534226e-03 8.68320972e-03 9.99954438e-01 -1.68312177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69119381700001 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.69 [[ 9.99988547e-01 1.01745515e-03 -4.67661554e-03 1.08411835e+01] [-1.06132700e-03 9.99955366e-01 -9.38822228e-03 -2.00025142e-01] [ 4.66685471e-03 9.39307817e-03 9.99944994e-01 -1.68513480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters Centerline goodness : 0.897559 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.20, Z:-1.69 [[ 9.99986108e-01 3.23595942e-04 -5.26111109e-03 1.08435920e+01] [-3.76257090e-04 9.99949812e-01 -1.00116043e-02 -2.00220119e-01] [ 5.25760733e-03 1.00134447e-02 9.99936042e-01 -1.68655087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.751193817 meters Centerline goodness : 0.897972 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99984246e-01 8.04806263e-06 -5.61325946e-03 1.08450889e+01] [-6.56509864e-05 9.99947344e-01 -1.02618298e-02 -2.00231821e-01] [ 5.61288130e-03 1.02620366e-02 9.99931591e-01 -1.68744853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781193817 meters Centerline goodness : 0.896273 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99982461e-01 2.19657913e-05 -5.92262122e-03 1.08462017e+01] [-8.29509316e-05 9.99946982e-01 -1.02969357e-02 -1.99761266e-01] [ 5.92208103e-03 1.02972464e-02 9.99929445e-01 -1.68797633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.811193817 meters Centerline goodness : 0.894161 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99980156e-01 -4.52276743e-04 -6.28360618e-03 1.08477433e+01] [ 3.83973744e-04 9.99940879e-01 -1.08669891e-02 -1.97630113e-01] [ 6.28814957e-03 1.08643608e-02 9.99921209e-01 -1.68898695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841193817 meters Centerline goodness : 0.893314 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99976301e-01 -1.09871686e-03 -6.79631932e-03 1.08496697e+01] [ 1.02109652e-03 9.99934338e-01 -1.14138836e-02 -1.96704573e-01] [ 6.80841369e-03 1.14066734e-02 9.99911763e-01 -1.68999875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.871193817 meters Centerline goodness : 0.891649 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99969845e-01 -2.03406955e-03 -7.49476265e-03 1.08518742e+01] [ 1.94349458e-03 9.99925234e-01 -1.20726307e-02 -1.96499993e-01] [ 7.51875887e-03 1.20577007e-02 9.99899035e-01 -1.69090952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901193817 meters Centerline goodness : 0.891848 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99962158e-01 -3.03106982e-03 -8.15447234e-03 1.08541965e+01] [ 2.92747034e-03 9.99915235e-01 -1.26866982e-02 -1.97231729e-01] [ 8.19223539e-03 1.26623461e-02 9.99886270e-01 -1.69192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93119381700001 meters Centerline goodness : 0.892541 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99960675e-01 -3.05554673e-03 -8.32537771e-03 1.08541492e+01] [ 2.95328555e-03 9.99920386e-01 -1.22677981e-02 -1.98954925e-01] [ 8.36219972e-03 1.22427285e-02 9.99890089e-01 -1.69127613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96119381700001 meters Centerline goodness : 0.892931 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:-1.69 [[ 9.99959143e-01 -2.90970544e-03 -8.55836404e-03 1.08542722e+01] [ 2.80718923e-03 9.99924462e-01 -1.19662023e-02 -1.99871382e-01] [ 8.59253568e-03 1.19416885e-02 9.99891776e-01 -1.69069628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99119381700001 meters Centerline goodness : 0.898763 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.20, Z:-1.70 [[ 9.99993161e-01 6.70949630e-04 3.63703432e-03 1.08594758e+01] [-6.39267575e-04 9.99961905e-01 -8.70513297e-03 -1.97551950e-01] [-3.64273647e-03 8.70274840e-03 9.99955495e-01 -1.69590432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02119381700001 meters Centerline goodness : 0.896290 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.20, Z:-1.70 [[ 9.99984777e-01 4.31207984e-03 3.44263005e-03 1.08598865e+01] [-4.29402979e-03 9.99977086e-01 -5.23338602e-03 -1.96007185e-01] [-3.46511795e-03 5.21852360e-03 9.99980380e-01 -1.69565848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05119381700001 meters Centerline goodness : 0.895411 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.70 [[ 9.99963561e-01 7.94807678e-03 3.11519500e-03 1.08604085e+01] [-7.94298385e-03 9.99967103e-01 -1.64384124e-03 -1.94987894e-01] [-3.12815789e-03 1.61903740e-03 9.99993797e-01 -1.69518200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters Centerline goodness : 0.896977 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99946633e-01 9.80478493e-03 3.25521421e-03 1.08582419e+01] [-9.80146764e-03 9.99951430e-01 -1.03346407e-03 -1.92466963e-01] [-3.26518899e-03 1.00150304e-03 9.99994168e-01 -1.69270972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.111193817 meters Centerline goodness : 0.899910 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99943829e-01 1.01923273e-02 2.90775278e-03 1.08583140e+01] [-1.01891834e-02 9.99947490e-01 -1.09399187e-03 -1.91437902e-01] [-2.91875042e-03 1.06430279e-03 9.99995174e-01 -1.69175199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141193817 meters Centerline goodness : 0.898446 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.19, Z:-1.69 [[ 9.99942152e-01 1.03246337e-02 3.01562887e-03 1.08576269e+01] [-1.03192037e-02 9.99945116e-01 -1.81065623e-03 -1.88686949e-01] [-3.03415772e-03 1.77943260e-03 9.99993814e-01 -1.69083170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.171193817 meters Centerline goodness : 0.902432 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.18, Z:-1.69 [[ 9.99940022e-01 1.05679975e-02 2.87557427e-03 1.08577952e+01] [-1.05602594e-02 9.99940613e-01 -2.69297854e-03 -1.84650814e-01] [-2.90386289e-03 2.66245021e-03 9.99992239e-01 -1.69051638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201193817 meters Centerline goodness : 0.899235 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.18, Z:-1.69 [[ 9.99848524e-01 1.56876646e-02 7.53837840e-03 1.08718860e+01] [-1.56268881e-02 9.99845449e-01 -8.05466263e-03 -1.77361460e-01] [-7.66357219e-03 7.93564114e-03 9.99939146e-01 -1.69466682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.231193817 meters Centerline goodness : 0.900254 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.17, Z:-1.70 [[ 9.99812534e-01 1.72400141e-02 8.81355968e-03 1.08919267e+01] [-1.71231404e-02 9.99766668e-01 -1.31684631e-02 -1.73912518e-01] [-9.03852768e-03 1.30150787e-02 9.99874448e-01 -1.69740744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261193817 meters Centerline goodness : 0.897891 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.17, Z:-1.70 [[ 9.99802086e-01 1.80546323e-02 8.35575077e-03 1.08935098e+01] [-1.79430743e-02 9.99751359e-01 -1.32387906e-02 -1.72030225e-01] [-8.59269468e-03 1.30862426e-02 9.99877450e-01 -1.69827287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.291193817 meters Centerline goodness : 0.898082 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.17, Z:-1.70 [[ 9.99761883e-01 1.96145224e-02 9.56280358e-03 1.09141584e+01] [-1.94470978e-02 9.99661249e-01 -1.72973222e-02 -1.68722999e-01] [-9.89884289e-03 1.71072347e-02 9.99804659e-01 -1.70106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32119381700001 meters Centerline goodness : 0.897599 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.70 [[ 9.99735815e-01 2.11414625e-02 9.01877948e-03 1.09170162e+01] [-2.09982216e-02 9.99656358e-01 -1.56920620e-02 -1.67589378e-01] [-9.34743338e-03 1.54985380e-02 9.99836197e-01 -1.70312314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35119381700001 meters Centerline goodness : 0.897069 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.70 [[ 9.99761567e-01 2.01969187e-02 8.30021476e-03 1.09193991e+01] [-2.00614166e-02 9.99669168e-01 -1.60963957e-02 -1.68864843e-01] [-8.62256638e-03 1.59260437e-02 9.99835993e-01 -1.70428693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38119381700001 meters Centerline goodness : 0.895093 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.17, Z:-1.71 [[ 9.99804548e-01 1.82996687e-02 7.48249233e-03 1.09223842e+01] [-1.81668224e-02 9.99682635e-01 -1.74526546e-02 -1.71412034e-01] [-7.79949544e-03 1.73133104e-02 9.99819692e-01 -1.70605196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41119381700001 meters Centerline goodness : 0.893500 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.17, Z:-1.71 [[ 9.99832768e-01 1.69650859e-02 6.82806478e-03 1.09250205e+01] [-1.68394114e-02 9.99695081e-01 -1.80604063e-02 -1.74348306e-01] [-7.13237912e-03 1.79424054e-02 9.99813582e-01 -1.70768089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44119381700001 meters Centerline goodness : 0.894505 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.18, Z:-1.71 [[ 9.99828788e-01 1.72015016e-02 6.81936841e-03 1.09251365e+01] [-1.70886849e-02 9.99721588e-01 -1.62703425e-02 -1.80226620e-01] [-7.09734414e-03 1.61510228e-02 9.99844374e-01 -1.70772753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471193817 meters Centerline goodness : 0.894332 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.18, Z:-1.71 [[ 9.99830353e-01 1.72671584e-02 6.41170828e-03 1.09264756e+01] [-1.71651513e-02 9.99730376e-01 -1.56375550e-02 -1.82561533e-01] [-6.67999567e-03 1.55248442e-02 9.99857168e-01 -1.70839256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501193817 meters Centerline goodness : 0.890487 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.19, Z:-1.71 [[ 9.99842681e-01 1.67969358e-02 5.69882988e-03 1.09290719e+01] [-1.67076847e-02 9.99742379e-01 -1.53632087e-02 -1.85441611e-01] [-5.95541657e-03 1.52655775e-02 9.99865739e-01 -1.70989082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.531193817 meters Centerline goodness : 0.889507 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.19, Z:-1.71 [[ 9.99870700e-01 1.52424903e-02 5.12340576e-03 1.09305543e+01] [-1.51608579e-02 9.99763190e-01 -1.56113130e-02 -1.94099238e-01] [-5.36014777e-03 1.55316192e-02 9.99865010e-01 -1.71053461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561193817 meters Centerline goodness : 0.891876 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.20, Z:-1.71 [[ 9.99874746e-01 1.51168024e-02 4.68768561e-03 1.09317606e+01] [-1.50461106e-02 9.99777770e-01 -1.47656985e-02 -1.98444826e-01] [-4.90985401e-03 1.46933176e-02 9.99879993e-01 -1.71085661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.591193817 meters Centerline goodness : 0.889817 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.20, Z:-1.71 [[ 9.99877890e-01 1.50396065e-02 4.24443233e-03 1.09328410e+01] [-1.49792624e-02 9.99791074e-01 -1.39078801e-02 -2.02097270e-01] [-4.45271460e-03 1.38426034e-02 9.99894272e-01 -1.71095496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621193817 meters Centerline goodness : 0.890877 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.21, Z:-1.71 [[ 9.99879339e-01 1.50451288e-02 3.86668463e-03 1.09337035e+01] [-1.49938597e-02 9.99803557e-01 -1.29627164e-02 -2.05679338e-01] [-4.06095079e-03 1.29031758e-02 9.99908504e-01 -1.71096302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.651193817 meters Centerline goodness : 0.893095 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.21, Z:-1.71 [[ 9.99876868e-01 1.52881200e-02 3.53876597e-03 1.09343678e+01] [-1.52447813e-02 9.99812189e-01 -1.19658982e-02 -2.09383065e-01] [-3.72103744e-03 1.19104771e-02 9.99922144e-01 -1.71078406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68119381700001 meters Centerline goodness : 0.890511 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.22, Z:-1.71 [[ 9.99853889e-01 1.67624011e-02 3.34988823e-03 1.09339441e+01] [-1.67297197e-02 9.99814375e-01 -9.55680562e-03 -2.15615146e-01] [-3.50946142e-03 9.49936657e-03 9.99948722e-01 -1.70964120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71119381700001 meters Centerline goodness : 0.891427 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.22, Z:-1.71 [[ 9.99838189e-01 1.77170140e-02 3.11511097e-03 1.09345629e+01] [-1.76898623e-02 9.99807069e-01 -8.53772137e-03 -2.17406563e-01] [-3.26577290e-03 8.48123398e-03 9.99958701e-01 -1.70980302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74119381700001 meters Centerline goodness : 0.890176 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.22, Z:-1.71 [[ 9.99780031e-01 2.08242766e-02 2.49786435e-03 1.09368550e+01] [-2.08116676e-02 9.99771051e-01 -4.97196289e-03 -2.20066116e-01] [-2.60083000e-03 4.91888449e-03 9.99984520e-01 -1.71085585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77119381700001 meters Centerline goodness : 0.888008 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.22, Z:-1.72 [[ 9.99702712e-01 2.34488648e-02 6.68123429e-03 1.09518383e+01] [-2.33674295e-02 9.99654723e-01 -1.20166011e-02 -2.19096765e-01] [-6.96070307e-03 1.18569055e-02 9.99905477e-01 -1.71612936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80119381700001 meters Centerline goodness : 0.892212 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.22, Z:-1.72 [[ 9.99589857e-01 2.80331212e-02 5.85329729e-03 1.09740426e+01] [-2.79596805e-02 9.99533708e-01 -1.22728372e-02 -2.22538353e-01] [-6.19461387e-03 1.21041473e-02 9.99907554e-01 -1.71832801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831193817 meters Centerline goodness : 0.889859 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.22, Z:-1.72 [[ 9.99584822e-01 2.83084661e-02 5.36795153e-03 1.09753182e+01] [-2.82437619e-02 9.99531780e-01 -1.17690707e-02 -2.23835526e-01] [-5.69860249e-03 1.16125733e-02 9.99916334e-01 -1.71875648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.861193817 meters Centerline goodness : 0.889397 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.23, Z:-1.72 [[ 9.99583365e-01 2.84405215e-02 4.92264098e-03 1.09769866e+01] [-2.83840840e-02 9.99534587e-01 -1.11782842e-02 -2.26095867e-01] [-5.23826615e-03 1.10339023e-02 9.99925404e-01 -1.71971264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.891193817 meters Centerline goodness : 0.887608 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.23, Z:-1.72 [[ 9.99681359e-01 2.49553250e-02 3.79637838e-03 1.09814774e+01] [-2.49013243e-02 9.99596552e-01 -1.36622533e-02 -2.31149911e-01] [-4.13579271e-03 1.35633651e-02 9.99899460e-01 -1.72309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921193817 meters Centerline goodness : 0.883758 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.24, Z:-1.72 [[ 9.99707466e-01 2.39856946e-02 3.10934498e-03 1.09842325e+01] [-2.39411930e-02 9.99620366e-01 -1.36361242e-02 -2.35255001e-01] [-3.43523647e-03 1.35576937e-02 9.99902189e-01 -1.72474838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.951193817 meters Centerline goodness : 0.883175 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.24, Z:-1.73 [[ 9.99784473e-01 2.05747683e-02 2.77254515e-03 1.09850539e+01] [-2.05264849e-02 9.99654079e-01 -1.64434232e-02 -2.38569251e-01] [-3.10990569e-03 1.63829686e-02 9.99860954e-01 -1.72510370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981193817 meters Centerline goodness : 0.884386 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.24, Z:-1.73 [[ 9.99849992e-01 1.71506323e-02 2.41835290e-03 1.09859863e+01] [-1.71011714e-02 9.99669933e-01 -1.91722705e-02 -2.42531156e-01] [-2.74637124e-03 1.91280379e-02 9.99813270e-01 -1.72556525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.011193817 meters Centerline goodness : 0.885575 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.26, Z:-1.72 [[ 9.99974654e-01 6.09871481e-03 3.67374938e-03 1.09879890e+01] [-6.06872701e-03 9.99948622e-01 -8.11930053e-03 -2.55622556e-01] [-3.72307793e-03 8.09679976e-03 9.99960289e-01 -1.72333551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.041193817 meters Centerline goodness : 0.885923 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.26, Z:-1.72 [[ 9.99992366e-01 1.99498097e-03 3.35981777e-03 1.09888436e+01] [-1.95814933e-03 9.99938346e-01 -1.09302326e-02 -2.60316694e-01] [-3.38141623e-03 1.09235702e-02 9.99934619e-01 -1.72335177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07119381700001 meters Centerline goodness : 0.886042 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.27, Z:-1.72 [[ 9.99991973e-01 -2.23723273e-03 3.32396507e-03 1.09892975e+01] [ 2.28279378e-03 9.99902626e-01 -1.37668637e-02 -2.65248164e-01] [-3.29284173e-03 1.37743411e-02 9.99899707e-01 -1.72342444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10119381700001 meters Centerline goodness : 0.884661 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.27, Z:-1.72 [[ 9.99975717e-01 -6.21481518e-03 3.15316812e-03 1.09897213e+01] [ 6.26594492e-03 9.99844673e-01 -1.64732458e-02 -2.69846293e-01] [-3.05030017e-03 1.64926033e-02 9.99859335e-01 -1.72311830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13119381700001 meters Centerline goodness : 0.888192 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.28, Z:-1.72 [[ 9.99901370e-01 -1.36158889e-02 3.44352648e-03 1.09888670e+01] [ 1.36896227e-02 9.99655777e-01 -2.23812800e-02 -2.76126635e-01] [-3.13760012e-03 2.24262131e-02 9.99743577e-01 -1.72211906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16119381700001 meters Centerline goodness : 0.889270 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.28, Z:-1.72 [[ 9.99905646e-01 -1.33230035e-02 3.34606930e-03 1.09884056e+01] [ 1.33900550e-02 9.99692173e-01 -2.08869915e-02 -2.80989414e-01] [-3.06676183e-03 2.09298248e-02 9.99776244e-01 -1.72085318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19119381700001 meters Centerline goodness : 0.893874 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.29, Z:-1.72 [[ 9.99920344e-01 -1.21513830e-02 3.41313587e-03 1.09872917e+01] [ 1.22137542e-02 9.99746970e-01 -1.88896611e-02 -2.85306114e-01] [-3.18273674e-03 1.89298436e-02 9.99815749e-01 -1.71929455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.221193817 meters Centerline goodness : 0.895638 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.29, Z:-1.72 [[ 9.99962099e-01 -8.11862237e-03 3.14464887e-03 1.09877764e+01] [ 8.16222276e-03 9.99867140e-01 -1.41095774e-02 -2.87371835e-01] [-3.02968074e-03 1.41347099e-02 9.99895510e-01 -1.71900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.251193817 meters Centerline goodness : 0.893218 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99991299e-01 -3.49730073e-03 2.27404025e-03 1.10092562e+01] [ 3.52683305e-03 9.99907774e-01 -1.31150586e-02 -2.88481306e-01] [-2.22796322e-03 1.31229646e-02 9.99911408e-01 -1.71996864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.281193817 meters Centerline goodness : 0.893200 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99998421e-01 -7.29351204e-04 1.62034044e-03 1.10116794e+01] [ 7.45554539e-04 9.99949501e-01 -1.00219612e-02 -2.88965169e-01] [-1.61294909e-03 1.00231534e-02 9.99948466e-01 -1.72113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.311193817 meters Centerline goodness : 0.893200 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99998421e-01 -7.29351204e-04 1.62034044e-03 1.10116794e+01] [ 7.45554539e-04 9.99949501e-01 -1.00219612e-02 -2.88965169e-01] [-1.61294909e-03 1.00231534e-02 9.99948466e-01 -1.72113773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341193817 meters Centerline goodness : 0.895786 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99999167e-01 -3.86423244e-04 1.23176750e-03 1.10126553e+01] [ 3.98630696e-04 9.99950659e-01 -9.92572504e-03 -2.88543111e-01] [-1.22787120e-03 9.92620779e-03 9.99949980e-01 -1.72143134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.371193817 meters Centerline goodness : 0.894578 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-1.72 [[ 9.99999445e-01 -5.78040070e-04 8.81314214e-04 1.10136170e+01] [ 5.86823616e-04 9.99949837e-01 -9.99894892e-03 -2.89067411e-01] [-8.75490212e-04 9.99946054e-03 9.99949621e-01 -1.72171961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401193817 meters Centerline goodness : 0.897548 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.72 [[ 9.99997813e-01 -2.07070784e-03 2.94492880e-04 1.10163882e+01] [ 2.07384265e-03 9.99936511e-01 -1.10757844e-02 -2.89508258e-01] [-2.71539469e-04 1.10763710e-02 9.99938618e-01 -1.72352072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43119381700001 meters Centerline goodness : 0.895418 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.72 [[ 9.99993819e-01 -3.48938430e-03 -4.31860110e-04 1.10192083e+01] [ 3.48407942e-03 9.99925145e-01 -1.17288424e-02 -2.90798004e-01] [ 4.72754222e-04 1.17272653e-02 9.99931122e-01 -1.72494904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46119381700001 meters Centerline goodness : 0.895170 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.73 [[ 9.99988909e-01 -4.61101662e-03 -9.59815863e-04 1.10210646e+01] [ 4.59917765e-03 9.99917522e-01 -1.19915447e-02 -2.92068034e-01] [ 1.01502991e-03 1.19869973e-02 9.99927638e-01 -1.72568625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49119381700001 meters Centerline goodness : 0.893493 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.29, Z:-1.73 [[ 9.99978050e-01 -6.37486628e-03 -1.80558275e-03 1.10246895e+01] [ 6.35070817e-03 9.99894240e-01 -1.30834805e-02 -2.92073665e-01] [ 1.88879723e-03 1.30717265e-02 9.99912777e-01 -1.72783970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52119381700001 meters Centerline goodness : 0.891566 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99953175e-01 -9.35312655e-03 -2.48350112e-03 1.10284782e+01] [ 9.31462371e-03 9.99842797e-01 -1.50870344e-02 -2.91112171e-01] [ 2.62422165e-03 1.50631951e-02 9.99883100e-01 -1.73036720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55119381700001 meters Centerline goodness : 0.890465 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99947110e-01 -9.84762322e-03 -2.96667864e-03 1.10297978e+01] [ 9.80091943e-03 9.99833898e-01 -1.53661582e-02 -2.90994319e-01] [ 3.11750601e-03 1.53362694e-02 9.99877533e-01 -1.73063910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters Centerline goodness : 0.890034 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99965468e-01 -7.48079493e-03 -3.61952939e-03 1.10320832e+01] [ 7.43516470e-03 9.99894727e-01 -1.24600355e-02 -2.91875547e-01] [ 3.71235932e-03 1.24326934e-02 9.99915820e-01 -1.73145265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.611193817 meters Centerline goodness : 0.891254 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.29, Z:-1.73 [[ 9.99977679e-01 -4.97811907e-03 -4.45635466e-03 1.10346937e+01] [ 4.93378872e-03 9.99938782e-01 -9.90399696e-03 -2.91148637e-01] [ 4.50538513e-03 9.88178919e-03 9.99941024e-01 -1.73244098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641193817 meters Centerline goodness : 0.890644 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.28, Z:-1.74 [[ 9.99998335e-01 1.77639865e-03 -4.18426112e-04 1.10510460e+01] [-1.78187643e-03 9.99907599e-01 -1.34765842e-02 -2.82354628e-01] [ 3.94447663e-04 1.34773073e-02 9.99909099e-01 -1.73746458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.671193817 meters Centerline goodness : 0.891291 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.28, Z:-1.74 [[ 9.99963973e-01 7.66592175e-03 3.64516987e-03 1.10684203e+01] [-7.60850724e-03 9.99850731e-01 -1.55121292e-02 -2.76645270e-01] [-3.76354053e-03 1.54838360e-02 9.99873035e-01 -1.74116308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701193817 meters Centerline goodness : 0.893089 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.27, Z:-1.74 [[ 9.99919964e-01 1.21873565e-02 3.39622267e-03 1.10682508e+01] [-1.21456864e-02 9.99853854e-01 -1.20313376e-02 -2.72820854e-01] [-3.54235653e-03 1.19891253e-02 9.99921853e-01 -1.74007194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.731193817 meters Centerline goodness : 0.892983 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.27, Z:-1.74 [[ 9.99750455e-01 2.06983056e-02 8.40281574e-03 1.10817576e+01] [-2.05790069e-02 9.99689587e-01 -1.40439924e-02 -2.66198497e-01] [-8.69089425e-03 1.38675662e-02 9.99866071e-01 -1.74330581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.761193817 meters Centerline goodness : 0.893128 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.27, Z:-1.74 [[ 9.99672105e-01 2.42620923e-02 8.18735219e-03 1.10824400e+01] [-2.41747664e-02 9.99651534e-01 -1.06014900e-02 -2.65024747e-01] [-8.44171350e-03 1.04000865e-02 9.99910284e-01 -1.74323260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.791193817 meters Centerline goodness : 0.897478 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.26, Z:-1.74 [[ 9.99670633e-01 2.43949443e-02 7.96947964e-03 1.10828280e+01] [-2.43044585e-02 9.99641187e-01 -1.12601670e-02 -2.62072336e-01] [-8.24131123e-03 1.10627644e-02 9.99904843e-01 -1.74314482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82119381700001 meters Centerline goodness : 0.895539 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.26, Z:-1.74 [[ 9.99630040e-01 2.61375164e-02 7.52416439e-03 1.10846331e+01] [-2.60656880e-02 9.99615175e-01 -9.49118905e-03 -2.61534436e-01] [-7.76934501e-03 9.29155517e-03 9.99926649e-01 -1.74392832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85119381700001 meters Centerline goodness : 0.897260 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.74 [[ 9.99639163e-01 2.59115448e-02 7.08059317e-03 1.10853467e+01] [-2.58386786e-02 9.99614131e-01 -1.01956622e-02 -2.59704494e-01] [-7.34204635e-03 1.00090301e-02 9.99922954e-01 -1.74370367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88119381700001 meters Centerline goodness : 0.895324 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.74 [[ 9.99644289e-01 2.58649977e-02 6.50364384e-03 1.10869281e+01] [-2.57961738e-02 9.99612577e-01 -1.04524747e-02 -2.58594446e-01] [-6.77147741e-03 1.02809875e-02 9.99924221e-01 -1.74427316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91119381700001 meters Centerline goodness : 0.897278 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99663732e-01 2.52422147e-02 5.93753287e-03 1.10891120e+01] [-2.51735554e-02 9.99618466e-01 -1.13672770e-02 -2.57102229e-01] [-6.22220274e-03 1.12139858e-02 9.99917762e-01 -1.74566481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94119381700001 meters Centerline goodness : 0.897142 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99676852e-01 2.48537265e-02 5.33696367e-03 1.10909434e+01] [-2.47892630e-02 9.99622784e-01 -1.18229871e-02 -2.56681167e-01] [-5.62879577e-03 1.16868671e-02 9.99915863e-01 -1.74650171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.971193817 meters Centerline goodness : 0.896984 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.26, Z:-1.75 [[ 9.99705122e-01 2.38488164e-02 4.57198705e-03 1.10932672e+01] [-2.37894864e-02 9.99637339e-01 -1.26194500e-02 -2.57027876e-01] [-4.87128791e-03 1.25069636e-02 9.99909919e-01 -1.74756356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001193817 meters Centerline goodness : 0.895601 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99728822e-01 2.29414468e-02 3.99653601e-03 1.10954622e+01] [-2.28866214e-02 9.99650092e-01 -1.32625711e-02 -2.57141581e-01] [-4.29940016e-03 1.31675074e-02 9.99904061e-01 -1.74874177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.031193817 meters Centerline goodness : 0.897670 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99758516e-01 2.17257494e-02 3.30189016e-03 1.10980453e+01] [-2.16772057e-02 9.99665759e-01 -1.40879051e-02 -2.57703660e-01] [-3.60685683e-03 1.40129274e-02 9.99895309e-01 -1.75019954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061193817 meters Centerline goodness : 0.898987 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99787968e-01 2.04161390e-02 2.68335693e-03 1.11004984e+01] [-2.03749182e-02 9.99686051e-01 -1.45829579e-02 -2.59763585e-01] [-2.98024219e-03 1.45251926e-02 9.99890062e-01 -1.75152579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.091193817 meters Centerline goodness : 0.898634 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.26, Z:-1.75 [[ 9.99865026e-01 1.62665276e-02 2.30862732e-03 1.11016885e+01] [-1.62214051e-02 9.99699540e-01 -1.83765093e-02 -2.60940133e-01] [-2.60685566e-03 1.83365798e-02 9.99828472e-01 -1.75224544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121193817 meters Centerline goodness : 0.895832 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.27, Z:-1.75 [[ 9.99981134e-01 4.52737259e-03 4.15144794e-03 1.11039443e+01] [-4.48355603e-03 9.99934782e-01 -1.05037750e-02 -2.65965662e-01] [-4.19873170e-03 1.04849636e-02 9.99936216e-01 -1.75366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.151193817 meters Centerline goodness : 0.899059 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99991406e-01 2.23175235e-03 3.49374630e-03 1.11067523e+01] [-2.18984969e-03 9.99926176e-01 -1.19518457e-02 -2.67554708e-01] [-3.52016194e-03 1.19440922e-02 9.99922471e-01 -1.75512547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18119381700001 meters Centerline goodness : 0.899270 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99996163e-01 6.05812629e-04 2.70306510e-03 1.11098166e+01] [-5.70885366e-04 9.99916584e-01 -1.29034700e-02 -2.68674266e-01] [-2.71065671e-03 1.29018774e-02 9.99913093e-01 -1.75669283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21119381700001 meters Centerline goodness : 0.898764 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99997837e-01 -8.97210564e-04 1.87624271e-03 1.11128621e+01] [ 9.23259719e-04 9.99902558e-01 -1.39292133e-02 -2.68535271e-01] [-1.86356245e-03 1.39309154e-02 9.99901223e-01 -1.75820317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24119381700001 meters Centerline goodness : 0.895701 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.27, Z:-1.76 [[ 9.99996971e-01 -2.00666273e-03 1.42508176e-03 1.11142211e+01] [ 2.02721247e-03 9.99891825e-01 -1.45680587e-02 -2.68368413e-01] [-1.39569442e-03 1.45709035e-02 9.99892865e-01 -1.75851640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27119381700001 meters Centerline goodness : 0.896989 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.27, Z:-1.76 [[ 9.99996513e-01 -2.44992941e-03 9.85309813e-04 1.11154968e+01] [ 2.46432315e-03 9.99886212e-01 -1.48825493e-02 -2.67836466e-01] [-9.48736501e-04 1.48849255e-02 9.99888763e-01 -1.75888793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30119381700001 meters Centerline goodness : 0.897646 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.27, Z:-1.76 [[ 9.99995272e-01 -3.04791586e-03 4.06851658e-04 1.11173562e+01] [ 3.05386452e-03 9.99874842e-01 -1.55233293e-02 -2.66460091e-01] [-3.59486936e-04 1.55244984e-02 9.99879423e-01 -1.75966912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331193817 meters Centerline goodness : 0.895899 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.26, Z:-1.76 [[ 9.99999374e-01 -1.07211965e-03 -3.19371794e-04 1.11206095e+01] [ 1.06776167e-03 9.99910359e-01 -1.33466501e-02 -2.64379680e-01] [ 3.33652371e-04 1.33463008e-02 9.99910878e-01 -1.76171249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.361193817 meters Centerline goodness : 0.895959 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.26, Z:-1.76 [[ 9.99998333e-01 1.54376502e-03 -9.74787404e-04 1.11228637e+01] [-1.55378549e-03 9.99945085e-01 -1.03639649e-02 -2.64205997e-01] [ 9.58734347e-04 1.03654623e-02 9.99945818e-01 -1.76255390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.391193817 meters Centerline goodness : 0.894189 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.26, Z:-1.76 [[ 9.99987868e-01 4.87204778e-03 -7.26283169e-04 1.11445235e+01] [-4.87994611e-03 9.99924225e-01 -1.13017941e-02 -2.63655235e-01] [ 6.71165254e-04 1.13052012e-02 9.99935869e-01 -1.76448270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421193817 meters Centerline goodness : 0.895244 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.26, Z:-1.76 [[ 9.99966784e-01 8.08050956e-03 -1.06630840e-03 1.11455879e+01] [-8.08890917e-03 9.99934289e-01 -8.12326339e-03 -2.61978957e-01] [ 1.00059822e-03 8.13161884e-03 9.99966437e-01 -1.76459841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.451193817 meters Centerline goodness : 0.899101 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.77 [[ 9.99929717e-01 1.14905665e-02 2.92026226e-03 1.11616014e+01] [-1.14509647e-02 9.99846856e-01 -1.32340352e-02 -2.53059117e-01] [-3.07188161e-03 1.31996653e-02 9.99908162e-01 -1.76665629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.481193817 meters Centerline goodness : 0.899799 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.77 [[ 9.99925114e-01 1.19597610e-02 2.59440265e-03 1.11613638e+01] [-1.19240498e-02 9.99839529e-01 -1.33691369e-02 -2.50135380e-01] [-2.75387801e-03 1.33372000e-02 9.99907263e-01 -1.76542804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.511193817 meters Centerline goodness : 0.903034 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.25, Z:-1.76 [[ 9.99923554e-01 1.21460163e-02 2.31513184e-03 1.11610745e+01] [-1.21130846e-02 9.99832173e-01 -1.37440506e-02 -2.47464588e-01] [-2.48167876e-03 1.37149566e-02 9.99902866e-01 -1.76421767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.541193817 meters Centerline goodness : 0.904660 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.24, Z:-1.76 [[ 9.99924336e-01 1.21337317e-02 2.02376474e-03 1.11611482e+01] [-1.21038787e-02 9.99826436e-01 -1.41631321e-02 -2.44976483e-01] [-2.19526513e-03 1.41375650e-02 9.99897650e-01 -1.76337202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57119381700001 meters Centerline goodness : 0.912337 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.24, Z:-1.76 [[ 9.99938061e-01 1.09765779e-02 1.84090486e-03 1.11612298e+01] [-1.09460151e-02 9.99814261e-01 -1.58628172e-02 -2.37418109e-01] [-2.01468238e-03 1.58416841e-02 9.99872483e-01 -1.76264410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60119381700001 meters Centerline goodness : 0.913640 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.23, Z:-1.76 [[ 9.99948300e-01 1.00638362e-02 1.45516497e-03 1.11621465e+01] [-1.00372702e-02 9.99801050e-01 -1.72369928e-02 -2.33426281e-01] [-1.62834574e-03 1.72214958e-02 9.99850373e-01 -1.76264081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63119381700001 meters Centerline goodness : 0.917036 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.23, Z:-1.76 [[ 9.99953402e-01 9.58457407e-03 1.15330429e-03 1.11626665e+01] [-9.56200986e-03 9.99788726e-01 -1.81953848e-02 -2.30030282e-01] [-1.32745564e-03 1.81835090e-02 9.99833785e-01 -1.76235222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66119381700001 meters Centerline goodness : 0.920539 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.22, Z:-1.76 [[ 9.99935329e-01 1.13258445e-02 1.03059416e-03 1.11615587e+01] [-1.13063424e-02 9.99786628e-01 -1.72877290e-02 -2.22629048e-01] [-1.22617239e-03 1.72749587e-02 9.99850025e-01 -1.76008147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69119381700001 meters Centerline goodness : 0.924118 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.22, Z:-1.76 [[ 9.99897153e-01 1.43264039e-02 6.61715388e-04 1.11621278e+01] [-1.43150952e-02 9.99788836e-01 -1.47432143e-02 -2.19295153e-01] [-8.72792901e-04 1.47322255e-02 9.99891094e-01 -1.75940854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.721193817 meters Centerline goodness : 0.924591 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.21, Z:-1.76 [[ 9.99848837e-01 1.73860612e-02 1.70085613e-04 1.11634520e+01] [-1.73825471e-02 9.99769793e-01 -1.25780927e-02 -2.14814975e-01] [-3.88729947e-04 1.25732348e-02 9.99920878e-01 -1.75944461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.751193817 meters Centerline goodness : 0.924197 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.21, Z:-1.76 [[ 9.99781214e-01 2.09114306e-02 -4.86853738e-04 1.11654270e+01] [-2.09153140e-02 9.99729070e-01 -1.02144993e-02 -2.09494502e-01] [ 2.73122042e-04 1.02224472e-02 9.99947712e-01 -1.76005103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781193817 meters Centerline goodness : 0.921492 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99611904e-01 2.78537293e-02 4.58773820e-04 1.11865499e+01] [-2.78442370e-02 9.99508491e-01 -1.44039585e-02 -1.94007601e-01] [-8.59752289e-04 1.43855942e-02 9.99896152e-01 -1.76623949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.811193817 meters Centerline goodness : 0.919039 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99533308e-01 3.05469781e-02 -2.20387337e-04 1.11895595e+01] [-3.05473349e-02 9.99454309e-01 -1.25676362e-02 -1.88808319e-01] [-1.63636234e-04 1.25685032e-02 9.99921000e-01 -1.76790794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841193817 meters Centerline goodness : 0.920210 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.19, Z:-1.77 [[ 9.99456107e-01 3.29636145e-02 -9.43542509e-04 1.11924451e+01] [-3.29717035e-02 9.99401311e-01 -1.04827075e-02 -1.85816476e-01] [ 5.97429690e-04 1.05081163e-02 9.99944610e-01 -1.76931858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.871193817 meters Centerline goodness : 0.917432 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.99433693e-01 3.36068999e-02 -1.69395097e-03 1.11957825e+01] [-3.36224562e-02 9.99382647e-01 -1.01909840e-02 -1.83637829e-01] [ 1.35041782e-03 1.02421675e-02 9.99946636e-01 -1.77134659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901193817 meters Centerline goodness : 0.916055 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.99455007e-01 3.29322679e-02 -2.27020548e-03 1.11978971e+01] [-3.29558804e-02 9.99392981e-01 -1.12951390e-02 -1.81241114e-01] [ 1.89685288e-03 1.13637999e-02 9.99933631e-01 -1.77248424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93119381700001 meters Centerline goodness : 0.913748 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.78 [[ 9.99370203e-01 3.53664911e-02 -2.89991006e-03 1.12017220e+01] [-3.53915287e-02 9.99332161e-01 -9.09241605e-03 -1.79022375e-01] [ 2.57640653e-03 9.18932192e-03 9.99954458e-01 -1.77539175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96119381700001 meters Centerline goodness : 0.911936 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.18, Z:-1.78 [[ 9.99277786e-01 3.78258701e-02 -3.62089375e-03 1.12055528e+01] [-3.78492678e-02 9.99261482e-01 -6.62751019e-03 -1.78388308e-01] [ 3.36752832e-03 6.75977188e-03 9.99971482e-01 -1.77801358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99119381700001 meters Centerline goodness : 0.909726 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.18, Z:-1.78 [[ 9.99156173e-01 4.08456522e-02 -4.30990008e-03 1.12089644e+01] [-4.08610544e-02 9.99158538e-01 -3.54824258e-03 -1.78545154e-01] [ 4.16134318e-03 3.72135554e-03 9.99984417e-01 -1.78007523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02119381700001 meters Centerline goodness : 0.911718 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.17, Z:-1.78 [[ 9.99081907e-01 4.10608017e-02 -1.22210334e-02 1.11984396e+01] [-4.11502505e-02 9.99127315e-01 -7.15996024e-03 -1.74416398e-01] [ 1.19163746e-02 7.65628531e-03 9.99899686e-01 -1.77763622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05119381700001 meters Centerline goodness : 0.910398 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98927906e-01 4.42094987e-02 -1.37316670e-02 1.12000070e+01] [-4.43027942e-02 9.98996573e-01 -6.56582896e-03 -1.75737804e-01] [ 1.34276163e-02 7.16714099e-03 9.99884159e-01 -1.77466630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters Centerline goodness : 0.910727 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98865410e-01 4.54245322e-02 -1.43005156e-02 1.12003197e+01] [-4.55061970e-02 9.98949256e-01 -5.43781342e-03 -1.78365689e-01] [ 1.40384793e-02 6.08240581e-03 9.99882956e-01 -1.77341128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.111193817 meters Centerline goodness : 0.910210 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98937318e-01 4.32126080e-02 -1.60282473e-02 1.12033107e+01] [-4.33658405e-02 9.99015610e-01 -9.33891680e-03 -1.78223272e-01] [ 1.56089103e-02 1.00240709e-02 9.99827925e-01 -1.77260035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141193817 meters Centerline goodness : 0.915388 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.18, Z:-1.77 [[ 9.98979936e-01 4.19750892e-02 -1.66486972e-02 1.12036793e+01] [-4.21534088e-02 9.99055887e-01 -1.05083064e-02 -1.81702570e-01] [ 1.61918918e-02 1.11993866e-02 9.99806179e-01 -1.77195591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.171193817 meters Centerline goodness : 0.916102 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.19, Z:-1.78 [[ 9.99181023e-01 3.90073461e-02 -1.07568915e-02 1.12159888e+01] [-3.90686993e-02 9.99221094e-01 -5.55363643e-03 -1.85825260e-01] [ 1.05318803e-02 5.96934589e-03 9.99926721e-01 -1.77585456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.201193817 meters Centerline goodness : 0.915638 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99383285e-01 3.48935299e-02 -3.93599403e-03 1.12278677e+01] [-3.49052399e-02 9.99386282e-01 -2.94668357e-03 -1.90477883e-01] [ 3.83075825e-03 3.08225312e-03 9.99987912e-01 -1.77980312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.231193817 meters Centerline goodness : 0.916286 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99505754e-01 3.11344740e-02 -4.34641894e-03 1.12282541e+01] [-3.11612309e-02 9.99494952e-01 -6.23040837e-03 -1.93135639e-01] [ 4.15024330e-03 6.36276879e-03 9.99971145e-01 -1.77943438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.261193817 meters Centerline goodness : 0.916286 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.19, Z:-1.78 [[ 9.99505754e-01 3.11344740e-02 -4.34641894e-03 1.12282541e+01] [-3.11612309e-02 9.99494952e-01 -6.23040837e-03 -1.93135639e-01] [ 4.15024330e-03 6.36276879e-03 9.99971145e-01 -1.77943438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.291193817 meters Centerline goodness : 0.915781 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.20, Z:-1.78 [[ 9.99605010e-01 2.77551264e-02 -4.41328810e-03 1.12265990e+01] [-2.77908896e-02 9.99579632e-01 -8.25993889e-03 -1.98243853e-01] [ 4.18217724e-03 8.37932550e-03 9.99956147e-01 -1.77691783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32119381700001 meters Centerline goodness : 0.918452 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.20, Z:-1.78 [[ 9.99610840e-01 2.74715012e-02 -4.84624244e-03 1.12274476e+01] [-2.75086096e-02 9.99591413e-01 -7.76429656e-03 -2.00814575e-01] [ 4.63096544e-03 7.89458839e-03 9.99958114e-01 -1.77665717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35119381700001 meters Centerline goodness : 0.917408 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.20, Z:-1.78 [[ 9.99650851e-01 2.61216682e-02 -3.97923328e-03 1.12485958e+01] [-2.61708014e-02 9.99575009e-01 -1.28409586e-02 -2.02197220e-01] [ 3.64211488e-03 1.29406149e-02 9.99909634e-01 -1.77848074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38119381700001 meters Centerline goodness : 0.919141 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.20, Z:-1.78 [[ 9.99710779e-01 2.35771874e-02 -4.74069705e-03 1.12511717e+01] [-2.36473655e-02 9.99602718e-01 -1.53364900e-02 -2.03911969e-01] [ 4.37722236e-03 1.54441594e-02 9.99871151e-01 -1.77992904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41119381700001 meters Centerline goodness : 0.916755 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.21, Z:-1.78 [[ 9.99757143e-01 2.13679936e-02 -5.39103305e-03 1.12530188e+01] [-2.14549459e-02 9.99631618e-01 -1.66226723e-02 -2.09338662e-01] [ 5.03385394e-03 1.67342997e-02 9.99847300e-01 -1.78078381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44119381700001 meters Centerline goodness : 0.915641 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.21, Z:-1.78 [[ 9.99776718e-01 2.02279345e-02 -6.11104432e-03 1.12554211e+01] [-2.03277864e-02 9.99653133e-01 -1.67450097e-02 -2.12876865e-01] [ 5.77020764e-03 1.68654948e-02 9.99841117e-01 -1.78180059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.471193817 meters Centerline goodness : 0.913806 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.22, Z:-1.78 [[ 9.99839028e-01 1.66953163e-02 -6.57154477e-03 1.12562628e+01] [-1.68217198e-02 9.99664922e-01 -1.96741956e-02 -2.15704316e-01] [ 6.24087586e-03 1.97815733e-02 9.99784847e-01 -1.78185157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.501193817 meters Centerline goodness : 0.914417 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.22, Z:-1.78 [[ 9.99892669e-01 1.28454538e-02 -7.04594152e-03 1.12575687e+01] [-1.30041121e-02 9.99651940e-01 -2.29541453e-02 -2.18015470e-01] [ 6.74863270e-03 2.30433078e-02 9.99711689e-01 -1.78244978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.531193817 meters Centerline goodness : 0.913244 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.22, Z:-1.78 [[ 9.99972483e-01 2.97180493e-03 -6.79718344e-03 1.12806311e+01] [-3.07418336e-03 9.99881242e-01 -1.51013673e-02 -2.24984271e-01] [ 6.75149790e-03 1.51218475e-02 9.99862864e-01 -1.78388768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.561193817 meters Centerline goodness : 0.908877 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.23, Z:-1.78 [[ 9.99972230e-01 -1.30020800e-03 -7.33811194e-03 1.12821285e+01] [ 1.16498829e-03 9.99830002e-01 -1.84013314e-02 -2.27911477e-01] [ 7.36079004e-03 1.83922716e-02 9.99803752e-01 -1.78434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.591193817 meters Centerline goodness : 0.911088 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.23, Z:-1.79 [[ 9.99963952e-01 -7.33665778e-03 -4.27423830e-03 1.12924813e+01] [ 7.27613977e-03 9.99875432e-01 -1.40063306e-02 -2.33129624e-01] [ 4.37646552e-03 1.39747257e-02 9.99892771e-01 -1.78532079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621193817 meters Centerline goodness : 0.910718 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.24, Z:-1.79 [[ 9.99924621e-01 -1.13403510e-02 -4.70622513e-03 1.12938008e+01] [ 1.12565427e-02 9.99784058e-01 -1.74679293e-02 -2.35325717e-01] [ 4.90330131e-03 1.74136368e-02 9.99836348e-01 -1.78575076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.651193817 meters Centerline goodness : 0.912274 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99908499e-01 -1.24582520e-02 -5.27129063e-03 1.12961357e+01] [ 1.23622960e-02 9.99764061e-01 -1.78604747e-02 -2.36591173e-01] [ 5.49255722e-03 1.77936752e-02 9.99826593e-01 -1.78700040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68119381700001 meters Centerline goodness : 0.911779 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99945796e-01 -8.79660994e-03 -5.57006476e-03 1.12967148e+01] [ 8.72079341e-03 9.99870942e-01 -1.34924748e-02 -2.37864635e-01] [ 5.68803393e-03 1.34431680e-02 9.99893458e-01 -1.78675142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71119381700001 meters Centerline goodness : 0.905760 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99961891e-01 -6.09061500e-03 -6.25464436e-03 1.12991635e+01] [ 6.02557328e-03 9.99928120e-01 -1.03656657e-02 -2.38204431e-01] [ 6.31732806e-03 1.03275828e-02 9.99926714e-01 -1.78785634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74119381700001 meters Centerline goodness : 0.905681 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.24, Z:-1.79 [[ 9.99971163e-01 -3.25897440e-03 -6.85944536e-03 1.13013262e+01] [ 3.20881240e-03 9.99968125e-01 -7.31118051e-03 -2.38620490e-01] [ 6.88305366e-03 7.28895900e-03 9.99949746e-01 -1.78881937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77119381700001 meters Centerline goodness : 0.907192 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-1.79 [[ 9.99993585e-01 3.54420866e-03 -5.17753454e-04 1.13116548e+01] [-3.54985305e-03 9.99929387e-01 -1.13410964e-02 -2.35367140e-01] [ 4.77521681e-04 1.13428616e-02 9.99935554e-01 -1.79216676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80119381700001 meters Centerline goodness : 0.908694 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.23, Z:-1.79 [[ 9.99971093e-01 7.55003688e-03 -8.99720674e-04 1.13125086e+01] [-7.55692315e-03 9.99940134e-01 -7.91336440e-03 -2.33300237e-01] [ 8.39920618e-04 7.91993477e-03 9.99968284e-01 -1.79219377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831193817 meters Centerline goodness : 0.904716 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.23, Z:-1.80 [[ 9.99936528e-01 1.10865070e-02 2.00716315e-03 1.13311219e+01] [-1.10613179e-02 9.99864960e-01 -1.21535395e-02 -2.27686661e-01] [-2.14163241e-03 1.21305663e-02 9.99924129e-01 -1.79596242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861193817 meters Centerline goodness : 0.905866 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.22, Z:-1.80 [[ 9.99884872e-01 1.50886409e-02 1.60474549e-03 1.13324510e+01] [-1.50738778e-02 9.99847261e-01 -8.84499028e-03 -2.24917504e-01] [-1.73795927e-03 8.81978224e-03 9.99959595e-01 -1.79655724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.891193817 meters Centerline goodness : 0.899568 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99770813e-01 2.07815985e-02 5.14258482e-03 1.13481589e+01] [-2.07080310e-02 9.99687993e-01 -1.39675992e-02 -2.16546463e-01] [-5.43124934e-03 1.38579052e-02 9.99889224e-01 -1.80142343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921193817 meters Centerline goodness : 0.902874 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99697516e-01 2.41471552e-02 4.66806485e-03 1.13494494e+01] [-2.40966665e-02 9.99653591e-01 -1.05852838e-02 -2.15755433e-01] [-4.92205228e-03 1.04695971e-02 9.99933078e-01 -1.80150835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.951193817 meters Centerline goodness : 0.901807 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.21, Z:-1.80 [[ 9.99686184e-01 2.46730335e-02 4.33292073e-03 1.13499097e+01] [-2.46261533e-02 9.99640969e-01 -1.05586801e-02 -2.14580306e-01] [-4.59187974e-03 1.04486635e-02 9.99934868e-01 -1.80126193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981193817 meters Centerline goodness : 0.900369 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.21, Z:-1.80 [[ 9.99692494e-01 2.44857584e-02 3.91993596e-03 1.13506946e+01] [-2.44420740e-02 9.99642594e-01 -1.08290578e-02 -2.14372711e-01] [-4.18369265e-03 1.07299164e-02 9.99933681e-01 -1.80112125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.011193817 meters Centerline goodness : 0.905933 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99698659e-01 2.44139951e-02 2.55892815e-03 1.13524203e+01] [-2.43894756e-02 9.99660096e-01 -9.21114237e-03 -2.16803856e-01] [-2.78293914e-03 9.14595576e-03 9.99954302e-01 -1.79911471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041193817 meters Centerline goodness : 0.907412 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99711285e-01 2.39150509e-02 2.32739136e-03 1.13528795e+01] [-2.38922134e-02 9.99670441e-01 -9.38998786e-03 -2.17185960e-01] [-2.55118639e-03 9.33167030e-03 9.99953205e-01 -1.79896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07119381700001 meters Centerline goodness : 0.907173 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99718441e-01 2.36344949e-02 2.10938861e-03 1.13530590e+01] [-2.36140429e-02 9.99678407e-01 -9.24444193e-03 -2.18378721e-01] [-2.32719796e-03 9.19202788e-03 9.99955044e-01 -1.79842293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10119381700001 meters Centerline goodness : 0.912138 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.22, Z:-1.80 [[ 9.99787688e-01 2.04963928e-02 2.11599392e-03 1.13517756e+01] [-2.04701577e-02 9.99721375e-01 -1.17535042e-02 -2.23022824e-01] [-2.35630879e-03 1.17076940e-02 9.99928686e-01 -1.79672906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13119381700001 meters Centerline goodness : 0.911889 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.23, Z:-1.80 [[ 9.99826656e-01 1.85643902e-02 1.42186200e-03 1.13541591e+01] [-1.85433981e-02 9.99735881e-01 -1.35761097e-02 -2.26034219e-01] [-1.67351866e-03 1.35473902e-02 9.99906829e-01 -1.79828395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16119381700001 meters Centerline goodness : 0.910874 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.23, Z:-1.80 [[ 9.99845406e-01 1.75637229e-02 8.24272671e-04 1.13568956e+01] [-1.75502349e-02 9.99744875e-01 -1.42188255e-02 -2.28047478e-01] [-1.07379789e-03 1.42021612e-02 9.99898568e-01 -1.80034336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19119381700001 meters Centerline goodness : 0.910362 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.23, Z:-1.80 [[ 9.99853497e-01 1.71153542e-02 2.20970544e-04 1.13593544e+01] [-1.71103809e-02 9.99749362e-01 -1.44377089e-02 -2.28711479e-01] [-4.68021663e-04 1.44318129e-02 9.99895746e-01 -1.80208053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.221193817 meters Centerline goodness : 0.906702 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99846849e-01 1.74807814e-02 -8.36685058e-04 1.13655313e+01] [-1.74906873e-02 9.99751323e-01 -1.38335799e-02 -2.29122767e-01] [ 5.94655209e-04 1.38460954e-02 9.99903961e-01 -1.80752259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.251193817 meters Centerline goodness : 0.905058 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99848852e-01 1.73227592e-02 -1.48180194e-03 1.13676439e+01] [-1.73415336e-02 9.99754839e-01 -1.37670870e-02 -2.30150087e-01] [ 1.24295473e-03 1.37907029e-02 9.99904131e-01 -1.80869101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281193817 meters Centerline goodness : 0.903909 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99859318e-01 1.66409885e-02 -2.10289283e-03 1.13699303e+01] [-1.66689871e-02 9.99761871e-01 -1.40835599e-02 -2.31809586e-01] [ 1.86802771e-03 1.41166317e-02 9.99898610e-01 -1.81007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.311193817 meters Centerline goodness : 0.903824 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.23, Z:-1.81 [[ 9.99868825e-01 1.59514462e-02 -2.80774547e-03 1.13723293e+01] [-1.59902541e-02 9.99768603e-01 -1.43892955e-02 -2.33705644e-01] [ 2.57756570e-03 1.44323046e-02 9.99892527e-01 -1.81132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341193817 meters Centerline goodness : 0.903657 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.24, Z:-1.81 [[ 9.99881152e-01 1.50546607e-02 -3.32256474e-03 1.13748303e+01] [-1.51017254e-02 9.99778978e-01 -1.46264642e-02 -2.37177260e-01] [ 3.10163392e-03 1.46749024e-02 9.99887507e-01 -1.81322418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.371193817 meters Centerline goodness : 0.902074 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.81 [[ 9.99882376e-01 1.48646611e-02 -3.77835274e-03 1.13762261e+01] [-1.49180415e-02 9.99783347e-01 -1.45159029e-02 -2.38486064e-01] [ 3.56176017e-03 1.45705611e-02 9.99887500e-01 -1.81387634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401193817 meters Centerline goodness : 0.902911 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.81 [[ 9.99881016e-01 1.48623980e-02 -4.13069410e-03 1.13777320e+01] [-1.49202936e-02 9.99785599e-01 -1.43575858e-02 -2.39207482e-01] [ 3.91642032e-03 1.44175087e-02 9.99888392e-01 -1.81497377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43119381700001 meters Centerline goodness : 0.896991 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99876457e-01 1.50432258e-02 -4.55759254e-03 1.13791185e+01] [-1.51061560e-02 9.99786429e-01 -1.41032145e-02 -2.39738447e-01] [ 4.34446133e-03 1.41703198e-02 9.99890158e-01 -1.81577037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46119381700001 meters Centerline goodness : 0.899104 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99865729e-01 1.56333448e-02 -4.91142606e-03 1.13799995e+01] [-1.56970940e-02 9.99789380e-01 -1.32210503e-02 -2.41687028e-01] [ 4.70370238e-03 1.32963702e-02 9.99900536e-01 -1.81603130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49119381700001 meters Centerline goodness : 0.900549 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99865026e-01 1.55684436e-02 -5.24912338e-03 1.13809137e+01] [-1.56353125e-02 9.99793919e-01 -1.29482307e-02 -2.43303288e-01] [ 5.04645783e-03 1.30285547e-02 9.99902390e-01 -1.81627671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52119381700001 meters Centerline goodness : 0.897813 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.24, Z:-1.82 [[ 9.99863443e-01 1.55309692e-02 -5.64659827e-03 1.13817637e+01] [-1.56019280e-02 9.99797018e-01 -1.27476323e-02 -2.44819433e-01] [ 5.44746903e-03 1.28339894e-02 9.99902802e-01 -1.81630881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55119381700001 meters Centerline goodness : 0.899834 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.25, Z:-1.82 [[ 9.99857007e-01 1.58438726e-02 -5.91072259e-03 1.13820416e+01] [-1.59153154e-02 9.99798393e-01 -1.22423752e-02 -2.46157302e-01] [ 5.71556432e-03 1.23346956e-02 9.99907590e-01 -1.81592164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters Centerline goodness : 0.904374 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99842265e-01 1.77590789e-02 2.44136570e-04 1.13941763e+01] [-1.77538025e-02 9.99740969e-01 -1.42406850e-02 -2.46653766e-01] [-4.96974779e-04 1.42341044e-02 9.99898566e-01 -1.81306069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.611193817 meters Centerline goodness : 0.907084 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99837353e-01 1.80344368e-02 1.61780730e-04 1.13935143e+01] [-1.80304185e-02 9.99739876e-01 -1.39672896e-02 -2.46911864e-01] [-4.13630848e-04 1.39621009e-02 9.99902440e-01 -1.81181044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641193817 meters Centerline goodness : 0.911635 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99836873e-01 1.80611227e-02 1.52171729e-04 1.13930712e+01] [-1.80573359e-02 9.99742829e-01 -1.37189292e-02 -2.47766455e-01] [-3.99911858e-04 1.37139435e-02 9.99905879e-01 -1.81103646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.671193817 meters Centerline goodness : 0.910230 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.25, Z:-1.81 [[ 9.99837739e-01 1.80136171e-02 -7.76037398e-05 1.13931862e+01] [-1.80130487e-02 9.99748701e-01 -1.33441122e-02 -2.49335313e-01] [-1.62791490e-04 1.33433448e-02 9.99910960e-01 -1.81042081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701193817 meters Centerline goodness : 0.914419 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.25, Z:-1.81 [[ 9.99853610e-01 1.70533569e-02 -1.39364434e-03 1.13951408e+01] [-1.70684289e-02 9.99786654e-01 -1.16325074e-02 -2.54536753e-01] [ 1.19497371e-03 1.16545918e-02 9.99931369e-01 -1.80827599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.731193817 meters Centerline goodness : 0.911314 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99883980e-01 1.50928050e-02 -2.05764701e-03 1.13977056e+01] [-1.51189083e-02 9.99796938e-01 -1.33229671e-02 -2.56485607e-01] [ 1.85614824e-03 1.33525308e-02 9.99909128e-01 -1.80988662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.761193817 meters Centerline goodness : 0.909396 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99906608e-01 1.34091285e-02 -2.64029191e-03 1.14005790e+01] [-1.34458353e-02 9.99805709e-01 -1.44136869e-02 -2.58558856e-01] [ 2.44650394e-03 1.44478417e-02 9.99892631e-01 -1.81197804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.791193817 meters Centerline goodness : 0.911575 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99953023e-01 9.26923704e-03 -2.83428664e-03 1.14018320e+01] [-9.31800816e-03 9.99799783e-01 -1.77078926e-02 -2.61439288e-01] [ 2.66958052e-03 1.77334706e-02 9.99839186e-01 -1.81324503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82119381700001 meters Centerline goodness : 0.910948 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-1.81 [[ 9.99956665e-01 8.68054649e-03 -3.36410623e-03 1.14034398e+01] [-8.73776345e-03 9.99810707e-01 -1.73839539e-02 -2.64169787e-01] [ 3.21256721e-03 1.74125953e-02 9.99843228e-01 -1.81388431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85119381700001 meters Centerline goodness : 0.908771 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99963252e-01 7.55702690e-03 -4.04800839e-03 1.14064586e+01] [-7.62777898e-03 9.99813223e-01 -1.77576816e-02 -2.66579391e-01] [ 3.91305704e-03 1.77879063e-02 9.99834125e-01 -1.81598328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88119381700001 meters Centerline goodness : 0.903742 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99965619e-01 6.78456330e-03 -4.76771196e-03 1.14093410e+01] [-6.86813447e-03 9.99819107e-01 -1.77364576e-02 -2.69312305e-01] [ 4.64651539e-03 1.77685931e-02 9.99831329e-01 -1.81783555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91119381700001 meters Centerline goodness : 0.904244 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.27, Z:-1.82 [[ 9.99975048e-01 4.57112327e-03 -5.38595616e-03 1.14122781e+01] [-4.67358610e-03 9.99805361e-01 -1.91676152e-02 -2.74391352e-01] [ 5.29729031e-03 1.91923087e-02 9.99801777e-01 -1.82008938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94119381700001 meters Centerline goodness : 0.902564 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.28, Z:-1.82 [[ 9.99971362e-01 5.07871024e-03 -5.61086176e-03 1.14126573e+01] [-5.17993040e-03 9.99821398e-01 -1.81752618e-02 -2.77195309e-01] [ 5.51755277e-03 1.82038052e-02 9.99819073e-01 -1.81996756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.971193817 meters Centerline goodness : 0.901704 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.28, Z:-1.82 [[ 9.99967000e-01 5.57954894e-03 -5.90489187e-03 1.14134741e+01] [-5.68234323e-03 9.99830065e-01 -1.75371421e-02 -2.78781349e-01] [ 5.80603908e-03 1.75701169e-02 9.99828776e-01 -1.82036622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001193817 meters Centerline goodness : 0.901494 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99942684e-01 8.50834599e-03 -6.49900746e-03 1.14161097e+01] [-8.60009434e-03 9.99861873e-01 -1.42222727e-02 -2.80992470e-01] [ 6.37710176e-03 1.42773496e-02 9.99877737e-01 -1.82204769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.031193817 meters Centerline goodness : 0.898613 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99886502e-01 1.33450741e-02 -6.99226613e-03 1.14175720e+01] [-1.34107134e-02 9.99865641e-01 -9.42616316e-03 -2.83084327e-01] [ 6.86553381e-03 9.51886459e-03 9.99931125e-01 -1.82281228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061193817 meters Centerline goodness : 0.896104 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.28, Z:-1.82 [[ 9.99823657e-01 1.73809911e-02 -7.11021499e-03 1.14180431e+01] [-1.74169385e-02 9.99835684e-01 -5.02544463e-03 -2.84823339e-01] [ 7.02169946e-03 5.14839661e-03 9.99962094e-01 -1.82284748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.091193817 meters Centerline goodness : 0.896107 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.29, Z:-1.82 [[ 9.99745157e-01 2.13761626e-02 -7.25820438e-03 1.14184259e+01] [-2.13812337e-02 9.99771202e-01 -6.21785859e-04 -2.86443653e-01] [ 7.24325233e-03 7.76816765e-04 9.99973466e-01 -1.82259259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121193817 meters Centerline goodness : 0.897943 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.28, Z:-1.83 [[ 9.99729921e-01 2.31626057e-02 -1.89182008e-03 1.14313060e+01] [-2.31793919e-02 9.99687187e-01 -9.39383722e-03 -2.83699458e-01] [ 1.67364255e-03 9.43515138e-03 9.99954087e-01 -1.82762313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.151193817 meters Centerline goodness : 0.897943 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.28, Z:-1.83 [[ 9.99729921e-01 2.31626057e-02 -1.89182008e-03 1.14313060e+01] [-2.31793919e-02 9.99687187e-01 -9.39383722e-03 -2.83699458e-01] [ 1.67364255e-03 9.43515138e-03 9.99954087e-01 -1.82762313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18119381700001 meters Centerline goodness : 0.900607 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.83 [[ 9.99619592e-01 2.70903864e-02 5.17514751e-03 1.14418440e+01] [-2.70397332e-02 9.99588078e-01 -9.61908764e-03 -2.87050506e-01] [-5.43360056e-03 9.47549385e-03 9.99940344e-01 -1.82516890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21119381700001 meters Centerline goodness : 0.901646 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99610431e-01 2.74319189e-02 5.14552086e-03 1.14413348e+01] [-2.73846879e-02 9.99584135e-01 -9.03528754e-03 -2.88839305e-01] [-5.39123629e-03 8.89085919e-03 9.99945942e-01 -1.82430474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24119381700001 meters Centerline goodness : 0.901835 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99600319e-01 2.78133811e-02 5.06142107e-03 1.14409578e+01] [-2.77700359e-02 9.99578694e-01 -8.44159171e-03 -2.90501667e-01] [-5.29407787e-03 8.29766192e-03 9.99951560e-01 -1.82354067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27119381700001 meters Centerline goodness : 0.902155 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-1.82 [[ 9.99584248e-01 2.83630200e-02 5.18372203e-03 1.14398763e+01] [-2.83253390e-02 9.99572801e-01 -7.20345198e-03 -2.94371461e-01] [-5.38581921e-03 7.05362644e-03 9.99960619e-01 -1.82211423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30119381700001 meters Centerline goodness : 0.906723 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.82 [[ 9.99584468e-01 2.83885212e-02 4.99840454e-03 1.14401117e+01] [-2.83549289e-02 9.99575678e-01 -6.66791167e-03 -2.96778600e-01] [-5.18557576e-03 6.52341153e-03 9.99965277e-01 -1.82187161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33119381700001 meters Centerline goodness : 0.908018 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.82 [[ 9.99604395e-01 2.77524078e-02 4.56701744e-03 1.14419482e+01] [-2.77208464e-02 9.99592338e-01 -6.83471234e-03 -2.98959040e-01] [-4.75483537e-03 6.70540690e-03 9.99966214e-01 -1.82310495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361193817 meters Centerline goodness : 0.906987 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.30, Z:-1.83 [[ 9.99630835e-01 2.68788514e-02 3.96492640e-03 1.14448040e+01] [-2.68492827e-02 9.99612609e-01 -7.33125666e-03 -3.00805116e-01] [-4.16044618e-03 7.22209479e-03 9.99965265e-01 -1.82536708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.391193817 meters Centerline goodness : 0.903405 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.30, Z:-1.83 [[ 9.99689304e-01 2.47293087e-02 3.12373010e-03 1.14493584e+01] [-2.46997665e-02 9.99652892e-01 -9.16612161e-03 -3.04000026e-01] [-3.34931768e-03 9.08611832e-03 9.99953111e-01 -1.82953492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421193817 meters Centerline goodness : 0.905213 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.31, Z:-1.83 [[ 9.99706410e-01 2.40903466e-02 2.59782689e-03 1.14515410e+01] [-2.40653385e-02 9.99667476e-01 -9.26266086e-03 -3.07018036e-01] [-2.82010376e-03 9.19742386e-03 9.99953726e-01 -1.83104411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.451193817 meters Centerline goodness : 0.904318 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.31, Z:-1.83 [[ 9.99721468e-01 2.35094664e-02 2.07144285e-03 1.14535237e+01] [-2.34893298e-02 9.99681190e-01 -9.26122584e-03 -3.10626679e-01] [-2.28850893e-03 9.20998949e-03 9.99954968e-01 -1.83228221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481193817 meters Centerline goodness : 0.905607 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.31, Z:-1.83 [[ 9.99731410e-01 2.31202094e-02 1.60092490e-03 1.14553605e+01] [-2.31047866e-02 9.99691980e-01 -9.06166456e-03 -3.14098060e-01] [-1.80993937e-03 9.02224166e-03 9.99957661e-01 -1.83347989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.511193817 meters Centerline goodness : 0.905004 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.32, Z:-1.83 [[ 9.99729160e-01 2.32336050e-02 1.34369566e-03 1.14563442e+01] [-2.32215293e-02 9.99695092e-01 -8.39540666e-03 -3.17074522e-01] [-1.53834151e-03 8.36193018e-03 9.99963855e-01 -1.83405295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541193817 meters Centerline goodness : 0.904672 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.32, Z:-1.83 [[ 9.99696643e-01 2.45954232e-02 1.29856979e-03 1.14565238e+01] [-2.45868297e-02 9.99678073e-01 -6.26398271e-03 -3.22647738e-01] [-1.45221705e-03 6.23015478e-03 9.99979538e-01 -1.83424207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57119381700001 meters Centerline goodness : 0.903585 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.33, Z:-1.83 [[ 9.99680533e-01 2.52528142e-02 1.06139491e-03 1.14573206e+01] [-2.52469809e-02 9.99667770e-01 -5.19037741e-03 -3.26238761e-01] [-1.19211392e-03 5.16192224e-03 9.99985967e-01 -1.83476036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60119381700001 meters Centerline goodness : 0.902901 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.33, Z:-1.84 [[ 9.99663536e-01 2.59227285e-02 9.09444608e-04 1.14579107e+01] [-2.59187854e-02 9.99655610e-01 -4.10834769e-03 -3.30033026e-01] [-1.01563099e-03 4.08339368e-03 9.99991147e-01 -1.83519020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63119381700001 meters Centerline goodness : 0.903879 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99611599e-01 2.78450731e-02 1.14149755e-03 1.14576123e+01] [-2.78434616e-02 9.99611310e-01 -1.40412152e-03 -3.37213918e-01] [-1.18015173e-03 1.37179291e-03 9.99998363e-01 -1.83544529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66119381700001 meters Centerline goodness : 0.900263 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99595035e-01 2.84326384e-02 1.16219224e-03 1.14576772e+01] [-2.84323522e-02 9.99595685e-01 -2.62055915e-04 -3.40618034e-01] [-1.16917329e-03 2.28905933e-04 9.99999290e-01 -1.83548128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69119381700001 meters Centerline goodness : 0.892712 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.34, Z:-1.84 [[ 9.99667745e-01 2.57517639e-02 1.11634197e-03 1.14573453e+01] [-2.57480608e-02 9.99663299e-01 -3.21347676e-03 -3.42307657e-01] [-1.19871879e-03 3.18366543e-03 9.99994214e-01 -1.83553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721193817 meters Centerline goodness : 0.905015 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.35, Z:-1.84 [[ 9.99715927e-01 2.38248642e-02 6.63813547e-04 1.14583816e+01] [-2.38211274e-02 9.99702916e-01 -5.16072979e-03 -3.45491240e-01] [-7.86570026e-04 5.14345098e-03 9.99986463e-01 -1.83619126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.751193817 meters Centerline goodness : 0.897949 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.35, Z:-1.84 [[ 9.99773391e-01 2.12761134e-02 7.02466486e-04 1.14576709e+01] [-2.12702047e-02 9.99745210e-01 -7.55597941e-03 -3.48720744e-01] [-8.63049379e-04 7.53932555e-03 9.99971206e-01 -1.83578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781193817 meters Centerline goodness : 0.897889 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.36, Z:-1.83 [[ 9.99814876e-01 1.92225480e-02 8.41011885e-04 1.14557661e+01] [-1.92149118e-02 9.99780910e-01 -8.30177589e-03 -3.56731044e-01] [-1.00040891e-03 8.28407906e-03 9.99965186e-01 -1.83361629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.811193817 meters Centerline goodness : 0.896138 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.36, Z:-1.83 [[ 9.99808326e-01 1.95675272e-02 6.51093567e-04 1.14559293e+01] [-1.95624778e-02 9.99783977e-01 -7.02201396e-03 -3.61384628e-01] [-7.88356365e-04 7.00793101e-03 9.99975133e-01 -1.83311127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841193817 meters Centerline goodness : 0.899063 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.37, Z:-1.83 [[ 9.99804451e-01 1.97702599e-02 4.43117048e-04 1.14564745e+01] [-1.97672623e-02 9.99786760e-01 -5.97407133e-03 -3.65782539e-01] [-5.61131501e-04 5.96414389e-03 9.99982057e-01 -1.83309348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.871193817 meters Centerline goodness : 0.899502 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.37, Z:-1.83 [[ 9.99825091e-01 1.86989765e-02 3.67330580e-04 1.14571265e+01] [-1.86962930e-02 9.99805362e-01 -6.29967243e-03 -3.72977379e-01] [-4.85056510e-04 6.29170284e-03 9.99980089e-01 -1.83399088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901193817 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.38, Z:-1.84 [[ 9.99829567e-01 1.84617615e-02 2.34577567e-05 1.14591359e+01] [-1.84612863e-02 9.99811473e-01 -6.01655376e-03 -3.76238951e-01] [-1.34529515e-04 6.01509528e-03 9.99981900e-01 -1.83570714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93119381700001 meters Centerline goodness : 0.897735 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.38, Z:-1.84 [[ 9.99839467e-01 1.79106638e-02 -4.98118044e-04 1.14618883e+01] [-1.79133410e-02 9.99821398e-01 -6.02361923e-03 -3.80067951e-01] [ 3.90142060e-04 6.03157520e-03 9.99981734e-01 -1.83791051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96119381700001 meters Centerline goodness : 0.895919 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.39, Z:-1.84 [[ 9.99868968e-01 1.61858491e-02 -2.56816022e-04 1.14616284e+01] [-1.61871959e-02 9.99847021e-01 -6.62643439e-03 -3.90317867e-01] [ 1.49522267e-04 6.62972325e-03 9.99978012e-01 -1.83839755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99119381700001 meters Centerline goodness : 0.900137 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.40, Z:-1.84 [[ 9.99868391e-01 1.62143312e-02 -5.44981886e-04 1.14627159e+01] [-1.62171671e-02 9.99852361e-01 -5.67983914e-03 -3.95489697e-01] [ 4.52806632e-04 5.68792968e-03 9.99983721e-01 -1.83893454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02119381700001 meters Centerline goodness : 0.898148 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.40, Z:-1.84 [[ 9.99871284e-01 1.60175811e-02 -9.23833765e-04 1.14642641e+01] [-1.60220884e-02 9.99858645e-01 -5.09739262e-03 -3.99617778e-01] [ 8.42055276e-04 5.11153825e-03 9.99986581e-01 -1.83985090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05119381700001 meters Centerline goodness : 0.897748 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.40, Z:-1.84 [[ 9.99874826e-01 1.57700836e-02 -1.27904152e-03 1.14658833e+01] [-1.57759453e-02 9.99864458e-01 -4.71016659e-03 -4.03160110e-01] [ 1.20458844e-03 4.72975509e-03 9.99988089e-01 -1.84093846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08119381700001 meters Centerline goodness : 0.898996 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.41, Z:-1.84 [[ 9.99882541e-01 1.52073321e-02 -1.90833684e-03 1.14678675e+01] [-1.52159370e-02 9.99873748e-01 -4.57864428e-03 -4.11320198e-01] [ 1.83846694e-03 4.60714361e-03 9.99987697e-01 -1.84221530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.111193817 meters Centerline goodness : 0.896697 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.42, Z:-1.84 [[ 9.99882749e-01 1.51246262e-02 -2.39457248e-03 1.14696572e+01] [-1.51343152e-02 9.99877141e-01 -4.08118831e-03 -4.15668366e-01] [ 2.33255184e-03 4.11695000e-03 9.99988805e-01 -1.84326467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141193817 meters Centerline goodness : 0.903192 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.42, Z:-1.84 [[ 9.99881024e-01 1.51726842e-02 -2.77994749e-03 1.14710768e+01] [-1.51822740e-02 9.99878750e-01 -3.46163711e-03 -4.20014747e-01] [ 2.72708809e-03 3.50343118e-03 9.99990144e-01 -1.84403260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.171193817 meters Centerline goodness : 0.900755 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.43, Z:-1.85 [[ 9.99860313e-01 1.65009612e-02 2.65958387e-03 1.14848235e+01] [-1.64782058e-02 9.99829257e-01 -8.36211564e-03 -4.28435076e-01] [-2.79711271e-03 8.31712239e-03 9.99961500e-01 -1.84540633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201193817 meters Centerline goodness : 0.900131 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.43, Z:-1.85 [[ 9.99852914e-01 1.69501553e-02 2.61602070e-03 1.14849167e+01] [-1.69311197e-02 9.99831202e-01 -7.13480417e-03 -4.33318905e-01] [-2.73651516e-03 7.08946257e-03 9.99971125e-01 -1.84522624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.231193817 meters Centerline goodness : 0.897861 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.44, Z:-1.85 [[ 9.99893551e-01 1.43057891e-02 2.86910798e-03 1.14840526e+01] [-1.42770892e-02 9.99850190e-01 -9.78583272e-03 -4.35783165e-01] [-3.00867222e-03 9.74382851e-03 9.99948001e-01 -1.84514961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261193817 meters Centerline goodness : 0.890088 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.44, Z:-1.85 [[ 9.99929248e-01 1.14361677e-02 3.27311517e-03 1.14829169e+01] [-1.13940772e-02 9.99855678e-01 -1.26014851e-02 -4.38365507e-01] [-3.41675549e-03 1.25632994e-02 9.99915241e-01 -1.84504392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.291193817 meters Centerline goodness : 0.886253 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.45, Z:-1.84 [[ 9.99951432e-01 9.11443104e-03 3.74977086e-03 1.14815313e+01] [-9.06288370e-03 9.99867237e-01 -1.35414832e-02 -4.48914053e-01] [-3.87269594e-03 1.35068417e-02 9.99901279e-01 -1.84431232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32119381700001 meters Centerline goodness : 0.892383 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.45, Z:-1.84 [[ 9.99972421e-01 6.20361266e-03 4.08319646e-03 1.14806260e+01] [-6.13766784e-03 9.99853643e-01 -1.59693876e-02 -4.53487332e-01] [-4.18166676e-03 1.59438859e-02 9.99864144e-01 -1.84410826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35119381700001 meters Centerline goodness : 0.890170 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.46, Z:-1.84 [[ 9.99970378e-01 6.60361043e-03 3.95408722e-03 1.14808721e+01] [-6.54742978e-03 9.99879766e-01 -1.40564988e-02 -4.60206593e-01] [-4.04643545e-03 1.40301933e-02 9.99893384e-01 -1.84338684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38119381700001 meters Centerline goodness : 0.883989 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.47, Z:-1.84 [[ 9.99972660e-01 6.53470619e-03 3.46089939e-03 1.14824075e+01] [-6.49033589e-03 9.99898539e-01 -1.26801543e-02 -4.66142671e-01] [-3.54340933e-03 1.26573452e-02 9.99913614e-01 -1.84350393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41119381700001 meters Centerline goodness : 0.888014 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.47, Z:-1.85 [[ 9.99997979e-01 6.92220510e-04 1.88744112e-03 1.14876829e+01] [-6.58791845e-04 9.99843929e-01 -1.76545693e-02 -4.74569786e-01] [-1.89936740e-03 1.76532902e-02 9.99842364e-01 -1.84761862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44119381700001 meters Centerline goodness : 0.883188 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.48, Z:-1.85 [[ 9.99997903e-01 -1.66967686e-03 1.18614842e-03 1.14888552e+01] [ 1.69286750e-03 9.99801994e-01 -1.98269401e-02 -4.78835993e-01] [-1.15280897e-03 1.98289065e-02 9.99802723e-01 -1.84752094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.471193817 meters Centerline goodness : 0.884159 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.48, Z:-1.85 [[ 9.99987366e-01 -5.02573846e-03 9.74587282e-05 1.14920472e+01] [ 5.02662602e-03 9.99695425e-01 -2.41617509e-02 -4.82213643e-01] [ 2.40015960e-05 2.41619355e-02 9.99708058e-01 -1.84897155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501193817 meters Centerline goodness : 0.883149 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.49, Z:-1.85 [[ 9.99987799e-01 -4.93872431e-03 -1.00418534e-04 1.14927973e+01] [ 4.93516643e-03 9.99729517e-01 -2.27274339e-02 -4.88154871e-01] [ 2.12635903e-04 2.27266610e-02 9.99741693e-01 -1.84881943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.531193817 meters Centerline goodness : 0.884803 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99967229e-01 -8.09478628e-03 -1.25119271e-04 1.14956074e+01] [ 8.08924326e-03 9.99663465e-01 -2.46479253e-02 -4.95448523e-01] [ 3.24596851e-04 2.46461054e-02 9.99696186e-01 -1.85186514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561193817 meters Centerline goodness : 0.883200 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99961073e-01 -8.77804096e-03 -8.93385990e-04 1.14985831e+01] [ 8.75381431e-03 9.99667928e-01 -2.42364089e-02 -4.99256030e-01] [ 1.10583751e-03 2.42276449e-02 9.99705856e-01 -1.85315430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.591193817 meters Centerline goodness : 0.882021 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.50, Z:-1.85 [[ 9.99956157e-01 -9.22476765e-03 -1.60866520e-03 1.15008406e+01] [ 9.18440211e-03 9.99681289e-01 -2.35152548e-02 -5.03554500e-01] [ 1.82507526e-03 2.34994492e-02 9.99722184e-01 -1.85361682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621193817 meters Centerline goodness : 0.883056 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.51, Z:-1.85 [[ 9.99951194e-01 -9.61661036e-03 -2.26501914e-03 1.15027749e+01] [ 9.56290282e-03 9.99698041e-01 -2.26357686e-02 -5.08279723e-01] [ 2.48201456e-03 2.26130037e-02 9.99741212e-01 -1.85365839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.651193817 meters Centerline goodness : 0.883310 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.52, Z:-1.85 [[ 9.99904729e-01 -1.35553791e-02 -2.60463799e-03 1.15041316e+01] [ 1.34857034e-02 9.99593295e-01 -2.51272962e-02 -5.15340444e-01] [ 2.94418869e-03 2.50897769e-02 9.99680867e-01 -1.85381017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68119381700001 meters Centerline goodness : 0.885432 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.52, Z:-1.85 [[ 9.99897397e-01 -1.39499156e-02 -3.25508157e-03 1.15059268e+01] [ 1.38668913e-02 9.99609292e-01 -2.42687510e-02 -5.19856457e-01] [ 3.59235681e-03 2.42211231e-02 9.99700171e-01 -1.85367444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71119381700001 meters Centerline goodness : 0.886902 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.52, Z:-1.85 [[ 9.99888360e-01 -1.44100372e-02 -3.95209356e-03 1.15084104e+01] [ 1.43127398e-02 9.99618272e-01 -2.36316635e-02 -5.23626744e-01] [ 4.29111809e-03 2.35724600e-02 9.99712922e-01 -1.85443640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74119381700001 meters Centerline goodness : 0.885508 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.53, Z:-1.86 [[ 9.99876722e-01 -1.50072440e-02 -4.61771632e-03 1.15112972e+01] [ 1.48945783e-02 9.99612044e-01 -2.35353751e-02 -5.25996620e-01] [ 4.96912596e-03 2.34636947e-02 9.99712340e-01 -1.85605895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77119381700001 meters Centerline goodness : 0.884255 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.53, Z:-1.86 [[ 9.99866704e-01 -1.54800957e-02 -5.19054458e-03 1.15137922e+01] [ 1.53554531e-02 9.99611752e-01 -2.32498313e-02 -5.28602981e-01] [ 5.54843897e-03 2.31670290e-02 9.99716212e-01 -1.85739926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80119381700001 meters Centerline goodness : 0.877634 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.54, Z:-1.86 [[ 9.99849975e-01 -1.64114875e-02 -5.53991595e-03 1.15159849e+01] [ 1.62883853e-02 9.99634448e-01 -2.15791358e-02 -5.36272477e-01] [ 5.89203654e-03 2.14856621e-02 9.99751794e-01 -1.85719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83119381700001 meters Centerline goodness : 0.885080 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.54, Z:-1.86 [[ 9.99845711e-01 -1.65168622e-02 -5.97896997e-03 1.15170836e+01] [ 1.63926627e-02 9.99660398e-01 -2.02575830e-02 -5.40884854e-01] [ 6.31153121e-03 2.01564463e-02 9.99776916e-01 -1.85642844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861193817 meters Centerline goodness : 0.887561 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.55, Z:-1.85 [[ 9.99826528e-01 -1.73143405e-02 -6.86494458e-03 1.15191263e+01] [ 1.72032517e-02 9.99725205e-01 -1.59236788e-02 -5.49413271e-01] [ 7.13876612e-03 1.58028171e-02 9.99849643e-01 -1.85083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.891193817 meters Centerline goodness : 0.889816 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-1.84 [[ 9.99866877e-01 -1.43759701e-02 -7.71748909e-03 1.15209667e+01] [ 1.43186671e-02 9.99869879e-01 -7.42968311e-03 -5.56529528e-01] [ 7.82329379e-03 7.31818990e-03 9.99942618e-01 -1.84399495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921193817 meters Centerline goodness : 0.885360 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-1.84 [[ 9.99908107e-01 -1.09046114e-02 -8.05401926e-03 1.15210684e+01] [ 1.08958053e-02 9.99939993e-01 -1.13644966e-03 -5.62796665e-01] [ 8.06592850e-03 1.04859020e-03 9.99966920e-01 -1.84018613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.951193817 meters Centerline goodness : 0.885381 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.57, Z:-1.84 [[ 9.99918243e-01 -1.00001984e-02 -7.96894960e-03 1.15192450e+01] [ 1.00037767e-02 9.99949877e-01 4.09292907e-04 -5.65787881e-01] [ 7.96445716e-03 -4.88979036e-04 9.99968164e-01 -1.83761592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981193817 meters Centerline goodness : 0.886964 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99967503e-01 -7.71526886e-03 -2.33821200e-03 1.15314128e+01] [ 7.69842982e-03 9.99944968e-01 -7.12708267e-03 -5.65326595e-01] [ 2.39307068e-03 7.10885050e-03 9.99971868e-01 -1.84060569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.011193817 meters Centerline goodness : 0.881917 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99993316e-01 -2.91275680e-03 -2.20974569e-03 1.15296199e+01] [ 2.90968729e-03 9.99994799e-01 -1.39102048e-03 -5.67858744e-01] [ 2.21378590e-03 1.38458151e-03 9.99996591e-01 -1.83775860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041193817 meters Centerline goodness : 0.884937 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995457e-01 -7.56790117e-06 -3.01427860e-03 1.15321344e+01] [ 1.46432490e-05 9.99997245e-01 2.34726216e-03 -5.68948251e-01] [ 3.01425254e-03 -2.34729564e-03 9.99992702e-01 -1.83799230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07119381700001 meters Centerline goodness : 0.884937 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995457e-01 -7.56790117e-06 -3.01427860e-03 1.15321344e+01] [ 1.46432490e-05 9.99997245e-01 2.34726216e-03 -5.68948251e-01] [ 3.01425254e-03 -2.34729564e-03 9.99992702e-01 -1.83799230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10119381700001 meters Centerline goodness : 0.880953 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99995425e-01 7.75517349e-05 -3.02400423e-03 1.15323675e+01] [-7.05503589e-05 9.99997317e-01 2.31530452e-03 -5.68454317e-01] [ 3.02417568e-03 -2.31508058e-03 9.99992747e-01 -1.83829453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13119381700001 meters Centerline goodness : 0.882394 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.57, Z:-1.84 [[ 9.99993693e-01 -4.60574920e-04 -3.52156924e-03 1.15344880e+01] [ 4.65497467e-04 9.99998916e-01 1.39713598e-03 -5.66978368e-01] [ 3.52092194e-03 -1.39876645e-03 9.99992823e-01 -1.84003841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16119381700001 meters Centerline goodness : 0.883497 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.57, Z:-1.84 [[ 9.99992776e-01 -5.49212306e-04 -3.76108141e-03 1.15351873e+01] [ 5.54703428e-04 9.99998782e-01 1.45909742e-03 -5.67271612e-01] [ 3.76027548e-03 -1.46117316e-03 9.99991863e-01 -1.84015860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19119381700001 meters Centerline goodness : 0.882457 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99970973e-01 1.78701151e-03 -7.40679052e-03 1.15587553e+01] [-1.79321364e-03 9.99998047e-01 -8.30800854e-04 -5.68240099e-01] [ 7.40529141e-03 8.44058695e-04 9.99972224e-01 -1.83951730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221193817 meters Centerline goodness : 0.882917 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99969339e-01 1.38451440e-03 -7.70739397e-03 1.15602340e+01] [-1.39273512e-03 9.99998467e-01 -1.06133572e-03 -5.68105646e-01] [ 7.70591271e-03 1.07203753e-03 9.99969734e-01 -1.84040237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.251193817 meters Centerline goodness : 0.879863 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.57, Z:-1.84 [[ 9.99964317e-01 2.38233980e-04 -8.44443186e-03 1.15637034e+01] [-2.55397969e-04 9.99997904e-01 -2.03156057e-03 -5.66994772e-01] [ 8.44393017e-03 2.03364477e-03 9.99962281e-01 -1.84271403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281193817 meters Centerline goodness : 0.878143 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99960354e-01 -3.30218076e-04 -8.89835836e-03 1.15657853e+01] [ 3.08143825e-04 9.99996872e-01 -2.48196734e-03 -5.66572477e-01] [ 8.89915012e-03 2.47912697e-03 9.99957329e-01 -1.84399890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.311193817 meters Centerline goodness : 0.874177 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99957889e-01 -4.73701501e-04 -9.16490141e-03 1.15666453e+01] [ 4.51864480e-04 9.99997055e-01 -2.38460324e-03 -5.66762298e-01] [ 9.16600401e-03 2.38036153e-03 9.99955158e-01 -1.84411494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341193817 meters Centerline goodness : 0.878813 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99957051e-01 -3.27576298e-04 -9.26227577e-03 1.15664781e+01] [ 3.11798703e-04 9.99998498e-01 -1.70481807e-03 -5.68434714e-01] [ 9.26282032e-03 1.70185688e-03 9.99955651e-01 -1.84314496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.371193817 meters Centerline goodness : 0.881448 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99952613e-01 -5.92154930e-04 -9.71705069e-03 1.15672145e+01] [ 5.83411267e-04 9.99999422e-01 -9.02636780e-04 -5.70756412e-01] [ 9.71757958e-03 8.96924970e-04 9.99952381e-01 -1.84187767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401193817 meters Centerline goodness : 0.879535 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99941780e-01 -2.13469593e-03 -1.05772760e-02 1.15701383e+01] [ 2.13015331e-03 9.99997634e-01 -4.40717017e-04 -5.73590357e-01] [ 1.05781917e-02 4.18160139e-04 9.99943962e-01 -1.84126471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43119381700001 meters Centerline goodness : 0.877762 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.57, Z:-1.84 [[ 9.99934131e-01 -2.75062852e-03 -1.11430877e-02 1.15719816e+01] [ 2.74829639e-03 9.99996198e-01 -2.24596866e-04 -5.74269404e-01] [ 1.11436631e-02 1.93957565e-04 9.99937889e-01 -1.84128955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46119381700001 meters Centerline goodness : 0.881344 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99931299e-01 -2.88086483e-03 -1.13621366e-02 1.15722399e+01] [ 2.88661664e-03 9.99995714e-01 4.89858958e-04 -5.75548615e-01] [ 1.13606767e-02 -5.22623437e-04 9.99935329e-01 -1.84018626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49119381700001 meters Centerline goodness : 0.878970 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99927691e-01 -3.05232053e-03 -1.16317205e-02 1.15723918e+01] [ 3.06447601e-03 9.99994777e-01 1.02734834e-03 -5.76881544e-01] [ 1.16285240e-02 -1.06291918e-03 9.99931821e-01 -1.83899493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52119381700001 meters Centerline goodness : 0.888619 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.84 [[ 9.99925037e-01 -3.02170130e-03 -1.18655116e-02 1.15721485e+01] [ 3.04405778e-03 9.99993625e-01 1.86654848e-03 -5.78498745e-01] [ 1.18597958e-02 -1.90252786e-03 9.99927860e-01 -1.83719897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55119381700001 meters Centerline goodness : 0.884211 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.83 [[ 9.99918880e-01 -3.32343762e-03 -1.22958634e-02 1.15721152e+01] [ 3.35712161e-03 9.99990666e-01 2.71983181e-03 -5.80061491e-01] [ 1.22867094e-02 -2.76088988e-03 9.99920704e-01 -1.83480867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58119381700001 meters Centerline goodness : 0.882043 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.58, Z:-1.83 [[ 9.99915728e-01 -3.48894180e-03 -1.25045730e-02 1.15723673e+01] [ 3.52368360e-03 9.99989990e-01 2.75737344e-03 -5.79287678e-01] [ 1.24948275e-02 -2.80120323e-03 9.99918013e-01 -1.83421305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.611193817 meters Centerline goodness : 0.885305 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99909796e-01 -9.87628600e-04 -1.33949703e-02 1.15750631e+01] [ 1.07513776e-03 9.99978119e-01 6.52735960e-03 -5.80101008e-01] [ 1.33882306e-02 -6.54117224e-03 9.99888978e-01 -1.83378227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.641193817 meters Centerline goodness : 0.883654 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99907391e-01 -1.31666076e-03 -1.35453366e-02 1.15752255e+01] [ 1.39469518e-03 9.99982478e-01 5.75314836e-03 -5.76088025e-01] [ 1.35375243e-02 -5.77150718e-03 9.99891707e-01 -1.83373148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.671193817 meters Centerline goodness : 0.879713 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.58, Z:-1.83 [[ 9.99894287e-01 1.57845122e-03 -1.44542107e-02 1.15775146e+01] [-1.44226336e-03 9.99954519e-01 9.42760138e-03 -5.75900465e-01] [ 1.44684343e-02 -9.40575798e-03 9.99851087e-01 -1.83315247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701193817 meters Centerline goodness : 0.880490 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.57, Z:-1.83 [[ 9.99895131e-01 1.50331628e-03 -1.44036915e-02 1.15772650e+01] [-1.37896910e-03 9.99961732e-01 8.63905334e-03 -5.72660027e-01] [ 1.44161275e-02 -8.61828512e-03 9.99858940e-01 -1.83329350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.731193817 meters Centerline goodness : 0.880925 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.57, Z:-1.84 [[ 9.99927850e-01 6.09085681e-03 -1.03536092e-02 1.15920442e+01] [-6.07003959e-03 9.99979495e-01 2.04086128e-03 -5.65302590e-01] [ 1.03658275e-02 -1.97786722e-03 9.99944317e-01 -1.83779492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.761193817 meters Centerline goodness : 0.881543 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.56, Z:-1.84 [[ 9.99891414e-01 9.68974183e-03 -1.11027065e-02 1.15935423e+01] [-9.62547043e-03 9.99936692e-01 5.82769254e-03 -5.63291144e-01] [ 1.11584724e-02 -5.72019096e-03 9.99921381e-01 -1.83699002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.791193817 meters Centerline goodness : 0.886774 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.56, Z:-1.84 [[ 9.99846554e-01 1.29481421e-02 -1.17989324e-02 1.15955328e+01] [-1.28416614e-02 9.99876532e-01 9.05611675e-03 -5.60371096e-01] [ 1.19147355e-02 -8.90320923e-03 9.99889380e-01 -1.83694801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82119381700001 meters Centerline goodness : 0.884710 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.56, Z:-1.84 [[ 9.99843825e-01 1.33201734e-02 -1.16145677e-02 1.15948985e+01] [-1.32275119e-02 9.99880360e-01 8.01869787e-03 -5.55295363e-01] [ 1.17199885e-02 -7.86381372e-03 9.99900396e-01 -1.83753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85119381700001 meters Centerline goodness : 0.887129 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-1.84 [[ 9.99769283e-01 1.99586321e-02 -7.93935302e-03 1.16104984e+01] [-1.99234252e-02 9.99791431e-01 4.48913304e-03 -5.48945453e-01] [ 8.02729407e-03 -4.32991821e-03 9.99958406e-01 -1.84045332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88119381700001 meters Centerline goodness : 0.887155 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.55, Z:-1.84 [[ 9.99759317e-01 2.05088857e-02 -7.79063523e-03 1.16098360e+01] [-2.04790669e-02 9.99782721e-01 3.88820896e-03 -5.45339182e-01] [ 7.86868532e-03 -3.72772819e-03 9.99962093e-01 -1.84063820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91119381700001 meters Centerline goodness : 0.885850 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99752657e-01 2.08562038e-02 -7.72287523e-03 1.16093232e+01] [-2.08321612e-02 9.99777928e-01 3.18064777e-03 -5.41516294e-01] [ 7.78749643e-03 -3.01897688e-03 9.99965120e-01 -1.84074004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94119381700001 meters Centerline goodness : 0.888380 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99664298e-01 2.46093274e-02 -8.10389324e-03 1.16101902e+01] [-2.45560417e-02 9.99676599e-01 6.61047576e-03 -5.38209576e-01] [ 8.26395179e-03 -6.40925707e-03 9.99945313e-01 -1.84033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.971193817 meters Centerline goodness : 0.889075 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99665831e-01 2.44711161e-02 -8.33013101e-03 1.16109043e+01] [-2.44207434e-02 9.99683183e-01 6.09599851e-03 -5.36550433e-01] [ 8.47666777e-03 -5.89053342e-03 9.99946722e-01 -1.84077150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001193817 meters Centerline goodness : 0.888705 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99666650e-01 2.43150587e-02 -8.68136943e-03 1.16115805e+01] [-2.42658202e-02 9.99689104e-01 5.73274666e-03 -5.35608338e-01] [ 8.81806250e-03 -5.52017510e-03 9.99945883e-01 -1.84079268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.031193817 meters Centerline goodness : 0.892104 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99665888e-01 2.42540396e-02 -8.93615294e-03 1.16119389e+01] [-2.42044224e-02 9.99691237e-01 5.61935612e-03 -5.35483110e-01] [ 9.06968586e-03 -5.40118420e-03 9.99944282e-01 -1.84053402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061193817 meters Centerline goodness : 0.886397 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99663061e-01 2.42725807e-02 -9.19815677e-03 1.16121789e+01] [-2.42200376e-02 9.99689935e-01 5.78133688e-03 -5.36146627e-01] [ 9.33563271e-03 -5.55660922e-03 9.99940983e-01 -1.84004074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.091193817 meters Centerline goodness : 0.889664 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99667538e-01 2.39494577e-02 -9.55185406e-03 1.16131809e+01] [-2.38972372e-02 9.99699046e-01 5.54424228e-03 -5.36300485e-01] [ 9.68176100e-03 -5.31413611e-03 9.99939010e-01 -1.84029078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121193817 meters Centerline goodness : 0.887560 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.54, Z:-1.84 [[ 9.99671716e-01 2.36335365e-02 -9.89526409e-03 1.16142521e+01] [-2.35812781e-02 9.99707528e-01 5.36495571e-03 -5.36669945e-01] [ 1.00191629e-02 -5.12985150e-03 9.99936648e-01 -1.84062627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.151193817 meters Centerline goodness : 0.886915 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99675035e-01 2.33343398e-02 -1.02631625e-02 1.16157739e+01] [-2.32816537e-02 9.99715300e-01 5.22339359e-03 -5.37891342e-01] [ 1.03821250e-02 -4.98275278e-03 9.99933690e-01 -1.84161086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18119381700001 meters Centerline goodness : 0.888567 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99684455e-01 2.26907822e-02 -1.07758379e-02 1.16178424e+01] [-2.26413707e-02 9.99732672e-01 4.68548240e-03 -5.38298548e-01] [ 1.08792745e-02 -4.44002418e-03 9.99930961e-01 -1.84294629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21119381700001 meters Centerline goodness : 0.887196 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99686173e-01 2.24373458e-02 -1.11409341e-02 1.16191906e+01] [-2.23861929e-02 9.99738373e-01 4.69512358e-03 -5.39241438e-01] [ 1.12433654e-02 -4.44424702e-03 9.99926915e-01 -1.84352398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24119381700001 meters Centerline goodness : 0.888277 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.84 [[ 9.99693688e-01 2.18400139e-02 -1.16423121e-02 1.16211655e+01] [-2.17908354e-02 9.99753156e-01 4.33437624e-03 -5.39705011e-01] [ 1.17341011e-02 -4.07935286e-03 9.99922832e-01 -1.84451059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27119381700001 meters Centerline goodness : 0.889488 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.85 [[ 9.99771582e-01 1.79195853e-02 -1.16478340e-02 1.16214459e+01] [-1.79193678e-02 9.99839428e-01 1.23049113e-04 -5.39548881e-01] [ 1.16481687e-02 8.57008155e-05 9.99932154e-01 -1.84544629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30119381700001 meters Centerline goodness : 0.885834 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.54, Z:-1.85 [[ 9.99777914e-01 1.71904747e-02 -1.21905451e-02 1.16232611e+01] [-1.71931438e-02 9.99852180e-01 -1.14174894e-04 -5.40361016e-01] [ 1.21867804e-02 3.23743333e-04 9.99925686e-01 -1.84591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33119381700001 meters Centerline goodness : 0.890967 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99780415e-01 1.64970573e-02 -1.29216745e-02 1.16254968e+01] [-1.65019540e-02 9.99863796e-01 -2.72417052e-04 -5.41095569e-01] [ 1.29154204e-02 4.85590112e-04 9.99916475e-01 -1.84630458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361193817 meters Centerline goodness : 0.885951 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99837362e-01 1.25430567e-02 -1.29584506e-02 1.16259395e+01] [-1.26040696e-02 9.99909812e-01 -4.63745463e-03 -5.39802113e-01] [ 1.28991140e-02 4.80002962e-03 9.99905282e-01 -1.84729064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.391193817 meters Centerline goodness : 0.887872 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99839152e-01 1.15054420e-02 -1.37584623e-02 1.16286986e+01] [-1.15728544e-02 9.99921366e-01 -4.83016481e-03 -5.41005171e-01] [ 1.37018072e-02 4.98861257e-03 9.99893681e-01 -1.84791730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421193817 meters Centerline goodness : 0.885375 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.54, Z:-1.85 [[ 9.99839102e-01 1.03373565e-02 -1.46597778e-02 1.16316535e+01] [-1.04143592e-02 9.99932321e-01 -5.18606957e-03 -5.41829235e-01] [ 1.46051754e-02 5.33790733e-03 9.99879090e-01 -1.84852686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.451193817 meters Centerline goodness : 0.887186 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.54, Z:-1.85 [[ 9.99847278e-01 8.12749148e-03 -1.54713825e-02 1.16350355e+01] [-8.21834904e-03 9.99949303e-01 -5.81812820e-03 -5.43484617e-01] [ 1.54233113e-02 5.94438887e-03 9.99863384e-01 -1.84906854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481193817 meters Centerline goodness : 0.891163 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.54, Z:-1.85 [[ 9.99842482e-01 7.17909208e-03 -1.62318042e-02 1.16371887e+01] [-7.27201182e-03 9.99957468e-01 -5.67278975e-03 -5.44839115e-01] [ 1.61903884e-02 5.78993405e-03 9.99852163e-01 -1.84871418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.511193817 meters Centerline goodness : 0.891395 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.55, Z:-1.85 [[ 9.99834277e-01 6.26038283e-03 -1.70946232e-02 1.16395552e+01] [-6.35259037e-03 9.99965537e-01 -5.34498589e-03 -5.46745282e-01] [ 1.70605724e-02 5.45269524e-03 9.99839590e-01 -1.84823660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541193817 meters Centerline goodness : 0.889107 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.55, Z:-1.85 [[ 9.99831160e-01 5.12598535e-03 -1.76458429e-02 1.16416681e+01] [-5.21705187e-03 9.99973291e-01 -5.11863252e-03 -5.48561273e-01] [ 1.76191336e-02 5.20982757e-03 9.99831198e-01 -1.84798875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57119381700001 meters Centerline goodness : 0.893394 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.84 [[ 9.99884845e-01 -6.28758345e-03 -1.38116823e-02 1.16490001e+01] [ 6.44686831e-03 9.99912877e-01 1.15185293e-02 -5.52940721e-01] [ 1.37380553e-02 -1.16062449e-02 9.99838267e-01 -1.83971465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60119381700001 meters Centerline goodness : 0.888574 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.84 [[ 9.99860683e-01 -7.83241923e-03 -1.47400154e-02 1.16514204e+01] [ 8.01873157e-03 9.99888167e-01 1.26235358e-02 -5.55579202e-01] [ 1.46394941e-02 -1.27399734e-02 9.99811671e-01 -1.83719291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63119381700001 meters Centerline goodness : 0.895475 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99980098 -0.0134736 -0.01471243 11.66578742] [ 0.01386748 0.99953906 0.02700657 -0.56230832] [ 0.01434177 -0.02720522 0.99952698 -1.82040879] [ 0. 0. 0. 1. ]] SLAMing on 122.66119381700001 meters Centerline goodness : 0.896845 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99976929 -0.01502584 -0.01534871 11.66806915] [ 0.01542711 0.99953323 0.02636893 -0.56266897] [ 0.01494533 -0.02659963 0.99953444 -1.82051962] [ 0. 0. 0. 1. ]] SLAMing on 122.69119381700001 meters Centerline goodness : 0.897810 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.56, Z:-1.82 [[ 0.99975287 -0.01574336 -0.01569533 11.66893301] [ 0.01615139 0.99952576 0.02621798 -0.5625946 ] [ 0.01527513 -0.026465 0.99953303 -1.82007756] [ 0. 0. 0. 1. ]] SLAMing on 122.721193817 meters Centerline goodness : 0.895974 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.82 [[ 0.999635 -0.01916085 -0.01904518 11.65188643] [ 0.01975348 0.99931067 0.03143217 -0.56077017] [ 0.01842979 -0.03179691 0.99932442 -1.81572653] [ 0. 0. 0. 1. ]] SLAMing on 122.751193817 meters Centerline goodness : 0.896049 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.56, Z:-1.82 [[ 0.99960401 -0.02019533 -0.01959538 11.6538376 ] [ 0.02077759 0.99933451 0.02998038 -0.55715978] [ 0.01897688 -0.03037565 0.99935839 -1.81695862] [ 0. 0. 0. 1. ]] SLAMing on 122.781193817 meters Centerline goodness : 0.894319 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.83 [[ 9.99935952e-01 -9.70463278e-03 -5.82333614e-03 1.16528247e+01] [ 9.89566877e-03 9.99382122e-01 3.37261110e-02 -5.54361809e-01] [ 5.49243850e-03 -3.37815767e-02 9.99414147e-01 -1.82668830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.811193817 meters Centerline goodness : 0.889979 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.55, Z:-1.83 [[ 9.99937754e-01 -9.53398696e-03 -5.79576871e-03 1.16524881e+01] [ 9.71659360e-03 9.99429670e-01 3.23407203e-02 -5.48156908e-01] [ 5.48412721e-03 -3.23950224e-02 9.99460098e-01 -1.82721651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.841193817 meters Centerline goodness : 0.885485 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.54, Z:-1.83 [[ 9.99964453e-01 -6.15155445e-03 -5.76631218e-03 1.16521149e+01] [ 6.34030769e-03 9.99425020e-01 3.33080966e-02 -5.43779010e-01] [ 5.55810010e-03 -3.33434728e-02 9.99428497e-01 -1.82606883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.871193817 meters Centerline goodness : 0.885157 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.53, Z:-1.82 [[ 9.99982384e-01 2.22499282e-03 -5.50274130e-03 1.16488721e+01] [-2.01927623e-03 9.99309091e-01 3.71114839e-02 -5.33681896e-01] [ 5.58151219e-03 -3.70997186e-02 9.99295981e-01 -1.82120591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901193817 meters Centerline goodness : 0.892191 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.53, Z:-1.83 [[ 9.99978584e-01 6.28190060e-03 -1.83545090e-03 1.16632826e+01] [-6.22602384e-03 9.99559761e-01 2.90089813e-02 -5.26357215e-01] [ 2.01687440e-03 -2.89969325e-02 9.99577466e-01 -1.82689939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93119381700001 meters Centerline goodness : 0.891301 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.52, Z:-1.83 [[ 9.99944618e-01 1.01885356e-02 2.63713504e-03 1.16752395e+01] [-1.02360371e-02 9.99773233e-01 1.86736921e-02 -5.17821113e-01] [-2.44627944e-03 -1.86996517e-02 9.99822154e-01 -1.83426999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96119381700001 meters Centerline goodness : 0.891301 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.52, Z:-1.83 [[ 9.99944618e-01 1.01885356e-02 2.63713504e-03 1.16752395e+01] [-1.02360371e-02 9.99773233e-01 1.86736921e-02 -5.17821113e-01] [-2.44627944e-03 -1.86996517e-02 9.99822154e-01 -1.83426999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99119381700001 meters Centerline goodness : 0.884711 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.51, Z:-1.83 [[ 9.99904440e-01 1.36283068e-02 2.31971583e-03 1.16757357e+01] [-1.36746335e-02 9.99679853e-01 2.12883837e-02 -5.12385316e-01] [-2.02884855e-03 -2.13180706e-02 9.99770686e-01 -1.83408873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02119381700001 meters Centerline goodness : 0.888362 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.51, Z:-1.84 [[ 9.99823466e-01 1.77221529e-02 6.24196963e-03 1.16906112e+01] [-1.78090086e-02 9.99741339e-01 1.41455039e-02 -5.05076321e-01] [-5.98966629e-03 -1.42541700e-02 9.99880464e-01 -1.83892348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05119381700001 meters Centerline goodness : 0.890306 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.49, Z:-1.84 [[ 9.99682854e-01 2.44066274e-02 6.20542342e-03 1.16884716e+01] [-2.45218334e-02 9.99514485e-01 1.92217060e-02 -4.94552188e-01] [-5.73327358e-03 -1.93677783e-02 9.99795989e-01 -1.83563459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08119381700001 meters Centerline goodness : 0.892307 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.49, Z:-1.83 [[ 9.99658743e-01 2.54366591e-02 5.94756860e-03 1.16879153e+01] [-2.55438302e-02 9.99498841e-01 1.86970214e-02 -4.88348759e-01] [-5.46899816e-03 -1.88425646e-02 9.99807505e-01 -1.83489431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.111193817 meters Centerline goodness : 0.893350 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.48, Z:-1.83 [[ 9.99557996e-01 2.92070184e-02 5.54643991e-03 1.16883515e+01] [-2.93211548e-02 9.99333332e-01 2.17522790e-02 -4.84663244e-01] [-4.90742306e-03 -2.19052924e-02 9.99748006e-01 -1.83414213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.141193817 meters Centerline goodness : 0.894701 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.48, Z:-1.83 [[ 9.99446143e-01 3.28572182e-02 5.27361617e-03 1.16891885e+01] [-3.29770560e-02 9.99155180e-01 2.45242911e-02 -4.80489207e-01] [-4.46336093e-03 -2.46846165e-02 9.99685325e-01 -1.83442934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.171193817 meters Centerline goodness : 0.897398 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.83 [[ 9.99155986e-01 4.07761669e-02 4.96185098e-03 1.16899576e+01] [-4.09101922e-02 9.98686581e-01 3.08458921e-02 -4.73085614e-01] [-3.69755674e-03 -3.10228480e-02 9.99511836e-01 -1.83443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.201193817 meters Centerline goodness : 0.896954 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.84 [[ 9.99002915e-01 4.43993023e-02 4.67746989e-03 1.16912572e+01] [-4.45322402e-02 9.98437301e-01 3.37614462e-02 -4.69729506e-01] [-3.17117575e-03 -3.39360814e-02 9.99418974e-01 -1.83513781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.231193817 meters Centerline goodness : 0.895405 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.47, Z:-1.84 [[ 9.98963814e-01 4.53212169e-02 4.15755986e-03 1.16922274e+01] [-4.54345762e-02 9.98414692e-01 3.32235086e-02 -4.65240992e-01] [-2.64523900e-03 -3.33779799e-02 9.99439299e-01 -1.83581496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.261193817 meters Centerline goodness : 0.893528 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98614707e-01 5.21365966e-02 7.10231272e-03 1.17039223e+01] [-5.22989447e-02 9.98318459e-01 2.50015159e-02 -4.60279387e-01] [-5.78687594e-03 -2.53383250e-02 9.99662184e-01 -1.84201560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.291193817 meters Centerline goodness : 0.893950 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98607864e-01 5.23049135e-02 6.82135944e-03 1.17044680e+01] [-5.24577346e-02 9.98320751e-01 2.45736438e-02 -4.58452697e-01] [-5.52458236e-03 -2.48972670e-02 9.99674750e-01 -1.84222929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32119381700001 meters Centerline goodness : 0.890669 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:-1.84 [[ 9.98608344e-01 5.23154913e-02 6.66817019e-03 1.17049098e+01] [-5.24628473e-02 9.98327976e-01 2.42673025e-02 -4.57353128e-01] [-5.38746500e-03 -2.45833620e-02 9.99683267e-01 -1.84244046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35119381700001 meters Centerline goodness : 0.891404 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.84 [[ 9.98766534e-01 4.92584375e-02 6.24635976e-03 1.17053246e+01] [-4.93748510e-02 9.98578036e-01 2.01005171e-02 -4.54992101e-01] [-5.24735759e-03 -2.03841369e-02 9.99778452e-01 -1.84307044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38119381700001 meters Centerline goodness : 0.889624 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.84 [[ 9.98933832e-01 4.57817446e-02 5.93564317e-03 1.17061167e+01] [-4.58702685e-02 9.98823216e-01 1.57512293e-02 -4.53183732e-01] [-5.20753944e-03 -1.60067054e-02 9.99858323e-01 -1.84431784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41119381700001 meters Centerline goodness : 0.887020 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.85 [[ 9.99111625e-01 4.17699716e-02 5.58847526e-03 1.17073846e+01] [-4.18313360e-02 9.99060155e-01 1.13554800e-02 -4.52987992e-01] [-5.10890488e-03 -1.15791655e-02 9.99919908e-01 -1.84600132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44119381700001 meters Centerline goodness : 0.887864 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.45, Z:-1.85 [[ 9.99259337e-01 3.81075944e-02 5.34693055e-03 1.17078073e+01] [-3.81453330e-02 9.99246672e-01 7.14303785e-03 -4.52081544e-01] [-5.07069857e-03 -7.34170771e-03 9.99960193e-01 -1.84665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.471193817 meters Centerline goodness : 0.881855 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.45, Z:-1.85 [[ 9.99213279e-01 3.83996558e-02 9.91415624e-03 1.17221561e+01] [-3.83729195e-02 9.99259358e-01 -2.87313296e-03 -4.51415858e-01] [-1.00171407e-02 2.49043749e-03 9.99946726e-01 -1.85240126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501193817 meters Centerline goodness : 0.880097 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.45, Z:-1.86 [[ 0.99926199 0.03616897 0.01293341 11.73969218] [-0.0359976 0.99926409 -0.01324602 -0.45340425] [-0.01340299 0.01277067 0.99982862 -1.85682233] [ 0. 0. 0. 1. ]] SLAMing on 123.531193817 meters Centerline goodness : 0.882551 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.46, Z:-1.86 [[ 0.99929487 0.03543699 0.01240885 11.74155852] [-0.03527017 0.99928778 -0.01341419 -0.45508321] [-0.01287538 0.01296707 0.99983303 -1.85787029] [ 0. 0. 0. 1. ]] SLAMing on 123.561193817 meters Centerline goodness : 0.878427 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.46, Z:-1.86 [[ 0.99932432 0.03472561 0.01204319 11.74333713] [-0.03456015 0.99930891 -0.01368544 -0.45629918] [-0.0125101 0.01325997 0.99983382 -1.85916898] [ 0. 0. 0. 1. ]] SLAMing on 123.591193817 meters Centerline goodness : 0.875657 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.87 [[ 0.99936657 0.03200559 0.01555955 11.75829627] [-0.0315674 0.99911948 -0.02763612 -0.4568388 ] [-0.01643036 0.02712744 0.99949695 -1.86658413] [ 0. 0. 0. 1. ]] SLAMing on 123.621193817 meters Centerline goodness : 0.875447 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99729832e-01 2.32424487e-02 2.28012710e-04 1.17608047e+01] [-2.32202123e-02 9.99116903e-01 -3.50176403e-02 -4.55380518e-01] [-1.04170706e-03 3.50028852e-02 9.99386668e-01 -1.86021331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.651193817 meters Centerline goodness : 0.875202 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99822446e-01 1.88431234e-02 -1.17973804e-04 1.17624141e+01] [-1.88333706e-02 9.99060606e-01 -3.90283192e-02 -4.57228532e-01] [-6.17552454e-04 3.90236114e-02 9.99238098e-01 -1.86187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68119381700001 meters Centerline goodness : 0.873728 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.46, Z:-1.86 [[ 9.99894818e-01 1.44956226e-02 -4.79762804e-04 1.17641684e+01] [-1.45028254e-02 9.98964118e-01 -4.31318810e-02 -4.58001759e-01] [-1.45957644e-04 4.31343022e-02 9.99069272e-01 -1.86362492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71119381700001 meters Centerline goodness : 0.868702 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.47, Z:-1.86 [[ 9.99975412e-01 6.15522170e-03 3.35971248e-03 1.17728870e+01] [-6.05387176e-03 9.99549812e-01 -2.93857818e-02 -4.65040978e-01] [-3.53907598e-03 2.93647200e-02 9.99562498e-01 -1.86270958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74119381700001 meters Centerline goodness : 0.867883 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.86 [[ 9.99995587e-01 1.48579946e-03 2.57245287e-03 1.17756478e+01] [-1.39910735e-03 9.99441749e-01 -3.33801377e-02 -4.66577626e-01] [-2.62061298e-03 3.33763913e-02 9.99439417e-01 -1.86446679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77119381700001 meters Centerline goodness : 0.868249 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.86 [[ 9.99997358e-01 3.64938654e-04 2.26974159e-03 1.17772017e+01] [-2.89248185e-04 9.99446725e-01 -3.32589943e-02 -4.70254512e-01] [-2.28062329e-03 3.32582499e-02 9.99444189e-01 -1.86493742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80119381700001 meters Centerline goodness : 0.866964 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:-1.87 [[ 9.99998245e-01 -8.58608098e-04 1.66507059e-03 1.17793025e+01] [ 9.13094358e-04 9.99454827e-01 -3.30032536e-02 -4.74209927e-01] [-1.63582598e-03 3.30047161e-02 9.99453857e-01 -1.86510048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83119381700001 meters Centerline goodness : 0.870769 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.48, Z:-1.86 [[ 9.99948927e-01 -1.01066198e-02 -4.51380984e-06 1.17755057e+01] [ 1.01045322e-02 9.99751254e-01 -1.98828873e-02 -4.83435734e-01] [ 2.05461471e-04 1.98818262e-02 9.99802316e-01 -1.85679946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.861193817 meters Centerline goodness : 0.869702 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99948958e-01 -9.98645160e-03 -1.53354991e-03 1.17997649e+01] [ 9.95499005e-03 9.99763985e-01 -1.93099133e-02 -4.88074064e-01] [ 1.72602548e-03 1.92936612e-02 9.99812370e-01 -1.85380849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.891193817 meters Centerline goodness : 0.875566 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99943771e-01 -1.04465325e-02 -1.82352370e-03 1.18003993e+01] [ 1.04108851e-02 9.99773337e-01 -1.85711608e-02 -4.90874696e-01] [ 2.01711461e-03 1.85511321e-02 9.99825878e-01 -1.85308846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.921193817 meters Centerline goodness : 0.868668 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99914838e-01 -1.29845605e-02 -1.31054179e-03 1.18004932e+01] [ 1.29572956e-02 9.99735106e-01 -1.90217565e-02 -4.92576383e-01] [ 1.55718379e-03 1.90031555e-02 9.99818211e-01 -1.85494165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.951193817 meters Centerline goodness : 0.869141 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99905464e-01 -1.36937930e-02 -1.24258748e-03 1.18003653e+01] [ 1.36683664e-02 9.99734091e-01 -1.85721205e-02 -4.93655853e-01] [ 1.49657984e-03 1.85533806e-02 9.99826751e-01 -1.85391738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.981193817 meters Centerline goodness : 0.867758 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99888211e-01 -1.49318103e-02 -7.78169242e-04 1.17987507e+01] [ 1.49143930e-02 9.99709262e-01 -1.89460534e-02 -4.93349227e-01] [ 1.06084187e-03 1.89323295e-02 9.99820205e-01 -1.85297180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.011193817 meters Centerline goodness : 0.868662 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99928424e-01 -1.19151943e-02 -1.08399944e-03 1.17989692e+01] [ 1.18981598e-02 9.99823245e-01 -1.45572355e-02 -4.96310043e-01] [ 1.25726012e-03 1.45432959e-02 9.99893450e-01 -1.85127861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.041193817 meters Centerline goodness : 0.874008 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99958743e-01 -8.98444034e-03 -1.33863698e-03 1.17992305e+01] [ 8.97033749e-03 9.99907814e-01 -1.01929792e-02 -4.98883277e-01] [ 1.43009178e-03 1.01805506e-02 9.99947154e-01 -1.84963849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07119381700001 meters Centerline goodness : 0.867304 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99973716e-01 -7.12412303e-03 -1.34681680e-03 1.17997849e+01] [ 7.11458546e-03 9.99950480e-01 -6.95846712e-03 -4.98399278e-01] [ 1.39632308e-03 6.94870218e-03 9.99974883e-01 -1.84867646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10119381700001 meters Centerline goodness : 0.867392 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99989601e-01 -4.20567427e-03 -1.76382211e-03 1.18010521e+01] [ 4.19989899e-03 9.99985849e-01 -3.26532045e-03 -4.98173563e-01] [ 1.77753002e-03 3.25787862e-03 9.99993113e-01 -1.84849652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13119381700001 meters Centerline goodness : 0.864220 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-1.85 [[ 9.99997157e-01 -1.11690184e-03 -2.10663442e-03 1.18022408e+01] [ 1.11746483e-03 9.99999340e-01 2.66086145e-04 -4.97370374e-01] [ 2.10633584e-03 -2.68439478e-04 9.99997746e-01 -1.84858314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16119381700001 meters Centerline goodness : 0.866811 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99997418e-01 -7.51896135e-04 -2.14457023e-03 1.18020855e+01] [ 7.51833245e-04 9.99999717e-01 -3.01314940e-05 -4.93512738e-01] [ 2.14459228e-03 2.85190570e-05 9.99997700e-01 -1.84845048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19119381700001 meters Centerline goodness : 0.866280 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.49, Z:-1.85 [[ 9.99976355e-01 6.23648270e-03 -2.89752432e-03 1.18039548e+01] [-6.21947763e-03 9.99963598e-01 5.84123196e-03 -4.86646357e-01] [ 2.93384759e-03 -5.82307276e-03 9.99978742e-01 -1.84903771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221193817 meters Centerline goodness : 0.868609 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.48, Z:-1.85 [[ 9.99945830e-01 9.86965690e-03 -3.30564178e-03 1.18048503e+01] [-9.84111728e-03 9.99915095e-01 8.54137446e-03 -4.82015611e-01] [ 3.38966155e-03 -8.50838056e-03 9.99958058e-01 -1.84923943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.251193817 meters Centerline goodness : 0.867740 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.48, Z:-1.85 [[ 9.99901309e-01 1.35332405e-02 -3.77155875e-03 1.18058607e+01] [-1.34901138e-02 9.99845887e-01 1.12347228e-02 -4.77594024e-01] [ 3.92301971e-03 -1.11827353e-02 9.99929776e-01 -1.84946690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281193817 meters Centerline goodness : 0.871708 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.47, Z:-1.85 [[ 9.99843331e-01 1.72090015e-02 -4.14291652e-03 1.18069314e+01] [-1.71496882e-02 9.99755611e-01 1.39501746e-02 -4.73340804e-01] [ 4.38197261e-03 -1.38769393e-02 9.99894109e-01 -1.84993036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.311193817 meters Centerline goodness : 0.878939 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.47, Z:-1.85 [[ 9.99769077e-01 2.10434712e-02 -4.35479768e-03 1.18075244e+01] [-2.09674665e-02 9.99638679e-01 1.68189372e-02 -4.68810054e-01] [ 4.70715302e-03 -1.67237443e-02 9.99849068e-01 -1.85014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.341193817 meters Centerline goodness : 0.879668 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.46, Z:-1.85 [[ 9.99552235e-01 2.96100979e-02 -4.30953016e-03 1.18063297e+01] [-2.95009973e-02 9.99288619e-01 2.34935453e-02 -4.59781922e-01] [ 5.00211061e-03 -2.33558902e-02 9.99714700e-01 -1.84863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.371193817 meters Centerline goodness : 0.879077 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.46, Z:-1.85 [[ 9.99416194e-01 3.38948307e-02 -4.29083246e-03 1.18057445e+01] [-3.37667964e-02 9.99063915e-01 2.70388172e-02 -4.56511592e-01] [ 5.20329200e-03 -2.68781442e-02 9.99625175e-01 -1.84759612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.401193817 meters Centerline goodness : 0.885307 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.45, Z:-1.85 [[ 9.99012600e-01 4.44119010e-02 -1.18690754e-03 1.18111264e+01] [-4.43786277e-02 9.98807712e-01 2.03394189e-02 -4.48148259e-01] [ 2.08880467e-03 -2.02666624e-02 9.99792428e-01 -1.85019677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43119381700001 meters Centerline goodness : 0.883493 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.45, Z:-1.85 [[ 9.98832906e-01 4.82834002e-02 -1.24051911e-03 1.18116426e+01] [-4.82406816e-02 9.98556243e-01 2.36276412e-02 -4.45367937e-01] [ 2.37955096e-03 -2.35402220e-02 9.99720059e-01 -1.85033404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46119381700001 meters Centerline goodness : 0.876728 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98811822e-01 4.87105143e-02 -1.49353214e-03 1.18123304e+01] [-4.86638754e-02 9.98554787e-01 2.28071256e-02 -4.41172818e-01] [ 2.60232049e-03 -2.27073456e-02 9.99738768e-01 -1.85103893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49119381700001 meters Centerline goodness : 0.875850 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98788808e-01 4.91738952e-02 -1.68643802e-03 1.18125668e+01] [-4.91240891e-02 9.98543020e-01 2.23307223e-02 -4.38416844e-01] [ 2.78206951e-03 -2.22208308e-02 9.99749216e-01 -1.85116582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52119381700001 meters Centerline goodness : 0.881625 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98740417e-01 5.01429008e-02 -1.80825721e-03 1.18120795e+01] [-5.00901943e-02 9.98495362e-01 2.23155842e-02 -4.37038668e-01] [ 2.92450456e-03 -2.21968999e-02 9.99749341e-01 -1.85064778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55119381700001 meters Centerline goodness : 0.879523 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.98879127e-01 4.72871263e-02 -2.10190349e-03 1.18120168e+01] [-4.72403347e-02 9.98712461e-01 1.84870495e-02 -4.35129106e-01] [ 2.97339665e-03 -1.83670332e-02 9.99826891e-01 -1.85087982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58119381700001 meters Centerline goodness : 0.881044 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.43, Z:-1.85 [[ 9.99021052e-01 4.41694463e-02 -2.44882180e-03 1.18124007e+01] [-4.41294419e-02 9.98920495e-01 1.45064500e-02 -4.33843165e-01] [ 3.08692015e-03 -1.43841838e-02 9.99891777e-01 -1.85151449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.611193817 meters Centerline goodness : 0.885380 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.43, Z:-1.85 [[ 9.99154863e-01 4.10047456e-02 -2.85856148e-03 1.18130398e+01] [-4.09724148e-02 9.99104309e-01 1.05754486e-02 -4.32902712e-01] [ 3.28964467e-03 -1.04493887e-02 9.99939992e-01 -1.85233028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.641193817 meters Centerline goodness : 0.881990 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.44, Z:-1.85 [[ 9.99159189e-01 4.08731570e-02 -3.20924784e-03 1.18149399e+01] [-4.08363250e-02 9.99107397e-01 1.08075526e-02 -4.35982267e-01] [ 3.64812205e-03 -1.06674116e-02 9.99936447e-01 -1.85402531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.671193817 meters Centerline goodness : 0.887609 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.44, Z:-1.85 [[ 9.99293552e-01 3.74343281e-02 -3.32700007e-03 1.18151961e+01] [-3.74098877e-02 9.99274587e-01 7.12747324e-03 -4.36345707e-01] [ 3.59139879e-03 -6.99797535e-03 9.99969065e-01 -1.85471101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701193817 meters Centerline goodness : 0.892020 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.44, Z:-1.86 [[ 9.99415134e-01 3.40209483e-02 -3.45912033e-03 1.18153656e+01] [-3.40085806e-02 9.99415152e-01 3.57347534e-03 -4.37396746e-01] [ 3.57867029e-03 -3.45374557e-03 9.99987632e-01 -1.85520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.731193817 meters Centerline goodness : 0.891813 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.44, Z:-1.86 [[ 9.99442976e-01 3.33681479e-02 -5.51986912e-04 1.18330667e+01] [-3.33704484e-02 9.99431130e-01 -4.88157215e-03 -4.42429551e-01] [ 3.88783882e-04 4.89727305e-03 9.99987933e-01 -1.85950881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.761193817 meters Centerline goodness : 0.888122 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.45, Z:-1.86 [[ 9.99443537e-01 3.33417122e-02 -9.72595071e-04 1.18343747e+01] [-3.33454388e-02 9.99435449e-01 -4.10677156e-03 -4.46142281e-01] [ 8.35119196e-04 4.13691790e-03 9.99991094e-01 -1.86001738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.791193817 meters Centerline goodness : 0.890661 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.86 [[ 9.99427403e-01 3.38158752e-02 1.16272988e-03 1.18528160e+01] [-3.38004131e-02 9.99363288e-01 -1.14258624e-02 -4.47631676e-01] [-1.54836510e-03 1.13800193e-02 9.99934047e-01 -1.86399009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82119381700001 meters Centerline goodness : 0.882531 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.86 [[ 9.99534444e-01 3.04901025e-02 1.11787220e-03 1.18529844e+01] [-3.04698806e-02 9.99422647e-01 -1.50319023e-02 -4.48767406e-01] [-1.57555103e-03 1.49908427e-02 9.99886390e-01 -1.86486597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85119381700001 meters Centerline goodness : 0.886167 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99604974e-01 2.80706690e-02 1.39048938e-03 1.18527438e+01] [-2.80424553e-02 9.99457074e-01 -1.72967345e-02 -4.53956481e-01] [-1.87526536e-03 1.72509091e-02 9.99849433e-01 -1.86599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88119381700001 meters Centerline goodness : 0.886167 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99604974e-01 2.80706690e-02 1.39048938e-03 1.18527438e+01] [-2.80424553e-02 9.99457074e-01 -1.72967345e-02 -4.53956481e-01] [-1.87526536e-03 1.72509091e-02 9.99849433e-01 -1.86599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91119381700001 meters Centerline goodness : 0.885508 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99683081e-01 2.51318050e-02 1.45973289e-03 1.18522703e+01] [-2.50968214e-02 9.99476743e-01 -2.04056461e-02 -4.55596286e-01] [-1.97179979e-03 2.03625445e-02 9.99790717e-01 -1.86618153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94119381700001 meters Centerline goodness : 0.883223 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99758463e-01 2.19141336e-02 1.66933485e-03 1.18515235e+01] [-2.18682234e-02 9.99477397e-01 -2.38057598e-02 -4.56703885e-01] [-2.19014505e-03 2.37635044e-02 9.99715209e-01 -1.86631223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.971193817 meters Centerline goodness : 0.883391 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99754612e-01 2.20985576e-02 1.53923010e-03 1.18517004e+01] [-2.20579314e-02 9.99498663e-01 -2.27127741e-02 -4.60663468e-01] [-2.04037797e-03 2.26732484e-02 9.99740847e-01 -1.86583037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.001193817 meters Centerline goodness : 0.886471 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.86 [[ 9.99813148e-01 1.92568468e-02 1.68619995e-03 1.18503650e+01] [-1.92110903e-02 9.99529857e-01 -2.38955926e-02 -4.68585172e-01] [-2.14556096e-03 2.38587339e-02 9.99713038e-01 -1.86403944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.031193817 meters Centerline goodness : 0.886549 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.86 [[ 9.99813460e-01 1.92485030e-02 1.59365528e-03 1.18505362e+01] [-1.92074071e-02 9.99557894e-01 -2.26956315e-02 -4.73284382e-01] [-2.02980764e-03 2.26607879e-02 9.99741151e-01 -1.86345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.061193817 meters Centerline goodness : 0.885909 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.86 [[ 9.99816393e-01 1.91047790e-02 1.47890179e-03 1.18511299e+01] [-1.90680510e-02 9.99580790e-01 -2.17865401e-02 -4.77452546e-01] [-1.89450886e-03 2.17543402e-02 9.99761551e-01 -1.86349338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.091193817 meters Centerline goodness : 0.886889 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.86 [[ 9.99825002e-01 1.86695182e-02 1.18907053e-03 1.18523889e+01] [-1.86403190e-02 9.99603972e-01 -2.10816693e-02 -4.81719931e-01] [-1.58218423e-03 2.10558154e-02 9.99777050e-01 -1.86389051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.121193817 meters Centerline goodness : 0.886175 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.87 [[ 9.99905600e-01 1.37118397e-02 8.81741436e-04 1.18537719e+01] [-1.36902715e-02 9.99685112e-01 -2.10298018e-02 -4.89449240e-01] [-1.16982106e-03 2.10157453e-02 9.99778460e-01 -1.86688004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.151193817 meters Centerline goodness : 0.886127 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.87 [[ 9.99953462e-01 9.58133759e-03 1.12803714e-03 1.18540749e+01] [-9.55427813e-03 9.99713451e-01 -2.19483732e-02 -4.92417760e-01] [-1.33800867e-03 2.19365741e-02 9.99758469e-01 -1.86901170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18119381700001 meters Centerline goodness : 0.885219 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.50, Z:-1.87 [[ 9.99990240e-01 4.28738320e-03 1.06671882e-03 1.18553001e+01] [-4.26062474e-03 9.99704419e-01 -2.39357976e-02 -4.95991377e-01] [-1.16902545e-03 2.39310191e-02 9.99712929e-01 -1.87159512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21119381700001 meters Centerline goodness : 0.887417 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.87 [[ 9.99992676e-01 -3.76807916e-03 -6.70262136e-04 1.18513359e+01] [ 3.75983234e-03 9.99922044e-01 -1.19067045e-02 -5.02767258e-01] [ 7.15075290e-04 1.19040972e-02 9.99928888e-01 -1.86581410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24119381700001 meters Centerline goodness : 0.888955 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.87 [[ 9.99838894e-01 -1.79492457e-02 1.02797040e-04 1.18508507e+01] [ 1.79475588e-02 9.99627049e-01 -2.05827046e-02 -5.09796689e-01] [ 2.66685321e-04 2.05812336e-02 9.99788148e-01 -1.86842066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27119381700001 meters Centerline goodness : 0.891528 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99971429 -0.01888405 0.01465374 11.85070858] [ 0.01919769 0.99958307 -0.02156689 -0.51632369] [-0.01424036 0.02184205 0.99966001 -1.87746761] [ 0. 0. 0. 1. ]] SLAMing on 125.30119381700001 meters Centerline goodness : 0.892483 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99955501 -0.02532747 0.01575784 11.84918802] [ 0.02568718 0.99940402 -0.02306015 -0.51845838] [-0.0151644 0.02345466 0.99960988 -1.87939532] [ 0. 0. 0. 1. ]] SLAMing on 125.33119381700001 meters Centerline goodness : 0.892997 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.52, Z:-1.88 [[ 0.99938504 -0.03083307 0.01669906 11.84778165] [ 0.03124052 0.99920628 -0.02471509 -0.52031544] [-0.01592377 0.02522157 0.99955505 -1.88064292] [ 0. 0. 0. 1. ]] SLAMing on 125.361193817 meters Centerline goodness : 0.898003 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99902872 -0.03975625 0.01900161 11.84387757] [ 0.04027439 0.99880432 -0.02771117 -0.52100828] [-0.0178772 0.02844953 0.99943536 -1.88201599] [ 0. 0. 0. 1. ]] SLAMing on 125.391193817 meters Centerline goodness : 0.897645 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99891722 -0.04204618 0.01991247 11.84185521] [ 0.04258269 0.99871899 -0.02733305 -0.5206833 ] [-0.01873771 0.02815138 0.99942804 -1.88204755] [ 0. 0. 0. 1. ]] SLAMing on 125.421193817 meters Centerline goodness : 0.897644 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99884813 -0.04328215 0.02071382 11.84038213] [ 0.04382814 0.99868294 -0.0266735 -0.51950811] [-0.01953206 0.02755063 0.99942957 -1.88240117] [ 0. 0. 0. 1. ]] SLAMing on 125.451193817 meters Centerline goodness : 0.898960 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99898315 -0.04047909 0.01985224 11.84220711] [ 0.04092729 0.99890389 -0.02271524 -0.52020078] [-0.01891099 0.02350464 0.99954485 -1.88188523] [ 0. 0. 0. 1. ]] SLAMing on 125.481193817 meters Centerline goodness : 0.901634 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.52, Z:-1.88 [[ 0.99910873 -0.03758161 0.01921878 11.84353066] [ 0.03795937 0.99908539 -0.01968407 -0.516242 ] [-0.01846144 0.02039606 0.99962152 -1.88181858] [ 0. 0. 0. 1. ]] SLAMing on 125.511193817 meters Centerline goodness : 0.901362 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.51, Z:-1.88 [[ 0.99924012 -0.03427453 0.0185592 11.84436182] [ 0.03457001 0.99927672 -0.01584139 -0.5148527 ] [-0.01800282 0.01647095 0.99970226 -1.88095084] [ 0. 0. 0. 1. ]] SLAMing on 125.541193817 meters Centerline goodness : 0.906587 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 0.99935928 -0.03101027 0.0178714 11.84521962] [ 0.03122816 0.9994397 -0.01204492 -0.51349824] [-0.01748787 0.01259529 0.99976774 -1.87997425] [ 0. 0. 0. 1. ]] SLAMing on 125.57119381700001 meters Centerline goodness : 0.908003 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 9.99467716e-01 -2.77227471e-02 1.71969367e-02 1.18460607e+01] [ 2.78692379e-02 9.99576802e-01 -8.33803358e-03 -5.12241381e-01] [-1.69585058e-02 8.81286090e-03 9.99817355e-01 -1.87908321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60119381700001 meters Centerline goodness : 0.911411 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.51, Z:-1.88 [[ 9.99556449e-01 -2.49749698e-02 1.62220951e-02 1.18480391e+01] [ 2.50801980e-02 9.99665490e-01 -6.31596500e-03 -5.05122100e-01] [-1.60589276e-02 6.72001690e-03 9.99848465e-01 -1.87952227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63119381700001 meters Centerline goodness : 0.909995 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.88 [[ 9.99644456e-01 -2.16453238e-02 1.55705078e-02 1.18493103e+01] [ 2.16941017e-02 9.99760242e-01 -2.97063699e-03 -5.02502969e-01] [-1.55024743e-02 3.30736898e-03 9.99874359e-01 -1.87944460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66119381700001 meters Centerline goodness : 0.911932 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.50, Z:-1.88 [[ 9.99720959e-01 -1.86838342e-02 1.44539908e-02 1.18517877e+01] [ 1.86874402e-02 9.99825368e-01 -1.14450226e-04 -4.99126585e-01] [-1.44493283e-02 3.84526379e-04 9.99895529e-01 -1.87975113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69119381700001 meters Centerline goodness : 0.911018 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.49, Z:-1.88 [[ 9.99840441e-01 -1.18189767e-02 1.33941872e-02 1.18534511e+01] [ 1.17552366e-02 9.99919251e-01 4.82756939e-03 -4.89527749e-01] [-1.34501625e-02 -4.66934727e-03 9.99898640e-01 -1.88050764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.721193817 meters Centerline goodness : 0.913308 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.88 [[ 9.99885528e-01 -8.31575977e-03 1.26403344e-02 1.18545799e+01] [ 8.21950849e-03 9.99936975e-01 7.64758902e-03 -4.84767537e-01] [-1.27031332e-02 -7.54281625e-03 9.99890862e-01 -1.88024854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.751193817 meters Centerline goodness : 0.917001 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.48, Z:-1.88 [[ 9.99913651e-01 -4.65990565e-03 1.22872388e-02 1.18544481e+01] [ 4.52812422e-03 9.99932167e-01 1.07311603e-02 -4.80591296e-01] [-1.23364115e-02 -1.06745956e-02 9.99866924e-01 -1.87923524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.781193817 meters Centerline goodness : 0.924347 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.88 [[ 9.99927401e-01 2.10793475e-03 1.18637872e-02 1.18524618e+01] [-2.30112798e-03 9.99864592e-01 1.62942573e-02 -4.71837482e-01] [-1.18278335e-02 -1.63203745e-02 9.99796853e-01 -1.87581974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.811193817 meters Centerline goodness : 0.926630 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.47, Z:-1.87 [[ 9.99927851e-01 2.67634785e-03 1.17102079e-02 1.18517987e+01] [-2.85929479e-03 9.99873692e-01 1.56341110e-02 -4.65998167e-01] [-1.16668865e-02 -1.56664659e-02 9.99809205e-01 -1.87494323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.841193817 meters Centerline goodness : 0.926740 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99929840e-01 2.81303613e-03 1.15065966e-02 1.18514492e+01] [-2.98133042e-03 9.99888458e-01 1.46349862e-02 -4.60621941e-01] [-1.14641444e-02 -1.46682644e-02 9.99826693e-01 -1.87429873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.871193817 meters Centerline goodness : 0.927895 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.46, Z:-1.87 [[ 9.99933570e-01 2.53626005e-03 1.12438389e-02 1.18516879e+01] [-2.68730657e-03 9.99906081e-01 1.34390222e-02 -4.55917542e-01] [-1.12086981e-02 -1.34683451e-02 9.99846473e-01 -1.87413784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.901193817 meters Centerline goodness : 0.930211 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.45, Z:-1.87 [[ 9.99938526e-01 2.14353710e-03 1.08788449e-02 1.18521967e+01] [-2.27595291e-03 9.99923303e-01 1.21741141e-02 -4.51292522e-01] [-1.08519149e-02 -1.21981255e-02 9.99866712e-01 -1.87403881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93119381700001 meters Centerline goodness : 0.932446 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.44, Z:-1.87 [[ 9.99925604e-01 6.31609504e-03 1.04351988e-02 1.18575262e+01] [-6.31482704e-03 9.99980049e-01 -1.54456502e-04 -4.40953305e-01] [-1.04359662e-02 8.85485356e-05 9.99945540e-01 -1.87317879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96119381700001 meters Centerline goodness : 0.932510 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.44, Z:-1.87 [[ 9.99932535e-01 5.72686563e-03 1.01058501e-02 1.18581997e+01] [-5.71102034e-03 9.99982418e-01 -1.59609430e-03 -4.36298438e-01] [-1.01148131e-02 1.53827191e-03 9.99947661e-01 -1.87321066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99119381700001 meters Centerline goodness : 0.932698 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.43, Z:-1.87 [[ 9.99917393e-01 8.57102423e-03 9.57838107e-03 1.18593254e+01] [-8.58305783e-03 9.99962426e-01 1.21592896e-03 -4.33963378e-01] [-9.56759941e-03 -1.29804032e-03 9.99953387e-01 -1.87288857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02119381700001 meters Centerline goodness : 0.936508 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.43, Z:-1.87 [[ 9.99885099e-01 1.19149712e-02 9.37133413e-03 1.18591329e+01] [-1.19434962e-02 9.99924192e-01 2.99379558e-03 -4.26296057e-01] [-9.33495272e-03 -3.10537808e-03 9.99951606e-01 -1.87219300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05119381700001 meters Centerline goodness : 0.936280 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.42, Z:-1.87 [[ 9.99893187e-01 1.15728729e-02 8.92652080e-03 1.18605256e+01] [-1.15856713e-02 9.99931927e-01 1.38337657e-03 -4.21290705e-01] [-8.90990350e-03 -1.48664855e-03 9.99959201e-01 -1.87325529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08119381700001 meters Centerline goodness : 0.933564 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.42, Z:-1.87 [[ 9.99902676e-01 1.11760289e-02 8.35068678e-03 1.18624635e+01] [-1.11743302e-02 9.99937534e-01 -2.50060332e-04 -4.16585780e-01] [-8.35295982e-03 1.56722664e-04 9.99965101e-01 -1.87476122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.111193817 meters Centerline goodness : 0.932279 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.41, Z:-1.88 [[ 9.99874911e-01 1.38425300e-02 7.65162621e-03 1.18653684e+01] [-1.38597556e-02 9.99901523e-01 2.20280588e-03 -4.14078541e-01] [-7.62038029e-03 -2.30858000e-03 9.99968300e-01 -1.87652336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.141193817 meters Centerline goodness : 0.929087 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.41, Z:-1.88 [[ 9.99890809e-01 1.29929429e-02 7.03940575e-03 1.18682010e+01] [-1.29957974e-02 9.99915486e-01 3.59902052e-04 -4.09423889e-01] [-7.03413463e-03 -4.51345444e-04 9.99975158e-01 -1.87900553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.171193817 meters Centerline goodness : 0.924884 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-1.88 [[ 9.99906750e-01 1.21460986e-02 6.24207228e-03 1.18717989e+01] [-1.21336890e-02 9.99924339e-01 -2.02209627e-03 -4.03420025e-01] [-6.26616058e-03 1.94616834e-03 9.99978474e-01 -1.88268787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.201193817 meters Centerline goodness : 0.920789 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-1.88 [[ 9.99923560e-01 1.10563453e-02 5.53448609e-03 1.18745710e+01] [-1.10379798e-02 9.99933508e-01 -3.33799989e-03 -4.01539980e-01] [-5.57102417e-03 3.27665519e-03 9.99979113e-01 -1.88447547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.231193817 meters Centerline goodness : 0.918252 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99940820e-01 9.77116786e-03 4.78329328e-03 1.18776495e+01] [-9.74887437e-03 9.99941611e-01 -4.66203828e-03 -4.00405767e-01] [-4.82856755e-03 4.61513065e-03 9.99977693e-01 -1.88647297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.261193817 meters Centerline goodness : 0.916355 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99964865e-01 7.41260212e-03 3.91440543e-03 1.18813004e+01] [-7.38752258e-03 9.99952340e-01 -6.38304212e-03 -4.00016879e-01] [-3.96153382e-03 6.35390009e-03 9.99971967e-01 -1.88858925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.291193817 meters Centerline goodness : 0.914867 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.40, Z:-1.89 [[ 9.99980269e-01 5.48520445e-03 3.06176783e-03 1.18846436e+01] [-5.46171930e-03 9.99956000e-01 -7.62682594e-03 -3.99794212e-01] [-3.10346781e-03 7.60995294e-03 9.99966228e-01 -1.89031085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32119381700001 meters Centerline goodness : 0.914530 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99990455e-01 3.76330987e-03 2.21973566e-03 1.18875774e+01] [-3.74447516e-03 9.99957464e-01 -8.42909829e-03 -4.00206416e-01] [-2.25136255e-03 8.42070609e-03 9.99962011e-01 -1.89151144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35119381700001 meters Centerline goodness : 0.917053 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99993045e-01 -3.72959020e-03 2.01192460e-06 1.18921764e+01] [ 3.72937320e-03 9.99928744e-01 -1.13401285e-02 -4.02240136e-01] [ 4.02822507e-05 1.13400571e-02 9.99935699e-01 -1.88772117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38119381700001 meters Centerline goodness : 0.918988 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99986015e-01 -5.28636085e-03 -1.56630184e-04 1.18926703e+01] [ 5.28419376e-03 9.99919043e-01 -1.15751604e-02 -4.04852570e-01] [ 2.17807978e-04 1.15741708e-02 9.99932993e-01 -1.88694472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41119381700001 meters Centerline goodness : 0.920999 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.41, Z:-1.89 [[ 9.99974518e-01 -7.11091232e-03 -6.31627484e-04 1.18942996e+01] [ 7.10248518e-03 9.99897031e-01 -1.24692447e-02 -4.06035519e-01] [ 7.20230152e-04 1.24644408e-02 9.99922056e-01 -1.88702202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44119381700001 meters Centerline goodness : 0.925086 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.41, Z:-1.89 [[ 9.99969304e-01 -7.80083478e-03 -7.34068638e-04 1.18942232e+01] [ 7.79102163e-03 9.99891065e-01 -1.25363110e-02 -4.06356870e-01] [ 8.31782363e-04 1.25302071e-02 9.99921148e-01 -1.88612952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.471193817 meters Centerline goodness : 0.927937 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-1.89 [[ 9.99960752e-01 -8.81845835e-03 -8.53500227e-04 1.18943802e+01] [ 8.80604108e-03 9.99868770e-01 -1.35976968e-02 -4.03101004e-01] [ 9.73298945e-04 1.35896472e-02 9.99907183e-01 -1.88559337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.501193817 meters Centerline goodness : 0.931904 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99983077e-01 -5.66219345e-03 -1.33612031e-03 1.18954275e+01] [ 5.64837345e-03 9.99932738e-01 -1.01298838e-02 -4.02086860e-01] [ 1.39338780e-03 1.01221655e-02 9.99947799e-01 -1.88533154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.531193817 meters Centerline goodness : 0.931165 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99994489e-01 -2.82776825e-03 -1.73941949e-03 1.18968166e+01] [ 2.81479087e-03 9.99968521e-01 -7.41849558e-03 -3.99676288e-01] [ 1.76034252e-03 7.41355860e-03 9.99970970e-01 -1.88581099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.561193817 meters Centerline goodness : 0.929274 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.40, Z:-1.89 [[ 9.99997753e-01 1.61132952e-04 -2.11398137e-03 1.18978020e+01] [-1.71242656e-04 9.99988547e-01 -4.78299604e-03 -3.96490426e-01] [ 2.11318646e-03 4.78334729e-03 9.99986327e-01 -1.88590480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.591193817 meters Centerline goodness : 0.931559 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.39, Z:-1.89 [[ 9.99985260e-01 4.84707606e-03 2.44637475e-03 1.19120910e+01] [-4.82072072e-03 9.99931491e-01 -1.06665257e-02 -3.86845082e-01] [-2.49790861e-03 1.06545752e-02 9.99940118e-01 -1.88888384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.621193817 meters Centerline goodness : 0.931748 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.38, Z:-1.89 [[ 9.99965057e-01 8.13300134e-03 1.93355388e-03 1.19133181e+01] [-8.11731402e-03 9.99935155e-01 -7.98714787e-03 -3.83802678e-01] [-1.99838799e-03 7.97117351e-03 9.99966233e-01 -1.88897840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.651193817 meters Centerline goodness : 0.929057 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.38, Z:-1.89 [[ 9.99939157e-01 1.09474089e-02 1.35541035e-03 1.19156286e+01] [-1.09393662e-02 9.99923310e-01 -5.80546198e-03 -3.80022454e-01] [-1.41886117e-03 5.79028142e-03 9.99982230e-01 -1.89028533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68119381700001 meters Centerline goodness : 0.926943 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.38, Z:-1.89 [[ 9.99906811e-01 1.36305513e-02 7.59785610e-04 1.19181758e+01] [-1.36275746e-02 9.99899941e-01 -3.79426797e-03 -3.75807437e-01] [-8.11427551e-04 3.78356035e-03 9.99992513e-01 -1.89188334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71119381700001 meters Centerline goodness : 0.922121 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.37, Z:-1.89 [[ 9.99867557e-01 1.62747622e-02 1.62600647e-05 1.19211782e+01] [-1.62746205e-02 9.99862138e-01 -3.29265415e-03 -3.65702766e-01] [-6.98449866e-05 3.29195344e-03 9.99994579e-01 -1.89448484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74119381700001 meters Centerline goodness : 0.921110 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.36, Z:-1.90 [[ 9.99878671e-01 1.55653711e-02 -6.01668790e-04 1.19235575e+01] [-1.55683051e-02 9.99865152e-01 -5.22550037e-03 -3.60366612e-01] [ 5.20250804e-04 5.23423333e-03 9.99986166e-01 -1.89625238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77119381700001 meters Centerline goodness : 0.921110 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.36, Z:-1.90 [[ 9.99878671e-01 1.55653711e-02 -6.01668790e-04 1.19235575e+01] [-1.55683051e-02 9.99865152e-01 -5.22550037e-03 -3.60366612e-01] [ 5.20250804e-04 5.23423333e-03 9.99986166e-01 -1.89625238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80119381700001 meters Centerline goodness : 0.919632 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.36, Z:-1.90 [[ 9.99889726e-01 1.48040043e-02 -1.17349011e-03 1.19257108e+01] [-1.48117581e-02 9.99866493e-01 -6.89989234e-03 -3.56156396e-01] [ 1.07118741e-03 6.91651291e-03 9.99975507e-01 -1.89771208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83119381700001 meters Centerline goodness : 0.917832 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.35, Z:-1.90 [[ 9.99903431e-01 1.37703371e-02 -1.87276691e-03 1.19278266e+01] [-1.37858923e-02 9.99868299e-01 -8.56354523e-03 -3.52491898e-01] [ 1.75459736e-03 8.58853602e-03 9.99961578e-01 -1.89868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.861193817 meters Centerline goodness : 0.919983 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.35, Z:-1.90 [[ 9.99930694e-01 1.14988538e-02 -2.52657403e-03 1.19296262e+01] [-1.15262489e-02 9.99871850e-01 -1.11098456e-02 -3.47057902e-01] [ 2.39849976e-03 1.11381975e-02 9.99935092e-01 -1.89901917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.891193817 meters Centerline goodness : 0.920093 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.34, Z:-1.90 [[ 9.99946163e-01 9.91308575e-03 -3.06617726e-03 1.19313413e+01] [-9.95128246e-03 9.99869786e-01 -1.27036970e-02 -3.44328762e-01] [ 2.93984516e-03 1.27335255e-02 9.99914604e-01 -1.89956958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.921193817 meters Centerline goodness : 0.923209 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.34, Z:-1.90 [[ 9.99958737e-01 8.28887325e-03 -3.71743011e-03 1.19332915e+01] [-8.34159997e-03 9.99861522e-01 -1.43998270e-02 -3.41148406e-01] [ 3.59755699e-03 1.44302421e-02 9.99889407e-01 -1.90008552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.951193817 meters Centerline goodness : 0.920704 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99973677e-01 5.61904582e-03 -4.59047630e-03 1.19358284e+01] [-5.69805813e-03 9.99832643e-01 -1.73844051e-02 -3.33909493e-01] [ 4.49202429e-03 1.74101043e-02 9.99838342e-01 -1.90052509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.981193817 meters Centerline goodness : 0.923292 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99976882e-01 4.53237415e-03 -5.06876642e-03 1.19374397e+01] [-4.62682092e-03 9.99812949e-01 -1.87792436e-02 -3.30164601e-01] [ 4.98270374e-03 1.88022618e-02 9.99810806e-01 -1.90108909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.011193817 meters Centerline goodness : 0.917711 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.33, Z:-1.90 [[ 9.99966490e-01 5.84001529e-03 -5.73690950e-03 1.19401513e+01] [-5.93633724e-03 9.99839243e-01 -1.69188377e-02 -3.28238595e-01] [ 5.63718098e-03 1.69523270e-02 9.99840408e-01 -1.90211204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.041193817 meters Centerline goodness : 0.923287 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.32, Z:-1.90 [[ 9.99969592e-01 4.55336134e-03 -6.33109051e-03 1.19424188e+01] [-4.67095780e-03 9.99814501e-01 -1.86854172e-02 -3.23891961e-01] [ 6.24483465e-03 1.87144212e-02 9.99805367e-01 -1.90327452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07119381700001 meters Centerline goodness : 0.916506 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.31, Z:-1.90 [[ 9.99957290e-01 2.81711496e-03 -8.80242736e-03 1.19501969e+01] [-2.98293763e-03 9.99817264e-01 -1.88822977e-02 -3.14618328e-01] [ 8.74762524e-03 1.89077483e-02 9.99782965e-01 -1.90438172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10119381700001 meters Centerline goodness : 0.914353 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.31, Z:-1.91 [[ 9.99946999e-01 3.38070170e-03 -9.72474038e-03 1.19538719e+01] [-3.55640779e-03 9.99829716e-01 -1.81077608e-02 -3.10400773e-01] [ 9.66186748e-03 1.81413863e-02 9.99788747e-01 -1.90605736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13119381700001 meters Centerline goodness : 0.918649 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.31, Z:-1.91 [[ 9.99931563e-01 4.86885266e-03 -1.06378424e-02 1.19567777e+01] [-5.04452062e-03 9.99850321e-01 -1.65495483e-02 -3.06269262e-01] [ 1.05556729e-02 1.66020785e-02 9.99806456e-01 -1.90686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16119381700001 meters Centerline goodness : 0.917508 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.30, Z:-1.91 [[ 9.99912780e-01 6.78498880e-03 -1.13311776e-02 1.19590641e+01] [-6.95350476e-03 9.99864821e-01 -1.48993054e-02 -3.01764556e-01] [ 1.12285542e-02 1.49767973e-02 9.99824792e-01 -1.90753261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19119381700001 meters Centerline goodness : 0.913682 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.29, Z:-1.91 [[ 9.99911334e-01 1.06552959e-02 -7.98680331e-03 1.19770747e+01] [-1.08090034e-02 9.99752291e-01 -1.94556532e-02 -2.88387908e-01] [ 7.77751916e-03 1.95402575e-02 9.99778820e-01 -1.91060918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22119381700001 meters Centerline goodness : 0.912814 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.28, Z:-1.91 [[ 9.99875820e-01 1.30130936e-02 -8.88839922e-03 1.19799400e+01] [-1.31715271e-02 9.99751133e-01 -1.80050947e-02 -2.82171875e-01] [ 8.65188521e-03 1.81199326e-02 9.99798386e-01 -1.91154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.251193817 meters Centerline goodness : 0.911012 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.28, Z:-1.91 [[ 9.99825351e-01 1.60069567e-02 -9.64597497e-03 1.19822987e+01] [-1.61612203e-02 9.99739242e-01 -1.61326386e-02 -2.75996965e-01] [ 9.38522526e-03 1.62857118e-02 9.99823331e-01 -1.91227852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.281193817 meters Centerline goodness : 0.908391 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.26, Z:-1.91 [[ 9.99752736e-01 2.14837981e-02 -5.73693555e-03 1.19981850e+01] [-2.15960379e-02 9.99561128e-01 -2.02771282e-02 -2.62255964e-01] [ 5.29878804e-03 2.03960095e-02 9.99777938e-01 -1.91451532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.311193817 meters Centerline goodness : 0.910598 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.26, Z:-1.91 [[ 9.99684230e-01 2.43185838e-02 -6.32830829e-03 1.19998874e+01] [-2.44293523e-02 9.99538445e-01 -1.80583616e-02 -2.58050813e-01] [ 5.88623364e-03 1.82072557e-02 9.99816907e-01 -1.91460540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.341193817 meters Centerline goodness : 0.909267 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.25, Z:-1.91 [[ 9.99603104e-01 2.73329118e-02 -6.82244652e-03 1.20012666e+01] [-2.74362295e-02 9.99502760e-01 -1.55397922e-02 -2.54488731e-01] [ 6.39430636e-03 1.57208068e-02 9.99855974e-01 -1.91458940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.371193817 meters Centerline goodness : 0.912282 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.25, Z:-1.92 [[ 9.99514827e-01 3.02908256e-02 -7.25093802e-03 1.20029466e+01] [-3.03840918e-02 9.99452213e-01 -1.31179824e-02 -2.50559754e-01] [ 6.84961153e-03 1.33319311e-02 9.99887665e-01 -1.91509886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.401193817 meters Centerline goodness : 0.913151 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.24, Z:-1.92 [[ 9.99404971e-01 3.41142025e-02 -5.09166428e-03 1.20227464e+01] [-3.41961585e-02 9.99270791e-01 -1.69855314e-02 -2.39624102e-01] [ 4.50850353e-03 1.71495399e-02 9.99842771e-01 -1.91808157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43119381700001 meters Centerline goodness : 0.910942 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.24, Z:-1.92 [[ 9.99298847e-01 3.70237530e-02 -5.57288786e-03 1.20247390e+01] [-3.71007659e-02 9.99207541e-01 -1.44161014e-02 -2.36562294e-01] [ 5.03473339e-03 1.46127519e-02 9.99880552e-01 -1.91879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46119381700001 meters Centerline goodness : 0.910470 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.23, Z:-1.92 [[ 9.99184927e-01 3.98985645e-02 -6.13077154e-03 1.20268560e+01] [-3.99686470e-02 9.99131624e-01 -1.17688386e-02 -2.34279569e-01] [ 5.65588795e-03 1.20042848e-02 9.99911950e-01 -1.91940731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49119381700001 meters Centerline goodness : 0.910396 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.23, Z:-1.92 [[ 9.99186886e-01 3.97642375e-02 -6.66132318e-03 1.20282686e+01] [-3.98484358e-02 9.99120856e-01 -1.30237489e-02 -2.30141786e-01] [ 6.13758747e-03 1.32786024e-02 9.99892999e-01 -1.91963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52119381700001 meters Centerline goodness : 0.913005 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.22, Z:-1.92 [[ 9.99109119e-01 4.20538709e-02 -3.52695085e-03 1.20463842e+01] [-4.21134222e-02 9.98932661e-01 -1.89736116e-02 -2.20358757e-01] [ 2.72527259e-03 1.91052404e-02 9.99813764e-01 -1.92250448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55119381700001 meters Centerline goodness : 0.913165 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.99038396e-01 4.38391175e-02 -6.43669048e-04 1.20652942e+01] [-4.38421042e-02 9.98760389e-01 -2.35702045e-02 -2.14722445e-01] [-3.90425814e-04 2.35757591e-02 9.99721977e-01 -1.92529550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58119381700001 meters Centerline goodness : 0.914070 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.98910944e-01 4.66444833e-02 -1.10396472e-03 1.20672216e+01] [-4.66573792e-02 9.98690917e-01 -2.09652391e-02 -2.11661344e-01] [ 1.24606797e-04 2.09939149e-02 9.99779596e-01 -1.92581423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.611193817 meters Centerline goodness : 0.914110 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.21, Z:-1.93 [[ 9.98919104e-01 4.64250586e-02 -2.31047318e-03 1.20704594e+01] [-4.64663837e-02 9.98647531e-01 -2.33234472e-02 -2.07032535e-01] [ 1.22455594e-03 2.34055963e-02 9.99725302e-01 -1.92609032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.641193817 meters Centerline goodness : 0.913377 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98859578e-01 4.77165418e-02 -1.63541785e-03 1.20924603e+01] [-4.77437874e-02 9.98452076e-01 -2.85303877e-02 -2.00978872e-01] [ 2.71514909e-04 2.85759321e-02 9.99591588e-01 -1.92929399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.671193817 meters Centerline goodness : 0.914940 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98744193e-01 5.00876623e-02 -1.12426525e-03 1.20916023e+01] [-5.00999711e-02 9.98407994e-01 -2.59127329e-02 -1.99333332e-01] [-1.75432796e-04 2.59365171e-02 9.99663577e-01 -1.92887168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.701193817 meters Centerline goodness : 0.913766 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.20, Z:-1.93 [[ 9.98759395e-01 4.97693843e-02 -1.63667586e-03 1.20930757e+01] [-4.97955362e-02 9.98385347e-01 -2.73332079e-02 -1.95710911e-01] [ 2.73676266e-04 2.73807974e-02 9.99625038e-01 -1.92892603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.731193817 meters Centerline goodness : 0.912702 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.98776202e-01 4.94319623e-02 -1.60595327e-03 1.20932332e+01] [-4.94575665e-02 9.98382399e-01 -2.80452337e-02 -1.93517964e-01] [ 2.17024536e-04 2.80903386e-02 9.99605365e-01 -1.92886080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.761193817 meters Centerline goodness : 0.911925 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99013873e-01 4.43774699e-02 -1.38651036e-03 1.20923528e+01] [-4.43990434e-02 9.98465142e-01 -3.31071837e-02 -1.91117231e-01] [-8.48307891e-05 3.31360956e-02 9.99450845e-01 -1.92846714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.791193817 meters Centerline goodness : 0.913420 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99096728e-01 4.24876266e-02 -7.27313476e-04 1.20904427e+01] [-4.24884582e-02 9.98550914e-01 -3.30272940e-02 -1.92816667e-01] [-6.76991797e-04 3.30283638e-02 9.99454185e-01 -1.92806725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82119381700001 meters Centerline goodness : 0.917938 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.19, Z:-1.93 [[ 9.99238612e-01 3.90132706e-02 4.02128035e-04 1.20875304e+01] [-3.89765855e-02 9.98652253e-01 -3.42710349e-02 -1.93950509e-01] [-1.73861122e-03 3.42292677e-02 9.99412495e-01 -1.92771751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85119381700001 meters Centerline goodness : 0.920096 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.20, Z:-1.93 [[ 9.99557693e-01 2.96107621e-02 2.76071001e-03 1.20971967e+01] [-2.95503907e-02 9.99366924e-01 -1.98122809e-02 -1.98027659e-01] [-3.34561901e-03 1.97219377e-02 9.99799906e-01 -1.92643971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88119381700001 meters Centerline goodness : 0.919794 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.20, Z:-1.92 [[ 9.99899353e-01 1.39039636e-02 2.82182774e-03 1.21036434e+01] [-1.38733990e-02 9.99847822e-01 -1.05765034e-02 -1.96396865e-01] [-2.96845364e-03 1.05362906e-02 9.99940086e-01 -1.92359645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91119381700001 meters Centerline goodness : 0.921030 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99923645e-01 1.21828608e-02 2.06920388e-03 1.21057068e+01] [-1.21568237e-02 9.99852147e-01 -1.21612531e-02 -1.94541541e-01] [-2.21705680e-03 1.21351696e-02 9.99923908e-01 -1.92420503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94119381700001 meters Centerline goodness : 0.919912 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99933619e-01 1.14269085e-02 1.47743960e-03 1.21071257e+01] [-1.14062415e-02 9.99846329e-01 -1.33122727e-02 -1.92118566e-01] [-1.62933069e-03 1.32945370e-02 9.99910296e-01 -1.92437008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97119381700001 meters Centerline goodness : 0.919208 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.19, Z:-1.92 [[ 9.99937375e-01 1.11489162e-02 9.73812167e-04 1.21083310e+01] [-1.11338491e-02 9.99835663e-01 -1.43068244e-02 -1.89042864e-01] [-1.13315772e-03 1.42950861e-02 9.99897178e-01 -1.92455996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.001193817 meters Centerline goodness : 0.920425 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.18, Z:-1.93 [[ 9.99912580e-01 1.32165939e-02 3.91426416e-04 1.21109175e+01] [-1.32100588e-02 9.99820469e-01 -1.35839449e-02 -1.81609641e-01] [-5.70889627e-04 1.35775866e-02 9.99907657e-01 -1.92623526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03119381700003 meters Centerline goodness : 0.919947 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.18, Z:-1.93 [[ 9.99880567e-01 1.54536195e-02 -1.95728608e-04 1.21136652e+01] [-1.54548521e-02 9.99811851e-01 -1.17222126e-02 -1.77775670e-01] [ 1.45411690e-05 1.17238375e-02 9.99931273e-01 -1.92796046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06119381700003 meters Centerline goodness : 0.916309 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.17, Z:-1.93 [[ 9.99837731e-01 1.80048574e-02 -5.79860423e-04 1.21370951e+01] [-1.80117941e-02 9.99711807e-01 -1.58706750e-02 -1.66279582e-01] [ 2.93944070e-04 1.58785441e-02 9.99873885e-01 -1.93225493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09119381700003 meters Centerline goodness : 0.915752 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.16, Z:-1.93 [[ 9.99786268e-01 2.06428031e-02 -1.13732230e-03 1.21389483e+01] [-2.06565633e-02 9.99691048e-01 -1.38244489e-02 -1.62049028e-01] [ 8.51595546e-04 1.38449873e-02 9.99903791e-01 -1.93279033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12119381700003 meters Centerline goodness : 0.916314 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.16, Z:-1.93 [[ 9.99724239e-01 2.34381066e-02 -1.44940259e-03 1.21397497e+01] [-2.34534050e-02 9.99657212e-01 -1.16359713e-02 -1.57989447e-01] [ 1.17618062e-03 1.16667560e-02 9.99931249e-01 -1.93250256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15119381700003 meters Centerline goodness : 0.918684 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.15, Z:-1.93 [[ 9.99650539e-01 2.63806501e-02 -1.69154885e-03 1.21402584e+01] [-2.63952298e-02 9.99608602e-01 -9.27013795e-03 -1.54325175e-01] [ 1.44633451e-03 9.31154721e-03 9.99955601e-01 -1.93200553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters Centerline goodness : 0.917393 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.15, Z:-1.93 [[ 9.99569091e-01 2.92860551e-02 -1.98955229e-03 1.21409471e+01] [-2.92993033e-02 9.99546224e-01 -6.99261952e-03 -1.50568290e-01] [ 1.78386324e-03 7.04789884e-03 9.99973572e-01 -1.93161004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.211193817 meters Centerline goodness : 0.918624 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.14, Z:-1.93 [[ 9.99435948e-01 3.35782337e-02 5.36883806e-04 1.21596933e+01] [-3.35705283e-02 9.99378515e-01 -1.07519436e-02 -1.38035984e-01] [-8.97581416e-04 1.07278555e-02 9.99942052e-01 -1.93395283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters Centerline goodness : 0.917868 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.13, Z:-1.93 [[ 9.99320941e-01 3.68461973e-02 1.20533798e-04 1.21614289e+01] [-3.68434774e-02 9.99277644e-01 -9.31388841e-03 -1.32491153e-01] [-4.63628099e-04 9.30312285e-03 9.99956618e-01 -1.93398760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.271193817 meters Centerline goodness : 0.919667 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.13, Z:-1.93 [[ 9.99186744e-01 4.03207727e-02 -2.91894373e-04 1.21626832e+01] [-4.03218282e-02 9.99158904e-01 -7.45888028e-03 -1.27678360e-01] [-9.09895433e-06 7.46458401e-03 9.99972140e-01 -1.93343070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters Centerline goodness : 0.918032 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.12, Z:-1.93 [[ 9.98874215e-01 4.74354100e-02 -4.28807825e-04 1.21634979e+01] [-4.74365265e-02 9.98869307e-01 -3.14368602e-03 -1.19701929e-01] [ 2.79200939e-04 3.16048807e-03 9.99994967e-01 -1.93209437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.331193817 meters Centerline goodness : 0.917364 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98845202e-01 4.80314665e-02 -1.11341638e-03 1.21651974e+01] [-4.80360732e-02 9.98835167e-01 -4.56561204e-03 -1.14959009e-01] [ 8.92826397e-04 4.61382383e-03 9.99988958e-01 -1.93176119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters Centerline goodness : 0.918434 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98812713e-01 4.86857269e-02 -1.69256333e-03 1.21666579e+01] [-4.86948081e-02 9.98796760e-01 -5.81784579e-03 -1.10602671e-01] [ 1.40728072e-03 5.89335738e-03 9.99981644e-01 -1.93145144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39119381700002 meters Centerline goodness : 0.914746 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98556483e-01 5.36557841e-02 -2.45093931e-03 1.21691263e+01] [-5.36626672e-02 9.98555098e-01 -2.83464246e-03 -1.06415777e-01] [ 2.29530298e-03 2.96207454e-03 9.99992979e-01 -1.93181598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42119381700002 meters Centerline goodness : 0.913034 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98523091e-01 5.42280856e-02 -3.30922770e-03 1.21713599e+01] [-5.42373087e-02 9.98524248e-01 -2.76401221e-03 -1.06506649e-01] [ 3.15445701e-03 2.93941362e-03 9.99990705e-01 -1.93251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45119381700002 meters Centerline goodness : 0.911601 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98489641e-01 5.48035325e-02 -3.87414584e-03 1.21730882e+01] [-5.48111800e-02 9.98494937e-01 -1.89608478e-03 -1.08956092e-01] [ 3.76440286e-03 2.10556752e-03 9.99990698e-01 -1.93354195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48119381700002 meters Centerline goodness : 0.907948 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.11, Z:-1.93 [[ 9.98636806e-01 5.19756231e-02 -4.80247079e-03 1.21749401e+01] [-5.20022427e-02 9.98631295e-01 -5.59497521e-03 -1.08987925e-01] [ 4.50509530e-03 5.83708743e-03 9.99972816e-01 -1.93395605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51119381700002 meters Centerline goodness : 0.908557 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98606999e-01 5.25001236e-02 -5.27235467e-03 1.21756648e+01] [-5.25248462e-02 9.98608719e-01 -4.66544306e-03 -1.10545985e-01] [ 5.02008301e-03 4.93587371e-03 9.99975218e-01 -1.93377445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54119381700002 meters Centerline goodness : 0.912091 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98604259e-01 5.25330675e-02 -5.45985206e-03 1.21755666e+01] [-5.25563320e-02 9.98609093e-01 -4.20856110e-03 -1.12016435e-01] [ 5.23116929e-03 4.48963684e-03 9.99976239e-01 -1.93316082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57119381700002 meters Centerline goodness : 0.910625 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.11, Z:-1.93 [[ 9.98759379e-01 4.94001021e-02 -6.27157391e-03 1.21764413e+01] [-4.94453157e-02 9.98750363e-01 -7.27135389e-03 -1.14088987e-01] [ 5.90453109e-03 7.57243285e-03 9.99953896e-01 -1.93276689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60119381700002 meters Centerline goodness : 0.913563 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.12, Z:-1.93 [[ 9.98754788e-01 4.95012275e-02 -6.20496934e-03 1.21756579e+01] [-4.95343255e-02 9.98758365e-01 -5.29893618e-03 -1.20855507e-01] [ 5.93496119e-03 5.59969685e-03 9.99966709e-01 -1.93245224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63119381700002 meters Centerline goodness : 0.912341 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99053016e-01 4.30536771e-02 -6.28112824e-03 1.21739276e+01] [-4.31130935e-02 9.99023570e-01 -9.65238019e-03 -1.29485566e-01] [ 5.85942469e-03 9.91403840e-03 9.99933687e-01 -1.93146951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66119381700003 meters Centerline goodness : 0.915085 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99105335e-01 4.17911960e-02 -6.48278064e-03 1.21742440e+01] [-4.18480328e-02 9.99084396e-01 -8.89448452e-03 -1.33637391e-01] [ 6.10513383e-03 9.15781855e-03 9.99939429e-01 -1.93202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69119381700003 meters Centerline goodness : 0.915085 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.13, Z:-1.93 [[ 9.99105335e-01 4.17911960e-02 -6.48278064e-03 1.21742440e+01] [-4.18480328e-02 9.99084396e-01 -8.89448452e-03 -1.33637391e-01] [ 6.10513383e-03 9.15781855e-03 9.99939429e-01 -1.93202800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72119381700003 meters Centerline goodness : 0.915212 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.14, Z:-1.93 [[ 9.99263490e-01 3.77807134e-02 -6.71534561e-03 1.21744407e+01] [-3.78574253e-02 9.99214783e-01 -1.16889882e-02 -1.36317734e-01] [ 6.26845429e-03 1.19346048e-02 9.99909132e-01 -1.93245684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75119381700003 meters Centerline goodness : 0.919109 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.14, Z:-1.93 [[ 9.99530385e-01 2.89841982e-02 -9.94618040e-03 1.21693276e+01] [-2.90077480e-02 9.99576696e-01 -2.23166097e-03 -1.42031334e-01] [ 9.87728723e-03 2.51912924e-03 9.99948045e-01 -1.92945955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78119381700003 meters Centerline goodness : 0.917814 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-1.93 [[ 9.99761163e-01 1.96944581e-02 -9.47335877e-03 1.21674289e+01] [-1.97689570e-02 9.99773869e-01 -7.83574226e-03 -1.49490942e-01] [ 9.31689585e-03 8.02114922e-03 9.99924425e-01 -1.92924674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81119381700003 meters Centerline goodness : 0.920666 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-1.93 [[ 9.99833410e-01 1.54057419e-02 -9.78851942e-03 1.21680012e+01] [-1.55154730e-02 9.99816506e-01 -1.12349243e-02 -1.52382403e-01] [ 9.61364094e-03 1.13849262e-02 9.99888975e-01 -1.92931871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84119381700003 meters Centerline goodness : 0.921540 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99937087e-01 9.07799941e-03 -6.58880889e-03 1.21784497e+01] [-9.12529087e-03 9.99932562e-01 -7.18332427e-03 -1.55818800e-01] [ 6.52315434e-03 7.24299715e-03 9.99952493e-01 -1.93099720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87119381700003 meters Centerline goodness : 0.919725 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99945927e-01 7.38766284e-03 -7.31879934e-03 1.21812689e+01] [-7.44717695e-03 9.99939154e-01 -8.13807500e-03 -1.57774742e-01] [ 7.25823266e-03 8.19213935e-03 9.99940102e-01 -1.93258612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90119381700003 meters Centerline goodness : 0.916211 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.16, Z:-1.93 [[ 9.99947772e-01 6.44626962e-03 -7.93083359e-03 1.21839488e+01] [-6.51411868e-03 9.99942151e-01 -8.55921980e-03 -1.58617471e-01] [ 7.87519976e-03 8.61043517e-03 9.99931918e-01 -1.93445936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.931193817 meters Centerline goodness : 0.922349 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.16, Z:-1.94 [[ 9.99932556e-01 7.84434764e-03 -8.56443331e-03 1.21866587e+01] [-7.90622815e-03 9.99942712e-01 -7.21550047e-03 -1.58156044e-01] [ 8.50734178e-03 7.28272619e-03 9.99937292e-01 -1.93599912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.961193817 meters Centerline goodness : 0.925771 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.16, Z:-1.94 [[ 9.99932083e-01 1.12387194e-02 -3.08546297e-03 1.21998049e+01] [-1.12759096e-02 9.99860614e-01 -1.23128671e-02 -1.56180715e-01] [ 2.94665204e-03 1.23468223e-02 9.99919433e-01 -1.94021133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.991193817 meters Centerline goodness : 0.922879 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.15, Z:-1.94 [[ 9.99914266e-01 1.25698311e-02 -3.66874060e-03 1.22021213e+01] [-1.26104759e-02 9.99856924e-01 -1.12742023e-02 -1.54871496e-01] [ 3.52650087e-03 1.13195003e-02 9.99929714e-01 -1.94138626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.021193817 meters Centerline goodness : 0.924594 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99916492e-01 1.28772583e-02 -1.08875199e-03 1.22213502e+01] [-1.28922173e-02 9.99803197e-01 -1.50784176e-02 -1.50497541e-01] [ 8.94369044e-04 1.50911949e-02 9.99885721e-01 -1.94224498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.051193817 meters Centerline goodness : 0.922177 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99923785e-01 1.22582073e-02 -1.46963043e-03 1.22224299e+01] [-1.22800207e-02 9.99798371e-01 -1.58876796e-02 -1.49072603e-01] [ 1.27457964e-03 1.59045158e-02 9.99872703e-01 -1.94252596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters Centerline goodness : 0.923356 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.15, Z:-1.94 [[ 9.99932058e-01 1.15108310e-02 -1.83848275e-03 1.22235279e+01] [-1.15401806e-02 9.99791553e-01 -1.68426204e-02 -1.47338507e-01] [ 1.64422697e-03 1.68626925e-02 9.99856463e-01 -1.94288260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11119381700001 meters Centerline goodness : 0.923573 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.14, Z:-1.94 [[ 9.99943288e-01 1.04286219e-02 -2.15967270e-03 1.22248291e+01] [-1.04661387e-02 9.99780362e-01 -1.81572986e-02 -1.44764628e-01] [ 1.96984275e-03 1.81788723e-02 9.99832810e-01 -1.94358743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14119381700002 meters Centerline goodness : 0.926124 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.14, Z:-1.94 [[ 9.99972647e-01 6.88842803e-03 -2.69360354e-03 1.22262879e+01] [-6.94598894e-03 9.99734317e-01 -2.19783855e-02 -1.37365585e-01] [ 2.54149136e-03 2.19964941e-02 9.99754817e-01 -1.94375809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17119381700002 meters Centerline goodness : 0.927026 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.13, Z:-1.94 [[ 9.99981421e-01 5.29569602e-03 -3.01866823e-03 1.22271678e+01] [-5.36599156e-03 9.99702932e-01 -2.37750627e-02 -1.33818034e-01] [ 2.89186597e-03 2.37908192e-02 9.99712776e-01 -1.94380930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters Centerline goodness : 0.926109 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.13, Z:-1.95 [[ 9.99994478e-01 3.03151567e-03 1.36126610e-03 1.22379019e+01] [-3.00984188e-03 9.99872983e-01 -1.56511329e-02 -1.33235907e-01] [-1.40853985e-03 1.56469493e-02 9.99876587e-01 -1.94619370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23119381700002 meters Centerline goodness : 0.924234 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.13, Z:-1.95 [[ 9.99998076e-01 1.72778909e-03 9.28738035e-04 1.22396422e+01] [-1.71126634e-03 9.99845289e-01 -1.75062644e-02 -1.29016623e-01] [-9.58841482e-04 1.75046414e-02 9.99846322e-01 -1.94716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters Centerline goodness : 0.922925 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.12, Z:-1.95 [[ 9.99995781e-01 -1.62179436e-03 -2.40982128e-03 1.22483102e+01] [ 1.57676046e-03 9.99826255e-01 -1.85734802e-02 -1.19123825e-01] [ 2.43952495e-03 1.85696021e-02 9.99824594e-01 -1.94779609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29119381700002 meters Centerline goodness : 0.921143 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.11, Z:-1.95 [[ 9.99994951e-01 -8.51545065e-04 -3.06164328e-03 1.22515984e+01] [ 7.95776933e-04 9.99834588e-01 -1.81704038e-02 -1.14629193e-01] [ 3.07660977e-03 1.81678757e-02 9.99830217e-01 -1.95004542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32119381700002 meters Centerline goodness : 0.921417 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.11, Z:-1.95 [[ 9.99993119e-01 1.37029144e-03 -3.44723459e-03 1.22537208e+01] [-1.42727074e-03 9.99861504e-01 -1.65811903e-02 -1.09740012e-01] [ 3.42403610e-03 1.65859963e-02 9.99856580e-01 -1.95153916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35119381700002 meters Centerline goodness : 0.921832 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.09, Z:-1.95 [[ 9.99990410e-01 4.36072695e-03 4.05269511e-04 1.22709331e+01] [-4.35154899e-03 9.99782287e-01 -2.04069334e-02 -9.40115586e-02] [-4.94170343e-04 2.04049742e-02 9.99791675e-01 -1.95398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38119381700002 meters Centerline goodness : 0.921685 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.09, Z:-1.95 [[ 9.99975326e-01 7.01949412e-03 2.71825051e-04 1.22711294e+01] [-7.01317142e-03 9.99799961e-01 -1.87310584e-02 -8.79773285e-02] [-4.03253229e-04 1.87286898e-02 9.99824521e-01 -1.95348501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41119381700003 meters Centerline goodness : 0.922870 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.08, Z:-1.96 [[ 9.99975234e-01 6.09359016e-03 3.52139414e-03 1.22863335e+01] [-6.03911724e-03 9.99865046e-01 -1.52780792e-02 -8.19874926e-02] [-3.61401727e-03 1.52564347e-02 9.99877082e-01 -1.95767567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44119381700003 meters Centerline goodness : 0.921143 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.08, Z:-1.96 [[ 9.99957373e-01 8.63332704e-03 3.27391872e-03 1.22874512e+01] [-8.58779520e-03 9.99869608e-01 -1.36754169e-02 -7.62875373e-02] [-3.39155617e-03 1.36467182e-02 9.99901127e-01 -1.95805619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47119381700003 meters Centerline goodness : 0.924387 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.06, Z:-1.96 [[ 9.99932975e-01 1.11378268e-02 3.16142086e-03 1.22881283e+01] [-1.10972156e-02 9.99859223e-01 -1.25851887e-02 -6.42187323e-02] [-3.30114745e-03 1.25492622e-02 9.99915806e-01 -1.95780434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50119381700003 meters Centerline goodness : 0.926313 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.06, Z:-1.96 [[ 9.99902852e-01 1.35701832e-02 3.18395266e-03 1.22883382e+01] [-1.35351576e-02 9.99850330e-01 -1.07757556e-02 -5.95221198e-02] [-3.32970509e-03 1.07316134e-02 9.99936871e-01 -1.95782460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53119381700003 meters Centerline goodness : 0.926690 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.05, Z:-1.96 [[ 9.99875181e-01 1.55522426e-02 2.78408455e-03 1.22903269e+01] [-1.55254460e-02 9.99835279e-01 -9.40082422e-03 -5.44745359e-02] [-2.92982985e-03 9.35642666e-03 9.99951936e-01 -1.95901528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56119381700003 meters Centerline goodness : 0.925966 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:-1.96 [[ 9.99780323e-01 2.07716927e-02 2.80059080e-03 1.22918186e+01] [-2.07550569e-02 9.99767512e-01 -5.84379188e-03 -4.24012775e-02] [-2.92132515e-03 5.78438171e-03 9.99979003e-01 -1.96025933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59119381700003 meters Centerline goodness : 0.923058 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.04, Z:-1.96 [[ 9.99719287e-01 2.35817217e-02 2.29098682e-03 1.22944089e+01] [-2.35719329e-02 9.99713280e-01 -4.20968039e-03 -3.62829253e-02] [-2.38960146e-03 4.15449569e-03 9.99988515e-01 -1.96185428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62119381700003 meters Centerline goodness : 0.923199 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.03, Z:-1.96 [[ 9.99632219e-01 2.70531793e-02 1.88467884e-03 1.22958409e+01] [-2.70493272e-02 9.99632018e-01 -2.04028704e-03 -3.06024942e-02] [-1.93918156e-03 1.98855737e-03 9.99996143e-01 -1.96217928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65119381700003 meters Centerline goodness : 0.923561 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.03, Z:-1.96 [[ 9.99522752e-01 3.08488759e-02 1.61701772e-03 1.22969371e+01] [-3.08493586e-02 9.99524008e-01 2.74428649e-04 -2.50442223e-02] [-1.60778221e-03 -3.24181638e-04 9.99998655e-01 -1.96236747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters Centerline goodness : 0.922940 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.02, Z:-1.96 [[ 9.99100641e-01 4.23652751e-02 1.75835747e-03 1.22978513e+01] [-4.23801540e-02 9.99056139e-01 9.52646920e-03 -1.68904370e-02] [-1.35310634e-03 -9.59242095e-03 9.99953076e-01 -1.96242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.711193817 meters Centerline goodness : 0.921075 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.01, Z:-1.96 [[ 9.98926701e-01 4.62881914e-02 1.68791342e-03 1.22985657e+01] [-4.63052176e-02 9.98854620e-01 1.20529981e-02 -1.19855077e-02] [-1.12806863e-03 -1.21182209e-02 9.99925935e-01 -1.96244427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.741193817 meters Centerline goodness : 0.920562 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.01, Z:-1.96 [[ 9.98740986e-01 5.01455818e-02 1.36530294e-03 1.23001841e+01] [-5.01602170e-02 9.98633885e-01 1.46395306e-02 -7.35952543e-03] [-6.29329998e-04 -1.46895831e-02 9.99891904e-01 -1.96297204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.771193817 meters Centerline goodness : 0.922343 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.00, Z:-1.96 [[ 9.98545439e-01 5.38989493e-02 1.38209642e-03 1.23007221e+01] [-5.39148663e-02 9.98393456e-01 1.74268247e-02 -3.38638300e-03] [-4.40588476e-04 -1.74759919e-02 9.99847186e-01 -1.96298980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.801193817 meters Centerline goodness : 0.925863 Centerline is valid? [False, False] Translation: X:12.30, Y:0.00, Z:-1.96 [[ 9.98327437e-01 5.77791827e-02 1.97336166e-03 1.22980650e+01] [-5.78071603e-02 9.98126899e-01 2.00256319e-02 1.01634090e-03] [-8.12600707e-04 -2.01062122e-02 9.99797519e-01 -1.95995077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.831193817 meters Centerline goodness : 0.927670 Centerline is valid? [False, False] Translation: X:12.30, Y:0.00, Z:-1.96 [[ 9.98308433e-01 5.81173293e-02 1.62739753e-03 1.22983630e+01] [-5.81383324e-02 9.98105640e-01 2.01262608e-02 7.04079013e-04] [-4.54630131e-04 -2.01868301e-02 9.99796122e-01 -1.95931521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86119381700001 meters Centerline goodness : 0.929967 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98210889e-01 5.96228849e-02 4.48697501e-03 1.23169032e+01] [-5.97193907e-02 9.97880024e-01 2.58660415e-02 -6.54200851e-03] [-2.93525472e-03 -2.60877236e-02 9.99655348e-01 -1.96005449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89119381700002 meters Centerline goodness : 0.928393 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98203188e-01 5.97697579e-02 4.23929057e-03 1.23175981e+01] [-5.98612298e-02 9.97857049e-01 2.64186153e-02 -8.32787177e-03] [-2.65117174e-03 -2.66249152e-02 9.99641979e-01 -1.96025024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92119381700002 meters Centerline goodness : 0.925349 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98192401e-01 5.99860257e-02 3.68893106e-03 1.23189233e+01] [-6.00638059e-02 9.97831683e-01 2.69122958e-02 -9.78614379e-03] [-2.06657062e-03 -2.70852204e-02 9.99630992e-01 -1.96055078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95119381700002 meters Centerline goodness : 0.924845 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.01, Z:-1.96 [[ 9.98160434e-01 6.05473844e-02 3.12457383e-03 1.23205837e+01] [-6.06107958e-02 9.97777877e-01 2.76701862e-02 -1.16126028e-02] [-1.44227324e-03 -2.78086680e-02 9.99612224e-01 -1.96123357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98119381700002 meters Centerline goodness : 0.921599 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.02, Z:-1.96 [[ 9.98039175e-01 6.25314893e-02 2.76020716e-03 1.23221893e+01] [-6.25864426e-02 9.97581050e-01 3.02487248e-02 -1.79819448e-02] [-8.62032545e-04 -3.03621639e-02 9.99538592e-01 -1.96219922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01119381700002 meters Centerline goodness : 0.923082 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.96 [[ 9.98109568e-01 6.12926231e-02 4.52829269e-03 1.23418284e+01] [-6.13978746e-02 9.97699064e-01 2.87555085e-02 -2.10025147e-02] [-2.75537283e-03 -2.89791757e-02 9.99576218e-01 -1.96235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04119381700002 meters Centerline goodness : 0.922373 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.02, Z:-1.96 [[ 9.98259010e-01 5.88496204e-02 3.95859119e-03 1.23426826e+01] [-5.89325232e-02 9.97927702e-01 2.58313545e-02 -2.25337835e-02] [-2.43022240e-03 -2.60196722e-02 9.99658477e-01 -1.96234981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07119381700002 meters Centerline goodness : 0.920057 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.03, Z:-1.96 [[ 9.98209880e-01 5.97032710e-02 3.54336199e-03 1.23437373e+01] [-5.97780807e-02 9.97836499e-01 2.73660657e-02 -2.70429128e-02] [-1.90185229e-03 -2.75288925e-02 9.99619199e-01 -1.96251726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10119381700002 meters Centerline goodness : 0.919742 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.04, Z:-1.96 [[ 9.98311817e-01 5.80146196e-02 2.79657050e-03 1.23664243e+01] [-5.80707449e-02 9.97908169e-01 2.84090539e-02 -3.71390400e-02] [-1.14258009e-03 -2.85234931e-02 9.99592469e-01 -1.96469676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13119381700002 meters Centerline goodness : 0.917280 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.04, Z:-1.97 [[ 9.98488005e-01 5.49277746e-02 2.15504092e-03 1.23676879e+01] [-5.49650062e-02 9.98159362e-01 2.56268489e-02 -3.99822354e-02] [-7.43448494e-04 -2.57065531e-02 9.99669256e-01 -1.96508624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16119381700003 meters Centerline goodness : 0.919925 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.05, Z:-1.97 [[ 9.98533051e-01 5.40190789e-02 3.69948009e-03 1.23872882e+01] [-5.41054075e-02 9.98092375e-01 2.97357709e-02 -4.76807817e-02] [-2.08612391e-03 -2.98923119e-02 9.99550948e-01 -1.96655256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19119381700003 meters Centerline goodness : 0.917167 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.08, Z:-1.96 [[ 9.99214933e-01 3.87024104e-02 8.46416030e-03 1.23944948e+01] [-3.93599150e-02 9.94112540e-01 1.00950757e-01 -7.80565487e-02] [-4.50729026e-03 -1.01204653e-01 9.94855418e-01 -1.96036404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22119381700003 meters Centerline goodness : 0.915346 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.08, Z:-1.96 [[ 9.99517194e-01 3.08134925e-02 3.98833073e-03 1.23972426e+01] [-3.10676951e-02 9.92893034e-01 1.14883515e-01 -8.49263818e-02] [-4.20023465e-04 -1.14951957e-01 9.93370964e-01 -1.95705199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25119381700003 meters Centerline goodness : 0.913928 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.08, Z:-1.96 [[ 9.99732830e-01 2.30733684e-02 1.37435395e-03 1.23784930e+01] [-2.30901914e-02 9.94211796e-01 1.04927345e-01 -8.48767363e-02] [ 1.05462838e-03 -1.04931045e-01 9.94478941e-01 -1.95575556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28119381700003 meters Centerline goodness : 0.913920 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.08, Z:-1.96 [[ 9.99785512e-01 2.06243125e-02 1.88886376e-03 1.23860178e+01] [-2.07094672e-02 9.96528185e-01 8.06392840e-02 -8.38325803e-02] [-2.19176181e-04 -8.06611052e-02 9.96741560e-01 -1.95556623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31119381700003 meters Centerline goodness : 0.916172 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.09, Z:-1.95 [[ 9.99900355e-01 1.40482263e-02 1.38825237e-03 1.23925917e+01] [-1.41085174e-02 9.97818422e-01 6.44929883e-02 -8.69200152e-02] [-4.79211693e-04 -6.45061481e-02 9.97917195e-01 -1.95161186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34119381700003 meters Centerline goodness : 0.913751 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99934732e-01 1.13562267e-02 -1.25252144e-03 1.24012729e+01] [-1.12737135e-02 9.98525674e-01 5.30978532e-02 -8.78046032e-02] [ 1.85366607e-03 -5.30802670e-02 9.98588528e-01 -1.94832926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37119381700003 meters Centerline goodness : 0.916076 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99919291e-01 1.17693299e-02 -4.78475118e-03 1.24007237e+01] [-1.15794749e-02 9.99212979e-01 3.79386139e-02 -8.78264219e-02] [ 5.22749755e-03 -3.78801471e-02 9.99268616e-01 -1.94804653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40119381700003 meters Centerline goodness : 0.915011 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99957211e-01 7.79357432e-03 -4.98370402e-03 1.24007370e+01] [-7.61956347e-03 9.99391758e-01 3.40302139e-02 -8.82637980e-02] [ 5.24588973e-03 -3.39907841e-02 9.99408379e-01 -1.94756091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.431193817 meters Centerline goodness : 0.916852 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.09, Z:-1.95 [[ 9.99984474e-01 8.43461001e-04 -5.50819483e-03 1.24012587e+01] [-6.93542418e-04 9.99630783e-01 2.71627885e-02 -8.96648462e-02] [ 5.52907186e-03 -2.71585466e-02 9.99615848e-01 -1.94682735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters Centerline goodness : 0.916629 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.09, Z:-1.95 [[ 9.99995860e-01 -1.46163632e-03 -2.47850772e-03 1.24105453e+01] [ 1.49465340e-03 9.99909470e-01 1.33722442e-02 -8.81559559e-02] [ 2.45873798e-03 -1.33758933e-02 9.99907516e-01 -1.94780554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.491193817 meters Centerline goodness : 0.918628 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.09, Z:-1.95 [[ 9.99993328e-01 -2.97243104e-03 2.12316827e-03 1.24217966e+01] [ 2.96970274e-03 9.99994762e-01 1.28700994e-03 -8.64530093e-02] [-2.12698270e-03 -1.28069618e-03 9.99996918e-01 -1.95131904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters Centerline goodness : 0.918826 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.09, Z:-1.95 [[ 9.99990474e-01 -3.92821688e-03 1.90310898e-03 1.24226015e+01] [ 3.92704020e-03 9.99992096e-01 6.21634812e-04 -8.56960632e-02] [-1.90553585e-03 -6.14155305e-04 9.99997996e-01 -1.95170369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.551193817 meters Centerline goodness : 0.915730 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99989165e-01 -4.37590360e-03 1.58776406e-03 1.24237253e+01] [ 4.37557661e-03 9.99990405e-01 2.09360195e-04 -8.49773328e-02] [-1.58866497e-03 -2.02410543e-04 9.99998718e-01 -1.95227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters Centerline goodness : 0.915730 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99989165e-01 -4.37590360e-03 1.58776406e-03 1.24237253e+01] [ 4.37557661e-03 9.99990405e-01 2.09360195e-04 -8.49773328e-02] [-1.58866497e-03 -2.02410543e-04 9.99998718e-01 -1.95227478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61119381700001 meters Centerline goodness : 0.917040 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.08, Z:-1.95 [[ 9.99987813e-01 -4.76069992e-03 1.30762554e-03 1.24247932e+01] [ 4.76096954e-03 9.99988646e-01 -2.03157372e-04 -8.47105552e-02] [-1.30664352e-03 2.09380462e-04 9.99999124e-01 -1.95284136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters Centerline goodness : 0.918012 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.08, Z:-1.95 [[ 9.99986999e-01 -5.00245215e-03 9.88194431e-04 1.24258908e+01] [ 5.00298504e-03 9.99987341e-01 -5.37523790e-04 -8.45576744e-02] [-9.85492984e-04 5.42460724e-04 9.99999367e-01 -1.95337621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67119381700002 meters Centerline goodness : 0.916468 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.08, Z:-1.96 [[ 9.99986032e-01 -2.80052730e-03 4.48248015e-03 1.24402039e+01] [ 2.84045077e-03 9.99956136e-01 -8.92511136e-03 -8.01200445e-02] [-4.45728851e-03 8.93771895e-03 9.99950124e-01 -1.95862741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters Centerline goodness : 0.913150 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.08, Z:-1.96 [[ 9.99991831e-01 -1.39015311e-03 3.79555819e-03 1.24434850e+01] [ 1.41980325e-03 9.99968413e-01 -7.82031158e-03 -7.79348637e-02] [-3.78456687e-03 7.82563664e-03 9.99962218e-01 -1.96086624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73119381700002 meters Centerline goodness : 0.912320 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.07, Z:-1.97 [[ 9.99979414e-01 1.26870642e-03 6.28985449e-03 1.24585751e+01] [-1.17511750e-03 9.99888882e-01 -1.48607790e-02 -7.43611849e-02] [-6.30800954e-03 1.48530818e-02 9.99869789e-01 -1.96587253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters Centerline goodness : 0.909545 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.07, Z:-1.97 [[ 9.99982545e-01 2.37675443e-03 5.40928265e-03 1.24622364e+01] [-2.30067282e-03 9.99898955e-01 -1.40280342e-02 -7.22378562e-02] [-5.44207727e-03 1.40153443e-02 9.99886971e-01 -1.96820159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79119381700002 meters Centerline goodness : 0.908143 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.07, Z:-1.97 [[ 9.99985858e-01 3.20806680e-03 4.24177670e-03 1.24855481e+01] [-3.14514539e-03 9.99886147e-01 -1.47581162e-02 -6.83964081e-02] [-4.28863878e-03 1.47445665e-02 9.99882096e-01 -1.97015045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82119381700002 meters Centerline goodness : 0.910699 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.07, Z:-1.97 [[ 9.99985097e-01 2.07406036e-03 5.05019419e-03 1.25067093e+01] [-1.98360048e-03 9.99838677e-01 -1.78517585e-02 -6.51930154e-02] [-5.08640511e-03 1.78414749e-02 9.99827890e-01 -1.97135874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85119381700002 meters Centerline goodness : 0.911252 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99976181e-01 1.90615918e-03 6.63348310e-03 1.25271644e+01] [-1.78226425e-03 9.99824797e-01 -1.86332597e-02 -6.35952939e-02] [-6.66783886e-03 1.86209933e-02 9.99804380e-01 -1.97187254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88119381700002 meters Centerline goodness : 0.914046 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99977640e-01 1.43675431e-03 6.53110985e-03 1.25268690e+01] [-1.31100943e-03 9.99814479e-01 -1.92168945e-02 -6.20125289e-02] [-6.55750814e-03 1.92079025e-02 9.99794007e-01 -1.97095314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91119381700003 meters Centerline goodness : 0.915106 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.06, Z:-1.97 [[ 9.99979132e-01 9.06212420e-04 6.39647703e-03 1.25267290e+01] [-7.78882449e-04 9.99802055e-01 -1.98807631e-02 -6.03138605e-02] [-6.41322707e-03 1.98753661e-02 9.99781896e-01 -1.97018508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94119381700003 meters Centerline goodness : 0.914363 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.97 [[ 9.99976170e-01 1.44395931e-03 6.75084258e-03 1.25246512e+01] [-1.31191496e-03 9.99808540e-01 -1.95233642e-02 -5.66032265e-02] [-6.77774101e-03 1.95140424e-02 9.99786609e-01 -1.96807651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97119381700003 meters Centerline goodness : 0.916539 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.96 [[ 9.99999163e-01 8.52350000e-04 9.73553918e-04 1.25216679e+01] [-8.48037816e-04 9.99989867e-01 -4.42118011e-03 -5.81856139e-02] [-9.77312445e-04 4.42035080e-03 9.99989753e-01 -1.96489703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00119381700003 meters Centerline goodness : 0.915608 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.06, Z:-1.97 [[ 9.99991763e-01 3.96703571e-03 8.58239109e-04 1.25221495e+01] [-3.96606806e-03 9.99991501e-01 -1.12626183e-03 -5.76279955e-02] [-8.62699736e-04 1.12284872e-03 9.99998997e-01 -1.96511113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03119381700003 meters Centerline goodness : 0.918011 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.05, Z:-1.97 [[ 9.99990924e-01 4.23270821e-03 4.86710306e-04 1.25236253e+01] [-4.23184375e-03 9.99989490e-01 -1.76365972e-03 -5.45537178e-02] [-4.94170248e-04 1.76158403e-03 9.99998326e-01 -1.96594586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06119381700003 meters Centerline goodness : 0.916642 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.05, Z:-1.97 [[ 9.99929296e-01 1.18868331e-02 3.25095219e-04 1.25244313e+01] [-1.18883159e-02 9.99916727e-01 5.02063630e-03 -5.06773639e-02] [-2.65388682e-04 -5.02414616e-03 9.99987344e-01 -1.96635422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09119381700003 meters Centerline goodness : 0.916584 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.05, Z:-1.97 [[ 9.99877120e-01 1.56761025e-02 -7.13244926e-05 1.25257287e+01] [-1.56750313e-02 9.99845173e-01 7.99520372e-03 -4.72227881e-02] [ 1.96647083e-04 -7.99310326e-03 9.99968035e-01 -1.96674692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12119381700003 meters Centerline goodness : 0.912108 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99804855e-01 1.97534466e-02 -2.30425863e-04 1.25262905e+01] [-1.97496846e-02 9.99743624e-01 1.10741014e-02 -4.34788441e-02] [ 4.49118459e-04 -1.10673895e-02 9.99938654e-01 -1.96670130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15119381700003 meters Centerline goodness : 0.914613 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99592233e-01 2.85544200e-02 -1.13015235e-04 1.25259447e+01] [-2.85474401e-02 9.99421134e-01 1.85051485e-02 -4.00350972e-02] [ 6.41353596e-04 -1.84943764e-02 9.99828759e-01 -1.96573867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters Centerline goodness : 0.915109 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99570513e-01 2.93004484e-02 -5.21965650e-04 1.25269951e+01] [-2.92859852e-02 9.99403322e-01 1.83120331e-02 -3.85801072e-02] [ 1.05820498e-03 -1.82888820e-02 9.99832184e-01 -1.96593045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.211193817 meters Centerline goodness : 0.917171 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99565379e-01 2.94676266e-02 -8.43906621e-04 1.25280553e+01] [-2.94475975e-02 9.99403170e-01 1.80594412e-02 -3.80519899e-02] [ 1.37557182e-03 -1.80267412e-02 9.99836559e-01 -1.96641116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters Centerline goodness : 0.916486 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.04, Z:-1.97 [[ 9.99567160e-01 2.93946915e-02 -1.20188555e-03 1.25292161e+01] [-2.93686217e-02 9.99409635e-01 1.78287935e-02 -3.81477557e-02] [ 1.72524789e-03 -1.77857788e-02 9.99840332e-01 -1.96696033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.271193817 meters Centerline goodness : 0.916033 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.04, Z:-1.97 [[ 9.99601130e-01 2.82414721e-02 2.37990042e-05 1.25513870e+01] [-2.82252362e-02 9.98997174e-01 3.47560493e-02 -4.35796091e-02] [ 9.57786861e-04 -3.47428579e-02 9.99395826e-01 -1.96921825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters Centerline goodness : 0.917154 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.05, Z:-1.97 [[ 9.99582841e-01 2.88763952e-02 -5.45710289e-04 1.25534793e+01] [-2.88385019e-02 9.98945992e-01 3.57105719e-02 -4.55726625e-02] [ 1.57632769e-03 -3.56799375e-02 9.99362025e-01 -1.97037423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.331193817 meters Centerline goodness : 0.914844 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.05, Z:-1.97 [[ 9.99584527e-01 2.86358188e-02 3.28061691e-03 1.25667765e+01] [-2.87567202e-02 9.98522422e-01 4.61088188e-02 -5.18624840e-02] [-1.95540576e-03 -4.61840016e-02 9.98931036e-01 -1.97482359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters Centerline goodness : 0.914379 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.05, Z:-1.98 [[ 9.99642758e-01 2.66217345e-02 2.37464248e-03 1.25701012e+01] [-2.67004707e-02 9.98674805e-01 4.39968091e-02 -5.43608136e-02] [-1.20022425e-03 -4.40444957e-02 9.99028849e-01 -1.97654710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39119381700002 meters Centerline goodness : 0.912457 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.06, Z:-1.97 [[ 9.99762481e-01 2.17931698e-02 -1.98953645e-04 1.25815834e+01] [-2.17553469e-02 9.98488180e-01 5.04783005e-02 -6.08100320e-02] [ 1.29873504e-03 -5.04619826e-02 9.98725138e-01 -1.97449703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42119381700002 meters Centerline goodness : 0.911834 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.06, Z:-1.97 [[ 9.99830887e-01 1.83810377e-02 -5.77837630e-04 1.25820531e+01] [-1.83342094e-02 9.98747312e-01 4.65581821e-02 -6.05149405e-02] [ 1.43290148e-03 -4.65397143e-02 9.98915413e-01 -1.97420330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45119381700002 meters Centerline goodness : 0.914664 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.07, Z:-1.97 [[ 9.99932944e-01 1.15650597e-02 -5.96957965e-04 1.25613186e+01] [-1.15084092e-02 9.98131958e-01 6.00012550e-02 -6.79412842e-02] [ 1.28976092e-03 -5.99903615e-02 9.98198123e-01 -1.97177245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48119381700002 meters Centerline goodness : 0.913585 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.07, Z:-1.97 [[ 9.99963095e-01 8.56435080e-03 -6.78719384e-04 1.25694812e+01] [-8.52340408e-03 9.98876510e-01 4.66161905e-02 -6.93201203e-02] [ 1.07719426e-03 -4.66086851e-02 9.98912644e-01 -1.96918390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51119381700002 meters Centerline goodness : 0.917806 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.07, Z:-1.97 [[ 9.99984646e-01 3.74233511e-03 -4.08677267e-03 1.25747535e+01] [-3.58047871e-03 9.99235964e-01 3.89187509e-02 -7.18745600e-02] [ 4.22929723e-03 -3.89035208e-02 9.99234021e-01 -1.96637392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54119381700002 meters Centerline goodness : 0.915620 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.07, Z:-1.97 [[ 9.99997594e-01 -1.22351339e-04 -2.19002621e-03 1.25830239e+01] [ 1.74885157e-04 9.99711855e-01 2.40036637e-02 -7.28224569e-02] [ 2.18645828e-03 -2.40039890e-02 9.99709472e-01 -1.96553744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57119381700002 meters Centerline goodness : 0.918345 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.08, Z:-1.97 [[ 9.99966935e-01 -7.75530763e-03 -2.44637124e-03 1.25839143e+01] [ 7.79574262e-03 9.99825499e-01 1.69763770e-02 -7.58598802e-02] [ 2.31428732e-03 -1.69948870e-02 9.99852898e-01 -1.96569761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60119381700002 meters Centerline goodness : 0.919760 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.07, Z:-1.97 [[ 9.99958958e-01 -9.04596868e-03 5.01881580e-04 1.25957445e+01] [ 9.04329247e-03 9.99946101e-01 5.10039801e-03 -7.44429310e-02] [-5.47992570e-04 -5.09565002e-03 9.99986867e-01 -1.96890503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63119381700002 meters Centerline goodness : 0.916129 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.07, Z:-1.97 [[ 9.99955686e-01 -8.89388981e-03 3.08632284e-03 1.26075640e+01] [ 8.91011739e-03 9.99946340e-01 -5.28460073e-03 -7.34533153e-02] [-3.03915657e-03 5.31186605e-03 9.99981274e-01 -1.97178756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66119381700003 meters Centerline goodness : 0.921348 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.07, Z:-1.97 [[ 9.99954723e-01 -9.12798857e-03 2.68910598e-03 1.26086871e+01] [ 9.14174450e-03 9.99944960e-01 -5.14834018e-03 -7.48022354e-02] [-2.64196398e-03 5.17269020e-03 9.99983132e-01 -1.97209046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69119381700003 meters Centerline goodness : 0.916582 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.08, Z:-1.97 [[ 9.99929410e-01 -1.17386748e-02 1.83827527e-03 1.26115009e+01] [ 1.17524789e-02 9.99901384e-01 -7.68771790e-03 -7.73473891e-02] [-1.74785037e-03 7.70877951e-03 9.99968759e-01 -1.97341909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72119381700003 meters Centerline goodness : 0.917969 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.08, Z:-1.98 [[ 9.99920137e-01 -1.25778138e-02 1.23217358e-03 1.26141162e+01] [ 1.25877714e-02 9.99885171e-01 -8.43763547e-03 -7.73095334e-02] [-1.12590508e-03 8.45247193e-03 9.99963643e-01 -1.97511447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75119381700003 meters Centerline goodness : 0.914530 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.08, Z:-1.98 [[ 9.99921610e-01 -1.24977904e-02 7.60604057e-04 1.26159569e+01] [ 1.25037500e-02 9.99886435e-01 -8.41271722e-03 -7.68486801e-02] [-6.55377302e-04 8.42156815e-03 9.99964323e-01 -1.97622006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78119381700003 meters Centerline goodness : 0.912844 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.08, Z:-1.98 [[ 9.99987567e-01 -4.82721249e-03 1.25090973e-03 1.26376390e+01] [ 4.84677294e-03 9.99858050e-01 -1.61365885e-02 -7.61526168e-02] [-1.17283743e-03 1.61424508e-02 9.99869014e-01 -1.97770796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81119381700003 meters Centerline goodness : 0.914462 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.07, Z:-1.98 [[ 9.99973478e-01 -1.17008858e-03 7.18847028e-03 1.26510119e+01] [ 1.31966038e-03 9.99781999e-01 -2.08377958e-02 -7.41303818e-02] [-7.16252112e-03 2.08467294e-02 9.99757027e-01 -1.98229115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84119381700003 meters Centerline goodness : 0.918894 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.07, Z:-1.98 [[ 9.99971600e-01 2.83731829e-03 6.98201911e-03 1.26514286e+01] [-2.71988625e-03 9.99855647e-01 -1.67716112e-02 -7.42612532e-02] [-7.02859763e-03 1.67521446e-02 9.99834969e-01 -1.98217642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87119381700003 meters Centerline goodness : 0.918182 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.07, Z:-1.98 [[ 9.99955775e-01 3.90293507e-03 8.55660471e-03 1.26720928e+01] [-3.74328294e-03 9.99820079e-01 -1.85956295e-02 -7.14035909e-02] [-8.62764274e-03 1.85627773e-02 9.99790472e-01 -1.98391657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90119381700003 meters Centerline goodness : 0.913692 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99934340e-01 9.04887121e-03 7.03093613e-03 1.27013645e+01] [-8.86986577e-03 9.99645926e-01 -2.50868250e-02 -6.87559818e-02] [-7.25545411e-03 2.50228144e-02 9.99660551e-01 -1.98312583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.931193817 meters Centerline goodness : 0.916810 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99893278e-01 1.27867033e-02 7.06625098e-03 1.27010605e+01] [-1.26369892e-02 9.99702946e-01 -2.08405194e-02 -7.01519287e-02] [-7.33063346e-03 2.07489992e-02 9.99757841e-01 -1.98262173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters Centerline goodness : 0.917048 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99841002e-01 1.63381118e-02 7.14404447e-03 1.27008382e+01] [-1.62169678e-02 9.99729047e-01 -1.66986048e-02 -7.14493514e-02] [-7.41493244e-03 1.65800951e-02 9.99835046e-01 -1.98232295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.991193817 meters Centerline goodness : 0.916246 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99802141e-01 1.87664059e-02 6.59558732e-03 1.27027608e+01] [-1.86742568e-02 9.99730852e-01 -1.37657329e-02 -7.19616241e-02] [-6.85214547e-03 1.36398415e-02 9.99883495e-01 -1.98320420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters Centerline goodness : 0.915891 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99795375e-01 1.92440053e-02 6.23506435e-03 1.27037262e+01] [-1.91604249e-02 9.99729306e-01 -1.31982483e-02 -7.26308622e-02] [-6.48736371e-03 1.30760811e-02 9.99893459e-01 -1.98351854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.051193817 meters Centerline goodness : 0.917856 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99789588e-01 1.95597360e-02 6.18040191e-03 1.27038393e+01] [-1.94801004e-02 9.99729672e-01 -1.26928534e-02 -7.36945099e-02] [-6.42700004e-03 1.25697878e-02 9.99900342e-01 -1.98345920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters Centerline goodness : 0.920755 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99781688e-01 1.99977213e-02 6.05528721e-03 1.27037849e+01] [-1.99223677e-02 9.99726372e-01 -1.22588550e-02 -7.39230948e-02] [-6.29877949e-03 1.21355431e-02 9.99906523e-01 -1.98286047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11119381700001 meters Centerline goodness : 0.921863 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99772849e-01 2.04728155e-02 5.92577008e-03 1.27038100e+01] [-2.04012250e-02 9.99721057e-01 -1.18995399e-02 -7.39907859e-02] [-6.16773421e-03 1.17759440e-02 9.99911639e-01 -1.98244120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters Centerline goodness : 0.925425 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.07, Z:-1.98 [[ 9.99764857e-01 2.09663052e-02 5.53580074e-03 1.27048230e+01] [-2.09013794e-02 9.99714978e-01 -1.15366811e-02 -7.42787069e-02] [-5.77610449e-03 1.14182625e-02 9.99918127e-01 -1.98265249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17119381700002 meters Centerline goodness : 0.924799 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.07, Z:-1.98 [[ 9.99754514e-01 2.15224253e-02 5.26278468e-03 1.27053558e+01] [-2.14630170e-02 9.99708070e-01 -1.10956726e-02 -7.47907398e-02] [-5.50005410e-03 1.09799936e-02 9.99924592e-01 -1.98257640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters Centerline goodness : 0.923632 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.98 [[ 9.99718570e-01 2.31949331e-02 4.97749035e-03 1.27073909e+01] [-2.31448374e-02 9.99683138e-01 -9.89650907e-03 -7.51160416e-02] [-5.20546204e-03 9.77852070e-03 9.99938640e-01 -1.98440993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23119381700002 meters Centerline goodness : 0.922729 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99638038e-01 2.64738195e-02 4.78852117e-03 1.27084426e+01] [-2.64444554e-02 9.99631703e-01 -6.09494548e-03 -7.58757390e-02] [-4.94811406e-03 5.96610950e-03 9.99969960e-01 -1.98500450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters Centerline goodness : 0.918672 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99630252e-01 2.68501250e-02 4.29303862e-03 1.27104718e+01] [-2.68239231e-02 9.99621874e-01 -6.04868090e-03 -7.54363142e-02] [-4.45382315e-03 5.93128828e-03 9.99972491e-01 -1.98634371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29119381700002 meters Centerline goodness : 0.917804 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.08, Z:-1.99 [[ 9.99600660e-01 2.82580643e-02 3.71004494e-05 1.27033727e+01] [-2.82575114e-02 9.99570986e-01 7.70432575e-03 -7.89646486e-02] [ 1.80624800e-04 -7.70229748e-03 9.99970321e-01 -1.98503316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32119381700002 meters Centerline goodness : 0.914471 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99560172e-01 2.96396806e-02 -9.75624703e-04 1.27068407e+01] [-2.96291045e-02 9.99515904e-01 9.49075068e-03 -8.21782153e-02] [ 1.25645523e-03 -9.45766949e-03 9.99954486e-01 -1.98685078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35119381700002 meters Centerline goodness : 0.914899 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99650720e-01 2.63948357e-02 -1.32284749e-03 1.27076199e+01] [-2.63868805e-02 9.99635509e-01 5.70805106e-03 -8.16057541e-02] [ 1.47302839e-03 -5.67115153e-03 9.99982834e-01 -1.98718519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38119381700002 meters Centerline goodness : 0.914309 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.08, Z:-1.99 [[ 9.99694222e-01 2.42356069e-02 -4.90905789e-03 1.27072742e+01] [-2.41323322e-02 9.99506591e-01 2.01048333e-02 -8.49450965e-02] [ 5.39388855e-03 -1.99802187e-02 9.99785825e-01 -1.98612626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41119381700003 meters Centerline goodness : 0.915035 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.99 [[ 9.99691975e-01 2.41937453e-02 -5.53325038e-03 1.27086828e+01] [-2.40778101e-02 9.99507234e-01 2.01382357e-02 -8.52027613e-02] [ 6.01774312e-03 -1.99988041e-02 9.99781894e-01 -1.98615031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44119381700003 meters Centerline goodness : 0.914550 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.99 [[ 9.99689484e-01 2.41493236e-02 -6.14367975e-03 1.27099746e+01] [-2.40192150e-02 9.99502591e-01 2.04364350e-02 -8.60780787e-02] [ 6.63414991e-03 -2.02825228e-02 9.99772278e-01 -1.98589325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47119381700003 meters Centerline goodness : 0.917229 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99756248e-01 2.11436779e-02 -6.35524940e-03 1.27095544e+01] [-2.10273654e-02 9.99619667e-01 1.78429350e-02 -8.99169899e-02] [ 6.73009756e-03 -1.77049516e-02 9.99820604e-01 -1.98497056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50119381700003 meters Centerline goodness : 0.917229 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99756248e-01 2.11436779e-02 -6.35524940e-03 1.27095544e+01] [-2.10273654e-02 9.99619667e-01 1.78429350e-02 -8.99169899e-02] [ 6.73009756e-03 -1.77049516e-02 9.99820604e-01 -1.98497056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53119381700003 meters Centerline goodness : 0.916372 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99822037e-01 1.76586029e-02 -6.63845153e-03 1.27095949e+01] [-1.75633543e-02 9.99745727e-01 1.41424722e-02 -9.07525818e-02] [ 6.88649985e-03 -1.40233619e-02 9.99877953e-01 -1.98426740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56119381700003 meters Centerline goodness : 0.917217 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99874495e-01 1.42134593e-02 -6.99792919e-03 1.27098095e+01] [-1.41403758e-02 9.99846093e-01 1.03845971e-02 -9.11715967e-02] [ 7.14445321e-03 -1.02843404e-02 9.99921591e-01 -1.98360661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59119381700003 meters Centerline goodness : 0.919836 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99913754e-01 1.08881563e-02 -7.34393712e-03 1.27103509e+01] [-1.08397003e-02 9.99919428e-01 6.60594549e-03 -9.11308597e-02] [ 7.41527197e-03 -6.52576967e-03 9.99951213e-01 -1.98334063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62119381700003 meters Centerline goodness : 0.922670 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.09, Z:-1.98 [[ 9.99938958e-01 8.36818007e-03 -7.21478131e-03 1.27083137e+01] [-8.34187623e-03 9.99958478e-01 3.66824483e-03 -9.18509930e-02] [ 7.24517827e-03 -3.60783610e-03 9.99967245e-01 -1.98077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65119381700003 meters Centerline goodness : 0.923570 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.09, Z:-1.98 [[ 9.99967797e-01 7.52366316e-03 -2.79267569e-03 1.27176295e+01] [-7.54721510e-03 9.99935214e-01 -8.52097798e-03 -9.02981804e-02] [ 2.72838579e-03 8.54178050e-03 9.99959796e-01 -1.98256156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters Centerline goodness : 0.926570 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:-1.99 [[ 9.99967226e-01 7.44207954e-03 3.18786340e-03 1.27298539e+01] [-7.38488075e-03 9.99817948e-01 -1.75935945e-02 -9.06206266e-02] [-3.31821597e-03 1.75694759e-02 9.99840139e-01 -1.98694019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.711193817 meters Centerline goodness : 0.927877 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.09, Z:-1.99 [[ 9.99982114e-01 5.45367184e-03 2.45534884e-03 1.27324266e+01] [-5.40473991e-03 9.99795000e-01 -1.95127472e-02 -9.28402473e-02] [-2.56126162e-03 1.94991277e-02 9.99806593e-01 -1.98829137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters Centerline goodness : 0.927882 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.10, Z:-1.99 [[ 9.99988863e-01 4.32407014e-03 1.89135863e-03 1.27543522e+01] [-4.28870752e-03 9.99823021e-01 -1.83175810e-02 -9.87165227e-02] [-1.97023041e-03 1.83092655e-02 9.99830430e-01 -1.98959126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.771193817 meters Centerline goodness : 0.929580 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.10, Z:-1.99 [[ 9.99968523e-01 5.61617906e-03 5.60451983e-03 1.27672718e+01] [-5.46686156e-03 9.99638853e-01 -2.63111416e-02 -9.95799390e-02] [-5.75026386e-03 2.62796743e-02 9.99638091e-01 -1.99372831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters Centerline goodness : 0.929732 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.10, Z:-2.00 [[ 9.99931854e-01 3.74195183e-03 1.10582395e-02 1.27808543e+01] [-3.51852750e-03 9.99790672e-01 -2.01551799e-02 -1.04038267e-01] [-1.11313444e-02 2.01148977e-02 9.99735707e-01 -1.99814709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.831193817 meters Centerline goodness : 0.928708 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:-2.00 [[ 9.99936810e-01 3.68400452e-03 1.06209682e-02 1.27820233e+01] [-3.47814804e-03 9.99806995e-01 -1.93358298e-02 -1.07380997e-01] [-1.06901516e-02 1.92976667e-02 9.99756631e-01 -1.99850233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters Centerline goodness : 0.929378 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.11, Z:-2.00 [[ 9.99947180e-01 1.96547947e-03 1.00883173e-02 1.27846685e+01] [-1.76126702e-03 9.99794174e-01 -2.02115898e-02 -1.13008777e-01] [-1.01259664e-02 2.01927540e-02 9.99744826e-01 -2.00070932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89119381700002 meters Centerline goodness : 0.926225 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.12, Z:-2.00 [[ 9.99954939e-01 2.26980012e-03 9.21780763e-03 1.27885142e+01] [-2.09093131e-03 9.99810233e-01 -1.93681953e-02 -1.15739163e-01] [-9.26002032e-03 1.93480488e-02 9.99769926e-01 -2.00342685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters Centerline goodness : 0.923225 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.12, Z:-2.01 [[ 9.99975002e-01 3.88466359e-03 5.90809407e-03 1.28123367e+01] [-3.78105164e-03 9.99840614e-01 -1.74484873e-02 -1.19532519e-01] [-5.97493390e-03 1.74257123e-02 9.99830308e-01 -2.00531377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95119381700002 meters Centerline goodness : 0.924573 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.13, Z:-2.01 [[ 9.99973895e-01 6.66809799e-03 2.78312181e-03 1.28349856e+01] [-6.62923883e-03 9.99883549e-01 -1.37456138e-02 -1.26740012e-01] [-2.87445481e-03 1.37268050e-02 9.99901651e-01 -2.00579214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters Centerline goodness : 0.926186 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.13, Z:-2.01 [[ 9.99968374e-01 7.52047114e-03 2.58710450e-03 1.28560938e+01] [-7.48273849e-03 9.99869782e-01 -1.42978384e-02 -1.29449734e-01] [-2.69429409e-03 1.42780276e-02 9.99894434e-01 -2.00630254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01119381700002 meters Centerline goodness : 0.930018 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.13, Z:-2.01 [[ 9.99965140e-01 8.02640730e-03 2.30112640e-03 1.28565361e+01] [-7.99503056e-03 9.99879123e-01 -1.33348747e-02 -1.32106864e-01] [-2.40787938e-03 1.33160123e-02 9.99908439e-01 -2.00606222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04119381700002 meters Centerline goodness : 0.931818 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.14, Z:-2.01 [[ 9.99956004e-01 9.13325165e-03 2.13861124e-03 1.28565753e+01] [-9.10840867e-03 9.99894085e-01 -1.13514611e-02 -1.37828721e-01] [-2.24206048e-03 1.13314824e-02 9.99933283e-01 -2.00560214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07119381700002 meters Centerline goodness : 0.929651 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.14, Z:-2.01 [[ 9.99933874e-01 9.39968043e-03 6.62527920e-03 1.28697902e+01] [-9.26143616e-03 9.99744967e-01 -2.05967864e-02 -1.37982005e-01] [-6.81719274e-03 2.05340648e-02 9.99765912e-01 -2.01041699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10119381700002 meters Centerline goodness : 0.933808 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.14, Z:-2.01 [[ 9.99937424e-01 9.32930980e-03 6.17357291e-03 1.28712666e+01] [-9.20366831e-03 9.99756090e-01 -2.00762045e-02 -1.40199363e-01] [-6.35936424e-03 2.00181287e-02 9.99779392e-01 -2.01120379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13119381700002 meters Centerline goodness : 0.934211 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.14, Z:-2.01 [[ 9.99942237e-01 9.08550212e-03 5.74255640e-03 1.28726559e+01] [-8.97109464e-03 9.99766789e-01 -1.96440114e-02 -1.42085939e-01] [-5.91969288e-03 1.95913596e-02 9.99790546e-01 -2.01187193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16119381700003 meters Centerline goodness : 0.934466 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.15, Z:-2.01 [[ 9.99968033e-01 5.75376327e-03 5.55226775e-03 1.28725716e+01] [-5.63112962e-03 9.99745279e-01 -2.18555859e-02 -1.47105605e-01] [-5.67660534e-03 2.18236217e-02 9.99745721e-01 -2.01134003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19119381700003 meters Centerline goodness : 0.936088 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.15, Z:-2.01 [[ 9.99983453e-01 2.51299320e-03 5.17488849e-03 1.28730715e+01] [-2.38403263e-03 9.99690145e-01 -2.47776080e-02 -1.49699372e-01] [-5.23555099e-03 2.47648609e-02 9.99679594e-01 -2.01105348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22119381700003 meters Centerline goodness : 0.934206 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.15, Z:-2.01 [[ 9.99986427e-01 2.30470722e-03 4.67269674e-03 1.28742695e+01] [-2.19228242e-03 9.99711378e-01 -2.39239513e-02 -1.53757688e-01] [-4.72648580e-03 2.39133827e-02 9.99702861e-01 -2.01126795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25119381700003 meters Centerline goodness : 0.936822 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.16, Z:-2.01 [[ 9.99969143e-01 -9.68534816e-04 7.79580454e-03 1.28855574e+01] [ 1.09821557e-03 9.99860815e-01 -1.66476304e-02 -1.57607239e-01] [-7.77859568e-03 1.66556782e-02 9.99831027e-01 -2.01327105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28119381700003 meters Centerline goodness : 0.939240 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.16, Z:-2.01 [[ 9.99969796e-01 -1.95289744e-03 7.52291638e-03 1.28861290e+01] [ 2.07436208e-03 9.99867071e-01 -1.61721310e-02 -1.60994321e-01] [-7.49033385e-03 1.61872478e-02 9.99840921e-01 -2.01308661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31119381700003 meters Centerline goodness : 0.939479 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.16, Z:-2.01 [[ 9.99972273e-01 -2.14961282e-03 7.12973160e-03 1.28871523e+01] [ 2.26124863e-03 9.99874397e-01 -1.56868610e-02 -1.63237013e-01] [-7.09511540e-03 1.57025481e-02 9.99851534e-01 -2.01328520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34119381700003 meters Centerline goodness : 0.940386 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.17, Z:-2.01 [[ 9.99973840e-01 -2.29397739e-03 6.85982882e-03 1.28878143e+01] [ 2.39618140e-03 9.99885700e-01 -1.49280007e-02 -1.66345518e-01] [-6.82480025e-03 1.49440476e-02 9.99865040e-01 -2.01333155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37119381700003 meters Centerline goodness : 0.944139 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.17, Z:-2.01 [[ 9.99956417e-01 -6.41980276e-03 6.77859486e-03 1.28878987e+01] [ 6.53903396e-03 9.99821672e-01 -1.77162145e-02 -1.71050439e-01] [-6.66365145e-03 1.77597679e-02 9.99820077e-01 -2.01301608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40119381700003 meters Centerline goodness : 0.942317 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.17, Z:-2.01 [[ 9.99956577e-01 -6.73790314e-03 6.43780937e-03 1.28889533e+01] [ 6.84565961e-03 9.99834336e-01 -1.68652769e-02 -1.74868192e-01] [-6.32310626e-03 1.69086156e-02 9.99837045e-01 -2.01337548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.431193817 meters Centerline goodness : 0.944107 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.18, Z:-2.01 [[ 9.99954628e-01 -7.43213391e-03 5.95863961e-03 1.28906087e+01] [ 7.52898407e-03 9.99837172e-01 -1.63995008e-02 -1.78521808e-01] [-5.83578610e-03 1.64436192e-02 9.99847764e-01 -2.01409322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters Centerline goodness : 0.944772 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.18, Z:-2.02 [[ 9.99946429e-01 -8.82834379e-03 5.40368781e-03 1.28932177e+01] [ 8.91871122e-03 9.99816829e-01 -1.69341262e-02 -1.81537050e-01] [-5.25319772e-03 1.69814129e-02 9.99842005e-01 -2.01582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.491193817 meters Centerline goodness : 0.943927 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.18, Z:-2.02 [[ 9.99931764e-01 -1.05889315e-02 4.93369312e-03 1.28963180e+01] [ 1.06742069e-02 9.99788286e-01 -1.75910427e-02 -1.84023223e-01] [-4.74637824e-03 1.76425056e-02 9.99833093e-01 -2.01845559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters Centerline goodness : 0.941528 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.19, Z:-2.02 [[ 9.99952360e-01 -9.41282932e-03 2.58395458e-03 1.29184542e+01] [ 9.45379933e-03 9.99821966e-01 -1.63297884e-02 -1.85881801e-01] [-2.42978503e-03 1.63534387e-02 9.99863321e-01 -2.01907337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.551193817 meters Centerline goodness : 0.941383 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.19, Z:-2.02 [[ 9.99951590e-01 -9.59750615e-03 2.16908943e-03 1.29197897e+01] [ 9.63152701e-03 9.99821413e-01 -1.62596306e-02 -1.86066338e-01] [-2.01265016e-03 1.62797352e-02 9.99865451e-01 -2.01965463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters Centerline goodness : 0.934902 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.19, Z:-2.02 [[ 9.99950655e-01 -9.79396464e-03 1.66322990e-03 1.29214186e+01] [ 9.81957719e-03 9.99821184e-01 -1.61609169e-02 -1.86654354e-01] [-1.50465304e-03 1.61764517e-02 9.99868021e-01 -2.02040310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61119381700001 meters Centerline goodness : 0.937234 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.19, Z:-2.02 [[ 9.99945437e-01 -1.03776996e-02 1.19472192e-03 1.29231377e+01] [ 1.03957223e-02 9.99814353e-01 -1.62231057e-02 -1.87925527e-01] [-1.02614161e-03 1.62346406e-02 9.99867683e-01 -2.02137891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters Centerline goodness : 0.937544 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.19, Z:-2.02 [[ 9.99942676e-01 -1.06690958e-02 9.03165242e-04 1.29237809e+01] [ 1.06825323e-02 9.99807180e-01 -1.64768650e-02 -1.87445995e-01] [-7.27197842e-04 1.64855686e-02 9.99863839e-01 -2.02132690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67119381700002 meters Centerline goodness : 0.940457 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.18, Z:-2.02 [[ 9.99966753e-01 -8.11203750e-03 8.29328801e-04 1.29232614e+01] [ 8.12277960e-03 9.99870480e-01 -1.38940137e-02 -1.84090433e-01] [-7.16512626e-04 1.39002883e-02 9.99903130e-01 -2.02012560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70119381700002 meters Centerline goodness : 0.935483 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.18, Z:-2.02 [[ 9.99986256e-01 -5.21758747e-03 5.13586023e-04 1.29237428e+01] [ 5.22287743e-03 9.99926924e-01 -1.09026698e-02 -1.82412430e-01] [-4.56662859e-04 1.09052023e-02 9.99940432e-01 -2.01970394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73119381700002 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.18, Z:-2.02 [[ 9.99981590e-01 -2.15810945e-03 5.67118529e-03 1.29374594e+01] [ 2.25216994e-03 9.99859143e-01 -1.66319760e-02 -1.78331014e-01] [-5.63449284e-03 1.66444423e-02 9.99845596e-01 -2.02381874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters Centerline goodness : 0.941079 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.18, Z:-2.02 [[ 9.99985464e-01 5.02839047e-04 5.36840838e-03 1.29387582e+01] [-4.27251950e-04 9.99900895e-01 -1.40718568e-02 -1.75998413e-01] [-5.37495222e-03 1.40693586e-02 9.99886575e-01 -2.02451073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79119381700002 meters Centerline goodness : 0.943838 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.17, Z:-2.03 [[ 9.99983712e-01 3.05752062e-03 4.81947112e-03 1.29408128e+01] [-3.00074754e-03 9.99926540e-01 -1.17434776e-02 -1.73329837e-01] [-4.85502301e-03 1.17288243e-02 9.99919428e-01 -2.02557446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82119381700002 meters Centerline goodness : 0.941824 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.17, Z:-2.03 [[ 9.99961316e-01 5.66526757e-03 6.72844501e-03 1.29606782e+01] [-5.56612997e-03 9.99877006e-01 -1.46625447e-02 -1.65207097e-01] [-6.81068469e-03 1.46245261e-02 9.99869860e-01 -2.02731223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85119381700002 meters Centerline goodness : 0.943945 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.16, Z:-2.03 [[ 9.99944020e-01 6.33604581e-03 8.47412628e-03 1.29807762e+01] [-6.18068141e-03 9.99814603e-01 -1.82361817e-02 -1.61131161e-01] [-8.58810049e-03 1.81827849e-02 9.99797795e-01 -2.02863911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88119381700002 meters Centerline goodness : 0.942861 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.16, Z:-2.03 [[ 9.99939523e-01 7.71043370e-03 7.84214779e-03 1.29832519e+01] [-7.57667606e-03 9.99827711e-01 -1.69452856e-02 -1.59015180e-01] [-7.97145217e-03 1.68848434e-02 9.99825664e-01 -2.02993515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91119381700003 meters Centerline goodness : 0.941538 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.16, Z:-2.03 [[ 9.99944192e-01 8.72712062e-03 5.95401598e-03 1.30061193e+01] [-8.61555915e-03 9.99791511e-01 -1.85123417e-02 -1.56721367e-01] [-6.11433407e-03 1.84600114e-02 9.99810904e-01 -2.03123388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94119381700003 meters Centerline goodness : 0.939616 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.15, Z:-2.03 [[ 9.99927867e-01 1.07659848e-02 5.32484862e-03 1.30081258e+01] [-1.06725376e-02 9.99793781e-01 -1.72769183e-02 -1.50574669e-01] [-5.50975358e-03 1.72188424e-02 9.99836564e-01 -2.03194999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97119381700003 meters Centerline goodness : 0.938001 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.15, Z:-2.03 [[ 9.99903753e-01 1.30249441e-02 4.77870285e-03 1.30099998e+01] [-1.29514542e-02 9.99802104e-01 -1.51000915e-02 -1.48066144e-01] [-4.97443501e-03 1.50367470e-02 9.99874568e-01 -2.03261203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00119381700003 meters Centerline goodness : 0.938202 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.14, Z:-2.03 [[ 9.99868442e-01 1.40757137e-02 8.06052984e-03 1.30272442e+01] [-1.39074611e-02 9.99691836e-01 -2.05624931e-02 -1.39039790e-01] [-8.34747764e-03 2.04476864e-02 9.99756076e-01 -2.03384549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03119381700003 meters Centerline goodness : 0.937931 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.14, Z:-2.03 [[ 9.99807772e-01 1.67055125e-02 1.02637988e-02 1.30466739e+01] [-1.64893404e-02 9.99647730e-01 -2.07970712e-02 -1.36516381e-01] [-1.06076089e-02 2.06238301e-02 9.99731032e-01 -2.03427534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06119381700003 meters Centerline goodness : 0.939475 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.13, Z:-2.04 [[ 9.99756727e-01 1.88895039e-02 1.13874133e-02 1.30673788e+01] [-1.86370958e-02 9.99586911e-01 -2.18784426e-02 -1.33067549e-01] [-1.17959822e-02 2.16608919e-02 9.99695784e-01 -2.03539103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09119381700003 meters Centerline goodness : 0.937091 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.13, Z:-2.04 [[ 9.99712772e-01 2.12570399e-02 1.10685375e-02 1.30891805e+01] [-2.09987832e-02 9.99516101e-01 -2.29480993e-02 -1.29847317e-01] [-1.15509901e-02 2.27090822e-02 9.99675383e-01 -2.03690792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12119381700003 meters Centerline goodness : 0.935580 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.12, Z:-2.04 [[ 9.99549812e-01 2.70584051e-02 1.29621120e-02 1.31238643e+01] [-2.66619671e-02 9.99199082e-01 -2.98384565e-02 -1.22978090e-01] [-1.37591115e-02 2.94794282e-02 9.99470685e-01 -2.04110792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15119381700003 meters Centerline goodness : 0.935856 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.99439809e-01 3.10044180e-02 1.26013882e-02 1.31250034e+01] [-3.06699361e-02 9.99193376e-01 -2.59220610e-02 -1.22978209e-01] [-1.33949220e-02 2.55210559e-02 9.99584540e-01 -2.04139378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters Centerline goodness : 0.935347 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.99323460e-01 3.46568129e-02 1.23096701e-02 1.31262030e+01] [-3.43795516e-02 9.99165281e-01 -2.20632801e-02 -1.23371453e-01] [-1.30640380e-02 2.16251525e-02 9.99680791e-01 -2.04195007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.211193817 meters Centerline goodness : 0.934310 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.99195373e-01 3.82513179e-02 1.20599585e-02 1.31273205e+01] [-3.80291699e-02 9.99111951e-01 -1.81408761e-02 -1.23879457e-01] [-1.27431610e-02 1.76676493e-02 9.99762705e-01 -2.04251789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters Centerline goodness : 0.935041 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.99048708e-01 4.19697197e-02 1.18415021e-02 1.31285295e+01] [-4.17918900e-02 9.99015448e-01 -1.48853205e-02 -1.21868489e-01] [-1.24545762e-02 1.43762815e-02 9.99819087e-01 -2.04298614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.271193817 meters Centerline goodness : 0.934564 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.99035444e-01 4.24022086e-02 1.14119912e-02 1.31297286e+01] [-4.22292453e-02 9.98995445e-01 -1.49930304e-02 -1.20564812e-01] [-1.20362649e-02 1.44966490e-02 9.99822472e-01 -2.04322093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters Centerline goodness : 0.931932 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.98890162e-01 4.56283423e-02 1.16832972e-02 1.31298433e+01] [-4.55072969e-02 9.98909608e-01 -1.04249982e-02 -1.23147188e-01] [-1.21462332e-02 9.88175290e-03 9.99877402e-01 -2.04396474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.331193817 meters Centerline goodness : 0.930870 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.12, Z:-2.04 [[ 9.98901146e-01 4.55252886e-02 1.11332570e-02 1.31312241e+01] [-4.54138319e-02 9.98917532e-01 -1.00671534e-02 -1.24801992e-01] [-1.15795157e-02 9.55048717e-03 9.99887345e-01 -2.04459217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters Centerline goodness : 0.930089 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-2.04 [[ 9.99070169e-01 4.16800325e-02 1.10259935e-02 1.31300471e+01] [-4.15358326e-02 9.99052451e-01 -1.29990378e-02 -1.28375680e-01] [-1.15573461e-02 1.25289771e-02 9.99854716e-01 -2.04334986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39119381700002 meters Centerline goodness : 0.930089 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-2.04 [[ 9.99070169e-01 4.16800325e-02 1.10259935e-02 1.31300471e+01] [-4.15358326e-02 9.99052451e-01 -1.29990378e-02 -1.28375680e-01] [-1.15573461e-02 1.25289771e-02 9.99854716e-01 -2.04334986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters Centerline goodness : 0.932603 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-2.04 [[ 9.99228151e-01 3.77282239e-02 1.09400032e-02 1.31291493e+01] [-3.75406698e-02 9.99152685e-01 -1.68703938e-02 -1.29001805e-01] [-1.15672235e-02 1.64466774e-02 9.99797833e-01 -2.04218370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45119381700002 meters Centerline goodness : 0.934063 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-2.04 [[ 9.99352882e-01 3.35804635e-02 1.28906659e-02 1.31338840e+01] [-3.34830399e-02 9.99409619e-01 -7.70059544e-03 -1.34129060e-01] [-1.31416451e-02 7.26399357e-03 9.99887259e-01 -2.03961702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters Centerline goodness : 0.934524 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.14, Z:-2.04 [[ 9.99691013e-01 2.09758665e-02 1.33375965e-02 1.31286555e+01] [-2.09663247e-02 9.99779817e-01 -8.54842281e-04 -1.37789144e-01] [-1.33525908e-02 5.74937767e-04 9.99910685e-01 -2.03685605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51119381700002 meters Centerline goodness : 0.936495 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.14, Z:-2.04 [[ 9.99715474e-01 1.97772610e-02 1.33353053e-02 1.31287583e+01] [-1.97640754e-02 9.99804044e-01 -1.11984634e-03 -1.38629246e-01] [-1.33548397e-02 8.55967739e-04 9.99910454e-01 -2.03719358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54119381700002 meters Centerline goodness : 0.934779 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.14, Z:-2.04 [[ 9.99794521e-01 1.56096193e-02 1.29327493e-02 1.31296033e+01] [-1.55355312e-02 9.99862439e-01 -5.80951823e-03 -1.36684453e-01] [-1.30216546e-02 5.60740737e-03 9.99899492e-01 -2.03737894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57119381700002 meters Centerline goodness : 0.935082 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.14, Z:-2.04 [[ 9.99808278e-01 1.49162334e-02 1.26851656e-02 1.31302784e+01] [-1.48387664e-02 9.99870806e-01 -6.17924539e-03 -1.37052156e-01] [-1.27756979e-02 5.98982848e-03 9.99900447e-01 -2.03754887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60119381700002 meters Centerline goodness : 0.933653 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.14, Z:-2.04 [[ 9.99823562e-01 1.43263954e-02 1.21490724e-02 1.31326914e+01] [-1.42421545e-02 9.99874126e-01 -6.99234502e-03 -1.36758133e-01] [-1.22477183e-02 6.81808234e-03 9.99901749e-01 -2.03936845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63119381700002 meters Centerline goodness : 0.933423 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-2.04 [[ 9.99828903e-01 1.43431378e-02 1.16806971e-02 1.31344350e+01] [-1.42553182e-02 9.99869753e-01 -7.56722980e-03 -1.34990818e-01] [-1.17877135e-02 7.39942302e-03 9.99903144e-01 -2.04040454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66119381700003 meters Centerline goodness : 0.932291 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.13, Z:-2.04 [[ 9.99806813e-01 1.49387413e-02 1.27738206e-02 1.31545310e+01] [-1.47870090e-02 9.99819953e-01 -1.18914463e-02 -1.30620725e-01] [-1.29491640e-02 1.17002624e-02 9.99847700e-01 -2.04261300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69119381700003 meters Centerline goodness : 0.932158 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.13, Z:-2.04 [[ 0.99977294 0.01656641 0.01340246 13.17554999] [-0.01637083 0.99975978 -0.01457319 -0.12614705] [-0.01364067 0.01435047 0.99980398 -2.04470703] [ 0. 0. 0. 1. ]] SLAMing on 134.72119381700003 meters Centerline goodness : 0.928889 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.12, Z:-2.04 [[ 9.99704332e-01 2.08330279e-02 1.25393009e-02 1.31779431e+01] [-2.06797072e-02 9.99711284e-01 -1.22351505e-02 -1.21327529e-01] [-1.27905759e-02 1.19722239e-02 9.99846522e-01 -2.04497575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75119381700003 meters Centerline goodness : 0.930611 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.12, Z:-2.05 [[ 9.99628481e-01 2.43538579e-02 1.22388916e-02 1.31788102e+01] [-2.42489597e-02 9.99668550e-01 -8.64743833e-03 -1.21121151e-01] [-1.24454335e-02 8.34744525e-03 9.99887709e-01 -2.04504761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78119381700003 meters Centerline goodness : 0.931860 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.12, Z:-2.04 [[ 9.99632082e-01 2.44387099e-02 1.17664961e-02 1.31796687e+01] [-2.43261376e-02 9.99657816e-01 -9.61712100e-03 -1.18865862e-01] [-1.19974998e-02 9.32734928e-03 9.99884524e-01 -2.04454949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81119381700003 meters Centerline goodness : 0.930178 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.12, Z:-2.04 [[ 9.99631543e-01 2.47101227e-02 1.12333567e-02 1.31807542e+01] [-2.45932142e-02 9.99643142e-01 -1.04289401e-02 -1.16471410e-01] [-1.14870484e-02 1.01488331e-02 9.99882518e-01 -2.04414354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84119381700003 meters Centerline goodness : 0.928201 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.12, Z:-2.04 [[ 9.99539352e-01 2.82352240e-02 1.11291027e-02 1.31810314e+01] [-2.81631563e-02 9.99581682e-01 -6.58002459e-03 -1.16634581e-01] [-1.13102357e-02 6.26356286e-03 9.99916420e-01 -2.04397538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87119381700003 meters Centerline goodness : 0.928711 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.11, Z:-2.04 [[ 9.99537413e-01 2.85135605e-02 1.05800346e-02 1.31828201e+01] [-2.84364036e-02 9.99568413e-01 -7.37285743e-03 -1.13792605e-01] [-1.07856948e-02 7.06858870e-03 9.99916848e-01 -2.04472544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90119381700003 meters Centerline goodness : 0.930822 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.11, Z:-2.05 [[ 9.99540177e-01 2.85036678e-02 1.03428804e-02 1.31838605e+01] [-2.84264562e-02 9.99567472e-01 -7.53698602e-03 -1.13253623e-01] [-1.05532385e-02 7.23950891e-03 9.99918106e-01 -2.04544897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.931193817 meters Centerline goodness : 0.931663 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.11, Z:-2.05 [[ 9.99546295e-01 2.84408981e-02 9.91565874e-03 1.31850650e+01] [-2.83649821e-02 9.99567863e-01 -7.71456191e-03 -1.13101268e-01] [-1.01307829e-02 7.42980428e-03 9.99921080e-01 -2.04594507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters Centerline goodness : 0.930277 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.11, Z:-2.05 [[ 9.99541447e-01 2.87854483e-02 9.39651700e-03 1.31865266e+01] [-2.87163062e-02 9.99560120e-01 -7.41210356e-03 -1.13695725e-01] [-9.60574439e-03 7.13887146e-03 9.99928381e-01 -2.04665843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.991193817 meters Centerline goodness : 0.929569 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99529577e-01 2.92718288e-02 9.15337627e-03 1.31869819e+01] [-2.92103466e-02 9.99550293e-01 -6.77996937e-03 -1.15026143e-01] [-9.34772204e-03 6.50940663e-03 9.99935122e-01 -2.04665691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters Centerline goodness : 0.928339 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99532378e-01 2.93220841e-02 8.67416395e-03 1.31883484e+01] [-2.92655363e-02 9.99550043e-01 -6.57577337e-03 -1.15998051e-01] [-8.86307632e-03 6.31884433e-03 9.99940757e-01 -2.04731275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.051193817 meters Centerline goodness : 0.929408 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99540801e-01 2.91323446e-02 8.33625529e-03 1.31891642e+01] [-2.90772373e-02 9.99554999e-01 -6.65713900e-03 -1.16504361e-01] [-8.52648372e-03 6.41168677e-03 9.99943093e-01 -2.04752379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters Centerline goodness : 0.927004 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99555999e-01 2.87645336e-02 7.77210543e-03 1.31902350e+01] [-2.87134190e-02 9.99565829e-01 -6.61012594e-03 -1.17413412e-01] [-7.95886819e-03 6.38402732e-03 9.99947949e-01 -2.04758999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11119381700001 meters Centerline goodness : 0.928081 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99566800e-01 2.84519911e-02 7.52971503e-03 1.31905996e+01] [-2.84057570e-02 9.99577386e-01 -6.17755905e-03 -1.19094168e-01] [-7.70229672e-03 5.96099568e-03 9.99952569e-01 -2.04765374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters Centerline goodness : 0.925209 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99594019e-01 2.75332646e-02 7.32920044e-03 1.31909922e+01] [-2.74902524e-02 9.99604624e-01 -5.90606576e-03 -1.21312453e-01] [-7.48891592e-03 5.70218644e-03 9.99955700e-01 -2.04797690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17119381700002 meters Centerline goodness : 0.928155 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.12, Z:-2.05 [[ 9.99621343e-01 2.65655790e-02 7.17218441e-03 1.31910541e+01] [-2.65270252e-02 9.99633413e-01 -5.41813372e-03 -1.24496846e-01] [-7.31349104e-03 5.22582539e-03 9.99959601e-01 -2.04800647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters Centerline goodness : 0.925846 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.13, Z:-2.04 [[ 9.99879591e-01 1.44336414e-02 5.69851875e-03 1.31861478e+01] [-1.44516251e-02 9.99890679e-01 3.12739678e-03 -1.32073677e-01] [-5.65275606e-03 -3.20937307e-03 9.99978873e-01 -2.04496841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23119381700002 meters Centerline goodness : 0.927239 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.13, Z:-2.05 [[ 9.99935125e-01 1.00791868e-02 5.30622086e-03 1.31869010e+01] [-1.00755581e-02 9.99948988e-01 -7.10159882e-04 -1.33924314e-01] [-5.31310801e-03 6.56650674e-04 9.99985670e-01 -2.04500857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26119381700002 meters Centerline goodness : 0.929956 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.04 [[ 9.99970605e-01 5.84181488e-03 4.96604464e-03 1.31875230e+01] [-5.81923106e-03 9.99972717e-01 -4.54999750e-03 -1.35360497e-01] [-4.99248939e-03 4.52096519e-03 9.99977318e-01 -2.04497161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29119381700002 meters Centerline goodness : 0.927744 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.04 [[ 9.99988345e-01 1.21182681e-03 4.67344598e-03 1.31880991e+01] [-1.17247659e-03 9.99963918e-01 -8.41352472e-03 -1.36682664e-01] [-4.68347309e-03 8.40794715e-03 9.99953685e-01 -2.04486640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32119381700002 meters Centerline goodness : 0.929890 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.04 [[ 9.99990605e-01 4.50969678e-04 4.31124815e-03 1.31889727e+01] [-4.13742124e-04 9.99962658e-01 -8.63197837e-03 -1.37189761e-01] [-4.31497992e-03 8.63011352e-03 9.99953450e-01 -2.04497573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35119381700002 meters Centerline goodness : 0.930961 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.05 [[ 9.99992560e-01 -2.42169579e-04 3.84971880e-03 1.31899820e+01] [ 2.76099788e-04 9.99961104e-01 -8.81559823e-03 -1.37882073e-01] [-3.84743419e-03 8.81659555e-03 9.99953731e-01 -2.04500685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38119381700002 meters Centerline goodness : 0.930246 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.05 [[ 9.99993946e-01 -6.12731759e-04 3.42520137e-03 1.31909631e+01] [ 6.42689123e-04 9.99961495e-01 -8.75191353e-03 -1.39261702e-01] [-3.41970690e-03 8.75406189e-03 9.99955835e-01 -2.04511871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41119381700003 meters Centerline goodness : 0.928222 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.14, Z:-2.05 [[ 9.99994677e-01 -4.92197619e-04 3.22548859e-03 1.31915627e+01] [ 5.18712062e-04 9.99966043e-01 -8.22461308e-03 -1.41184511e-01] [-3.22133093e-03 8.22624240e-03 9.99960975e-01 -2.04540889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44119381700003 meters Centerline goodness : 0.929639 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.14, Z:-2.05 [[ 9.99994749e-01 4.14945940e-04 3.21398746e-03 1.32128783e+01] [-3.88142642e-04 9.99965182e-01 -8.33571643e-03 -1.41187212e-01] [-3.21733443e-03 8.33442517e-03 9.99960092e-01 -2.04627732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47119381700003 meters Centerline goodness : 0.929616 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.14, Z:-2.05 [[ 9.99995357e-01 4.74838348e-04 3.01004818e-03 1.32135175e+01] [-4.48097459e-04 9.99960486e-01 -8.87833196e-03 -1.38662208e-01] [-3.01414501e-03 8.87694195e-03 9.99956056e-01 -2.04649811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50119381700003 meters Centerline goodness : 0.929327 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.14, Z:-2.05 [[ 9.99989544e-01 3.69528213e-03 2.69366393e-03 1.32144821e+01] [-3.68018443e-03 9.99977612e-01 -5.58846660e-03 -1.37299357e-01] [-2.71425459e-03 5.57849499e-03 9.99980756e-01 -2.04682091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53119381700003 meters Centerline goodness : 0.929076 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.13, Z:-2.05 [[ 9.99981812e-01 5.28443577e-03 2.90708142e-03 1.32366796e+01] [-5.25735009e-03 9.99943423e-01 -9.24718974e-03 -1.30337028e-01] [-2.95578313e-03 9.23173801e-03 9.99953018e-01 -2.05002474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56119381700003 meters Centerline goodness : 0.925624 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.13, Z:-2.05 [[ 9.99983865e-01 5.14140934e-03 2.41570744e-03 1.32380040e+01] [-5.11683362e-03 9.99936188e-01 -1.00716655e-02 -1.27491265e-01] [-2.46733584e-03 1.00591422e-02 9.99946362e-01 -2.05045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59119381700003 meters Centerline goodness : 0.925318 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.12, Z:-2.05 [[ 9.99978369e-01 4.93984006e-03 4.34285089e-03 1.32579032e+01] [-4.87357456e-03 9.99873522e-01 -1.51389367e-02 -1.20680738e-01] [-4.41708554e-03 1.51174440e-02 9.99875968e-01 -2.05210636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62119381700003 meters Centerline goodness : 0.925386 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.12, Z:-2.05 [[ 9.99974004e-01 6.07223696e-03 3.88836740e-03 1.32597720e+01] [-6.01631586e-03 9.99880572e-01 -1.42353594e-02 -1.18321621e-01] [-3.97434350e-03 1.42115957e-02 9.99891112e-01 -2.05308079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65119381700003 meters Centerline goodness : 0.927403 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.11, Z:-2.05 [[ 9.99977193e-01 5.75273109e-03 3.53838720e-03 1.32604576e+01] [-5.69791527e-03 9.99866537e-01 -1.53114945e-02 -1.14810928e-01] [-3.62599787e-03 1.52909838e-02 9.99876511e-01 -2.05293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters Centerline goodness : 0.925871 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.11, Z:-2.05 [[ 9.99968594e-01 7.32564894e-03 3.02420639e-03 1.32625326e+01] [-7.28361013e-03 9.99879823e-01 -1.36853058e-02 -1.12077178e-01] [-3.12409669e-03 1.36628488e-02 9.99901778e-01 -2.05409150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.711193817 meters Centerline goodness : 0.922271 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.10, Z:-2.06 [[ 9.99975708e-01 5.29153841e-03 4.53691234e-03 1.32828125e+01] [-5.20192888e-03 9.99795532e-01 -1.95405902e-02 -1.02974685e-01] [-4.63938447e-03 1.95165148e-02 9.99798771e-01 -2.05542664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.741193817 meters Centerline goodness : 0.921922 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.10, Z:-2.05 [[ 9.99981702e-01 4.44576769e-03 4.10244207e-03 1.32833692e+01] [-4.36031049e-03 9.99778088e-01 -2.06097760e-02 -1.00902440e-01] [-4.19315797e-03 2.05915110e-02 9.99779179e-01 -2.05491360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.771193817 meters Centerline goodness : 0.923877 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.10, Z:-2.06 [[ 9.99950236e-01 2.02421187e-03 9.76870315e-03 1.32948230e+01] [-1.89006075e-03 9.99904056e-01 -1.37224937e-02 -1.02110083e-01] [-9.79554313e-03 1.37033473e-02 9.99858123e-01 -2.05839384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.801193817 meters Centerline goodness : 0.920284 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.10, Z:-2.06 [[ 9.99953704e-01 1.06007570e-03 9.56381840e-03 1.32951342e+01] [-9.18892868e-04 9.99890724e-01 -1.47545186e-02 -1.00725408e-01] [-9.57841421e-03 1.47450474e-02 9.99845407e-01 -2.05816034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.831193817 meters Centerline goodness : 0.922805 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.09, Z:-2.06 [[ 9.99931784e-01 9.14463537e-05 1.16798155e-02 1.33146846e+01] [ 1.32279310e-04 9.99816562e-01 -1.91526883e-02 -9.23961232e-02] [-1.16794244e-02 1.91529268e-02 9.99748347e-01 -2.05974222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86119381700001 meters Centerline goodness : 0.923417 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.09, Z:-2.06 [[ 9.99936469e-01 1.99311627e-03 1.10944147e-02 1.33169127e+01] [-1.79991140e-03 9.99847033e-01 -1.73974333e-02 -8.85487056e-02] [-1.11273927e-02 1.73763591e-02 9.99787099e-01 -2.06101298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89119381700002 meters Centerline goodness : 0.919365 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.09, Z:-2.06 [[ 9.99955886e-01 2.46094939e-03 9.06475815e-03 1.33403846e+01] [-2.29717785e-03 9.99834750e-01 -1.80331567e-02 -8.54729295e-02] [-9.10763889e-03 1.80115378e-02 9.99796297e-01 -2.06299807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92119381700002 meters Centerline goodness : 0.922726 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.08, Z:-2.06 [[ 9.99957340e-01 3.59631034e-03 8.50796139e-03 1.33429495e+01] [-3.45103021e-03 9.99849036e-01 -1.70292784e-02 -8.30427227e-02] [-8.56791956e-03 1.69991906e-02 9.99818793e-01 -2.06471514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95119381700002 meters Centerline goodness : 0.920484 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.08, Z:-2.07 [[ 9.99963933e-01 2.05210621e-03 8.24142781e-03 1.33442805e+01] [-1.88921430e-03 9.99803670e-01 -1.97243928e-02 -7.59500139e-02] [-8.28028632e-03 1.97081116e-02 9.99771487e-01 -2.06555743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98119381700002 meters Centerline goodness : 0.922774 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.07, Z:-2.07 [[ 9.99969455e-01 6.79022931e-04 7.78640498e-03 1.33461851e+01] [-5.10406188e-04 9.99765766e-01 -2.16368508e-02 -7.17210825e-02] [-7.79927305e-03 2.16322157e-02 9.99735574e-01 -2.06674861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01119381700002 meters Centerline goodness : 0.918289 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.07, Z:-2.07 [[ 9.99973134e-01 -9.87189454e-04 7.26335246e-03 1.33483348e+01] [ 1.16015588e-03 9.99714922e-01 -2.38480344e-02 -6.71032153e-02] [-7.23773931e-03 2.38558203e-02 9.99689209e-01 -2.06803032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04119381700002 meters Centerline goodness : 0.919430 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.06, Z:-2.07 [[ 9.99974201e-01 -2.25905766e-03 6.81862999e-03 1.33501900e+01] [ 2.43386827e-03 9.99665741e-01 -2.57387379e-02 -6.26483072e-02] [-6.75820551e-03 2.57546695e-02 9.99645449e-01 -2.06912693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07119381700002 meters Centerline goodness : 0.919903 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.05, Z:-2.07 [[ 9.99979100e-01 -6.38481434e-03 1.01704452e-03 1.33819879e+01] [ 6.40746388e-03 9.99689287e-01 -2.40888809e-02 -5.27566852e-02] [-8.62925480e-04 2.40948942e-02 9.99709303e-01 -2.06930442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10119381700002 meters Centerline goodness : 0.917892 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.05, Z:-2.07 [[ 9.99981791e-01 -6.02026207e-03 4.17541061e-04 1.33839122e+01] [ 6.02854228e-03 9.99694400e-01 -2.39742412e-02 -4.68023312e-02] [-2.73082245e-04 2.39763218e-02 9.99712489e-01 -2.07005770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13119381700002 meters Centerline goodness : 0.919277 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.04, Z:-2.07 [[ 9.99951591e-01 -7.48167211e-03 6.39060270e-03 1.33947598e+01] [ 7.58108657e-03 9.99848377e-01 -1.56764336e-02 -4.38997678e-02] [-6.27234780e-03 1.57241224e-02 9.99856695e-01 -2.07413988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16119381700003 meters Centerline goodness : 0.919581 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.03, Z:-2.07 [[ 9.99949914e-01 -7.48457577e-03 6.64454065e-03 1.33941816e+01] [ 7.59408919e-03 9.99833165e-01 -1.66123979e-02 -3.37427125e-02] [-6.51909535e-03 1.66620251e-02 9.99839926e-01 -2.07375429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19119381700003 meters Centerline goodness : 0.920209 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.03, Z:-2.07 [[ 9.99964183e-01 -5.32828173e-03 6.57580590e-03 1.33945991e+01] [ 5.42387619e-03 9.99878614e-01 -1.46061146e-02 -2.98385411e-02] [-6.49718219e-03 1.46412578e-02 9.99871702e-01 -2.07406345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22119381700003 meters Centerline goodness : 0.920454 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.03, Z:-2.07 [[ 9.99973715e-01 -2.99336082e-03 6.60369215e-03 1.33950778e+01] [ 3.07647930e-03 9.99915725e-01 -1.26126245e-02 -2.53096266e-02] [-6.56538148e-03 1.26326091e-02 9.99898651e-01 -2.07465724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25119381700003 meters Centerline goodness : 0.922196 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.02, Z:-2.08 [[ 9.99979512e-01 -1.06888271e-03 6.31127853e-03 1.33966616e+01] [ 1.13963438e-03 9.99936433e-01 -1.12174216e-02 -1.95246116e-02] [-6.29888724e-03 1.12243844e-02 9.99917165e-01 -2.07581189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28119381700003 meters Centerline goodness : 0.917992 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.01, Z:-2.08 [[ 9.99981497e-01 1.56270572e-03 5.87906919e-03 1.33991161e+01] [-1.50437736e-03 9.99949736e-01 -9.91273356e-03 -6.41504933e-03] [-5.89426437e-03 9.90370581e-03 9.99933585e-01 -2.07758602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31119381700003 meters Centerline goodness : 0.917992 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.01, Z:-2.08 [[ 9.99981497e-01 1.56270572e-03 5.87906919e-03 1.33991161e+01] [-1.50437736e-03 9.99949736e-01 -9.91273356e-03 -6.41504933e-03] [-5.89426437e-03 9.90370581e-03 9.99933585e-01 -2.07758602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34119381700003 meters Centerline goodness : 0.920085 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.00, Z:-2.08 [[ 9.99972980e-01 4.30887227e-03 5.95583092e-03 1.33991847e+01] [-4.26023937e-03 9.99957678e-01 -8.15430193e-03 -4.59227920e-04] [-5.99071470e-03 8.12870834e-03 9.99949016e-01 -2.07761836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37119381700003 meters Centerline goodness : 0.923039 Centerline is valid? [False, False] Translation: X:13.40, Y:0.01, Z:-2.08 [[ 9.99961469e-01 6.73108221e-03 5.63505416e-03 1.34005335e+01] [-6.69235144e-03 9.99954048e-01 -6.86405612e-03 6.08680035e-03] [-5.68099774e-03 6.82607988e-03 9.99960565e-01 -2.07821858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40119381700003 meters Centerline goodness : 0.920476 Centerline is valid? [False, False] Translation: X:13.40, Y:0.01, Z:-2.08 [[ 9.99939705e-01 9.46045495e-03 5.57549454e-03 1.34006154e+01] [-9.42981287e-03 9.99940430e-01 -5.49674908e-03 1.33617993e-02] [-5.62716416e-03 5.44384178e-03 9.99969349e-01 -2.07780561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.431193817 meters Centerline goodness : 0.922466 Centerline is valid? [False, False] Translation: X:13.40, Y:0.03, Z:-2.08 [[ 9.99883073e-01 1.44429459e-02 5.02416952e-03 1.34020894e+01] [-1.44246439e-02 9.99889260e-01 -3.66015755e-03 2.95543370e-02] [-5.07647660e-03 3.58725772e-03 9.99980680e-01 -2.07697052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters Centerline goodness : 0.919943 Centerline is valid? [False, False] Translation: X:13.40, Y:0.04, Z:-2.08 [[ 9.99844815e-01 1.69862663e-02 4.67042045e-03 1.34028638e+01] [-1.69750750e-02 9.99852971e-01 -2.42549557e-03 3.67370933e-02] [-4.71093387e-03 2.34583843e-03 9.99986152e-01 -2.07660569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.491193817 meters Centerline goodness : 0.917205 Centerline is valid? [False, False] Translation: X:13.40, Y:0.04, Z:-2.08 [[ 9.99796082e-01 1.96380770e-02 4.70530605e-03 1.34024117e+01] [-1.96338453e-02 9.99806792e-01 -9.43857194e-04 4.31991698e-02] [-4.72293249e-03 8.51281474e-04 9.99988485e-01 -2.07569574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters Centerline goodness : 0.917768 Centerline is valid? [False, False] Translation: X:13.40, Y:0.05, Z:-2.07 [[ 9.99742734e-01 2.22042861e-02 4.62990063e-03 1.34023021e+01] [-2.22069667e-02 9.99753255e-01 5.28371002e-04 4.93267210e-02] [-4.61702612e-03 -6.31051119e-04 9.99989142e-01 -2.07488603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.551193817 meters Centerline goodness : 0.915238 Centerline is valid? [False, False] Translation: X:13.40, Y:0.06, Z:-2.07 [[ 9.99696808e-01 2.42084953e-02 4.49893741e-03 1.34025009e+01] [-2.42067563e-02 9.99706876e-01 -4.40590596e-04 6.34937639e-02] [-4.50828470e-03 3.31552331e-04 9.99989783e-01 -2.07351441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters Centerline goodness : 0.915114 Centerline is valid? [False, False] Translation: X:13.40, Y:0.07, Z:-2.07 [[ 9.99715986e-01 2.34534592e-02 4.22880699e-03 1.34029909e+01] [-2.34428245e-02 9.99721934e-01 -2.54710917e-03 7.06398169e-02] [-4.28736963e-03 2.44725057e-03 9.99987815e-01 -2.07307606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61119381700001 meters Centerline goodness : 0.914989 Centerline is valid? [False, False] Translation: X:13.40, Y:0.08, Z:-2.07 [[ 9.99689537e-01 2.45420702e-02 4.30315833e-03 1.34020063e+01] [-2.45340200e-02 9.99697164e-01 -1.91368152e-03 7.58446182e-02] [-4.34882088e-03 1.80751362e-03 9.99988910e-01 -2.07178612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters Centerline goodness : 0.914517 Centerline is valid? [False, False] Translation: X:13.40, Y:0.09, Z:-2.07 [[ 9.99686040e-01 2.46476989e-02 4.50688084e-03 1.34012480e+01] [-2.46337519e-02 9.99691661e-01 -3.12437443e-03 8.69308894e-02] [-4.58249984e-03 3.01237211e-03 9.99984963e-01 -2.07071337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67119381700002 meters Centerline goodness : 0.914363 Centerline is valid? [False, False] Translation: X:13.40, Y:0.09, Z:-2.07 [[ 9.99708546e-01 2.37443050e-02 4.36256823e-03 1.34012133e+01] [-2.37219586e-02 9.99705563e-01 -5.10458795e-03 9.28965895e-02] [-4.48248862e-03 4.99961153e-03 9.99977455e-01 -2.06990880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70119381700002 meters Centerline goodness : 0.912022 Centerline is valid? [False, False] Translation: X:13.40, Y:0.10, Z:-2.07 [[ 9.99725186e-01 2.30609090e-02 4.21264427e-03 1.34015924e+01] [-2.30325323e-02 9.99712500e-01 -6.66478066e-03 9.77557869e-02] [-4.36512903e-03 6.56592122e-03 9.99968917e-01 -2.06970081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73119381700002 meters Centerline goodness : 0.910793 Centerline is valid? [False, False] Translation: X:13.40, Y:0.10, Z:-2.07 [[ 9.99744132e-01 2.23063438e-02 3.75478516e-03 1.34030002e+01] [-2.22755861e-02 9.99719513e-01 -8.04325554e-03 1.01979527e-01] [-3.93314762e-03 7.95755749e-03 9.99960603e-01 -2.07020010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76119381700002 meters Centerline goodness : 0.908160 Centerline is valid? [False, False] Translation: X:13.40, Y:0.11, Z:-2.07 [[ 9.99714041e-01 2.35990902e-02 3.86257293e-03 1.34033036e+01] [-2.35696063e-02 9.99694000e-01 -7.50860047e-03 1.08878601e-01] [-4.03858712e-03 7.41541399e-03 9.99964350e-01 -2.07046342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79119381700002 meters Centerline goodness : 0.910334 Centerline is valid? [False, False] Translation: X:13.40, Y:0.11, Z:-2.07 [[ 9.99672736e-01 2.52436108e-02 4.14495000e-03 1.34019631e+01] [-2.52189171e-02 9.99664510e-01 -5.90547256e-03 1.11525765e-01] [-4.29263486e-03 5.79900876e-03 9.99973972e-01 -2.06934045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82119381700002 meters Centerline goodness : 0.909448 Centerline is valid? [False, False] Translation: X:13.40, Y:0.11, Z:-2.07 [[ 9.99613561e-01 2.74345173e-02 4.48064046e-03 1.34006677e+01] [-2.74178064e-02 9.99617030e-01 -3.74937632e-03 1.13494486e-01] [-4.58178684e-03 3.62507808e-03 9.99982933e-01 -2.06839747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85119381700002 meters Centerline goodness : 0.912302 Centerline is valid? [False, False] Translation: X:13.40, Y:0.12, Z:-2.07 [[ 9.99551178e-01 2.95796986e-02 4.74178295e-03 1.33998971e+01] [-2.95724398e-02 9.99561369e-01 -1.59370799e-03 1.15651239e-01] [-4.78684446e-03 1.45276661e-03 9.99987488e-01 -2.06795242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88119381700002 meters Centerline goodness : 0.904001 Centerline is valid? [False, False] Translation: X:13.40, Y:0.12, Z:-2.07 [[ 9.99483711e-01 3.17890152e-02 4.66586302e-03 1.34014055e+01] [-3.17872210e-02 9.99494554e-01 -4.58211622e-04 1.22435592e-01] [-4.67807077e-03 3.09660234e-04 9.99989010e-01 -2.06909462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91119381700003 meters Centerline goodness : 0.905575 Centerline is valid? [False, False] Translation: X:13.40, Y:0.13, Z:-2.07 [[ 9.99488540e-01 3.16869726e-02 4.31203440e-03 1.34025887e+01] [-3.16806451e-02 9.99496875e-01 -1.52788308e-03 1.26886922e-01] [-4.35827890e-03 1.39049360e-03 9.99989536e-01 -2.06931124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94119381700003 meters Centerline goodness : 0.903936 Centerline is valid? [False, False] Translation: X:13.40, Y:0.13, Z:-2.07 [[ 9.99389512e-01 3.46493446e-02 4.47515609e-03 1.34021624e+01] [-3.46548172e-02 9.99398678e-01 1.15115848e-03 1.29646331e-01] [-4.43257819e-03 -1.30554143e-03 9.99989324e-01 -2.06884602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97119381700003 meters Centerline goodness : 0.901849 Centerline is valid? [False, False] Translation: X:13.40, Y:0.14, Z:-2.07 [[ 9.99269259e-01 3.79796885e-02 4.30026387e-03 1.34031181e+01] [-3.79928432e-02 9.99273448e-01 3.01980981e-03 1.36634644e-01] [-4.18244808e-03 -3.18098236e-03 9.99986194e-01 -2.06883791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00119381700003 meters Centerline goodness : 0.901913 Centerline is valid? [False, False] Translation: X:13.41, Y:0.14, Z:-2.07 [[ 9.99216546e-01 3.93956199e-02 3.77870544e-03 1.34060024e+01] [-3.94086131e-02 9.99217299e-01 3.42801717e-03 1.40012216e-01] [-3.64069898e-03 -3.57424502e-03 9.99986985e-01 -2.07061016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03119381700003 meters Centerline goodness : 0.898531 Centerline is valid? [False, False] Translation: X:13.41, Y:0.14, Z:-2.07 [[ 9.99017508e-01 4.41886690e-02 3.37351208e-03 1.34088383e+01] [-4.42138875e-02 9.98991577e-01 7.80777680e-03 1.41186965e-01] [-3.02509489e-03 -7.94926180e-03 9.99963828e-01 -2.07272609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06119381700003 meters Centerline goodness : 0.899165 Centerline is valid? [False, False] Translation: X:13.41, Y:0.14, Z:-2.07 [[ 9.98831353e-01 4.82217561e-02 3.25422361e-03 1.34102351e+01] [-4.82555485e-02 9.98771578e-01 1.12577887e-02 1.42981390e-01] [-2.70735571e-03 -1.14016667e-02 9.99931334e-01 -2.07371737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09119381700003 meters Centerline goodness : 0.898226 Centerline is valid? [False, False] Translation: X:13.41, Y:0.15, Z:-2.07 [[ 9.98381413e-01 5.67736654e-02 3.36239329e-03 1.34116317e+01] [-5.68262751e-02 9.98213460e-01 1.84570627e-02 1.46934338e-01] [-2.30851114e-03 -1.86182606e-02 9.99824000e-01 -2.07431847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12119381700003 meters Centerline goodness : 0.896811 Centerline is valid? [False, False] Translation: X:13.41, Y:0.15, Z:-2.07 [[ 9.98154072e-01 6.06341156e-02 3.45725013e-03 1.34117966e+01] [-6.06948162e-02 9.97923185e-01 2.15744421e-02 1.49914895e-01] [-2.14192285e-03 -2.17444544e-02 9.99761267e-01 -2.07391298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15119381700003 meters Centerline goodness : 0.897697 Centerline is valid? [False, False] Translation: X:13.43, Y:0.15, Z:-2.07 [[ 9.98105469e-01 6.12114759e-02 6.21512186e-03 1.34296949e+01] [-6.13410286e-02 9.97842688e-01 2.33933481e-02 1.52843825e-01] [-4.76977254e-03 -2.37302707e-02 9.99707019e-01 -2.07315038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.181193817 meters Centerline goodness : 0.896257 Centerline is valid? [False, False] Translation: X:13.43, Y:0.16, Z:-2.07 [[ 9.97886523e-01 6.46511892e-02 6.53531161e-03 1.34279905e+01] [-6.48010739e-02 9.97555133e-01 2.61644263e-02 1.55371167e-01] [-4.82777237e-03 -2.65326236e-02 9.99636290e-01 -2.07082740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.211193817 meters Centerline goodness : 0.892815 Centerline is valid? [False, False] Translation: X:13.43, Y:0.16, Z:-2.07 [[ 9.98119246e-01 6.09957922e-02 6.12245522e-03 1.34281092e+01] [-6.11153837e-02 9.97893887e-01 2.17416841e-02 1.57112523e-01] [-4.78340938e-03 -2.20749695e-02 9.99744875e-01 -2.07009068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.241193817 meters Centerline goodness : 0.892019 Centerline is valid? [False, False] Translation: X:13.44, Y:0.16, Z:-2.07 [[ 9.98325017e-01 5.69861943e-02 9.98667875e-03 1.34449003e+01] [-5.71924119e-02 9.98126252e-01 2.17488807e-02 1.55051384e-01] [-8.72858028e-03 -2.22836140e-02 9.99713585e-01 -2.07057193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.271193817 meters Centerline goodness : 0.891832 Centerline is valid? [False, False] Translation: X:13.45, Y:0.16, Z:-2.07 [[ 9.98544986e-01 5.30948017e-02 9.42621376e-03 1.34452358e+01] [-5.32550644e-02 9.98424884e-01 1.76535712e-02 1.55177294e-01] [-8.47405352e-03 -1.81298787e-02 9.99799729e-01 -2.06993482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters Centerline goodness : 0.891861 Centerline is valid? [False, False] Translation: X:13.46, Y:0.15, Z:-2.07 [[ 0.99874582 0.04771269 0.01517501 13.45619204] [-0.048051 0.9985853 0.02277041 0.15173117] [-0.0140671 -0.02347103 0.99962554 -2.07401267] [ 0. 0. 0. 1. ]] SLAMing on 137.331193817 meters Centerline goodness : 0.892024 Centerline is valid? [False, False] Translation: X:13.46, Y:0.15, Z:-2.08 [[ 9.98870007e-01 4.53327906e-02 1.42704793e-02 1.34587703e+01] [-4.56111024e-02 9.98762596e-01 1.98217938e-02 1.52294331e-01] [-1.33542437e-02 -2.04502876e-02 9.99701680e-01 -2.07508958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters Centerline goodness : 0.891068 Centerline is valid? [False, False] Translation: X:13.46, Y:0.15, Z:-2.08 [[ 9.98847083e-01 4.60312271e-02 1.36246564e-02 1.34609020e+01] [-4.63078738e-02 9.98711927e-01 2.07380693e-02 1.50592438e-01] [-1.26525081e-02 -2.13450889e-02 9.99692103e-01 -2.07631672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39119381700002 meters Centerline goodness : 0.886106 Centerline is valid? [False, False] Translation: X:13.46, Y:0.15, Z:-2.08 [[ 9.98770772e-01 4.78141944e-02 1.30670469e-02 1.34632529e+01] [-4.80972549e-02 9.98594095e-01 2.22820178e-02 1.48315136e-01] [-1.19832791e-02 -2.28831172e-02 9.99666326e-01 -2.07770971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters Centerline goodness : 0.888788 Centerline is valid? [False, False] Translation: X:13.46, Y:0.15, Z:-2.08 [[ 9.98720493e-01 4.89324460e-02 1.27668787e-02 1.34641484e+01] [-4.92120798e-02 9.98532751e-01 2.25946121e-02 1.49266009e-01] [-1.16425369e-02 -2.31939868e-02 9.99663188e-01 -2.07760320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45119381700002 meters Centerline goodness : 0.890100 Centerline is valid? [False, False] Translation: X:13.47, Y:0.15, Z:-2.08 [[ 9.98646264e-01 5.04989947e-02 1.24696313e-02 1.34651339e+01] [-5.07769038e-02 9.98443332e-01 2.30785331e-02 1.50636615e-01] [-1.12847775e-02 -2.36804601e-02 9.99655886e-01 -2.07744513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters Centerline goodness : 0.889215 Centerline is valid? [False, False] Translation: X:13.47, Y:0.15, Z:-2.08 [[ 9.98384858e-01 5.54300627e-02 1.24572962e-02 1.34658420e+01] [-5.57587734e-02 9.98057094e-01 2.78028021e-02 1.49755026e-01] [-1.08919818e-02 -2.84525002e-02 9.99535802e-01 -2.07762949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51119381700002 meters Centerline goodness : 0.891167 Centerline is valid? [False, False] Translation: X:13.48, Y:0.14, Z:-2.08 [[ 9.97683595e-01 6.73167162e-02 9.79304763e-03 1.34755126e+01] [-6.76288811e-02 9.97056851e-01 3.61105291e-02 1.43953428e-01] [-7.33338299e-03 -3.66891754e-02 9.99299818e-01 -2.07891129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54119381700002 meters Centerline goodness : 0.888522 Centerline is valid? [False, False] Translation: X:13.48, Y:0.14, Z:-2.08 [[ 9.97518036e-01 6.97889680e-02 9.34172016e-03 1.34782407e+01] [-7.00976515e-02 9.96805078e-01 3.82878048e-02 1.41434494e-01] [-6.63980770e-03 -3.88476085e-02 9.99223086e-01 -2.08085124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57119381700002 meters Centerline goodness : 0.887858 Centerline is valid? [False, False] Translation: X:13.48, Y:0.14, Z:-2.08 [[ 9.97398738e-01 7.15374351e-02 8.84035636e-03 1.34803170e+01] [-7.18367759e-02 9.96606682e-01 4.01820687e-02 1.37934389e-01] [-5.93583609e-03 -4.07126073e-02 9.99153266e-01 -2.08202266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60119381700002 meters Centerline goodness : 0.888870 Centerline is valid? [False, False] Translation: X:13.48, Y:0.13, Z:-2.08 [[ 9.97501277e-01 7.01772311e-02 8.14610476e-03 1.34821399e+01] [-7.04402957e-02 9.96773402e-01 3.84831138e-02 1.34703131e-01] [-5.41918218e-03 -3.89607692e-02 9.99226046e-01 -2.08274570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63119381700002 meters Centerline goodness : 0.894135 Centerline is valid? [False, False] Translation: X:13.49, Y:0.12, Z:-2.08 [[ 9.97395267e-01 7.20329821e-02 3.73231858e-03 1.34924952e+01] [-7.21200886e-02 9.96768373e-01 3.53766058e-02 1.22153282e-01] [-1.17197470e-03 -3.55536343e-02 9.99367082e-01 -2.07982539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66119381700003 meters Centerline goodness : 0.891002 Centerline is valid? [False, False] Translation: X:13.49, Y:0.12, Z:-2.08 [[ 9.97584662e-01 6.93803395e-02 3.34831140e-03 1.34926998e+01] [-6.94534994e-02 9.97028627e-01 3.33185879e-02 1.16904473e-01] [-1.02670738e-03 -3.34706642e-02 9.99439173e-01 -2.07969888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69119381700003 meters Centerline goodness : 0.892584 Centerline is valid? [False, False] Translation: X:13.51, Y:0.11, Z:-2.08 [[ 9.97736900e-01 6.68818501e-02 6.92072944e-03 1.35089844e+01] [-6.70969293e-02 9.97027953e-01 3.78584519e-02 1.07723213e-01] [-4.36811741e-03 -3.82371342e-02 9.99259146e-01 -2.08183511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72119381700003 meters Centerline goodness : 0.891001 Centerline is valid? [False, False] Translation: X:13.51, Y:0.09, Z:-2.08 [[ 9.98086999e-01 6.15646227e-02 5.66924252e-03 1.35097763e+01] [-6.17223014e-02 9.97515102e-01 3.39702663e-02 9.28126601e-02] [-3.56378840e-03 -3.42551998e-02 9.99406764e-01 -2.08059070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75119381700003 meters Centerline goodness : 0.891181 Centerline is valid? [False, False] Translation: X:13.51, Y:0.09, Z:-2.08 [[ 9.98454773e-01 5.53444957e-02 5.00537159e-03 1.35099767e+01] [-5.54647792e-02 9.98056840e-01 2.83937166e-02 8.68303731e-02] [-3.42420943e-03 -2.86274637e-02 9.99584285e-01 -2.08012612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78119381700003 meters Centerline goodness : 0.891566 Centerline is valid? [False, False] Translation: X:13.53, Y:0.08, Z:-2.08 [[ 9.98716346e-01 5.00251301e-02 7.94654209e-03 1.35273531e+01] [-5.02417631e-02 9.98288901e-01 2.99171518e-02 7.57794957e-02] [-6.43633535e-03 -3.02779968e-02 9.99520793e-01 -2.08219961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81119381700003 meters Centerline goodness : 0.889532 Centerline is valid? [False, False] Translation: X:13.53, Y:0.07, Z:-2.08 [[ 9.99019181e-01 4.36655893e-02 7.34800448e-03 1.35279207e+01] [-4.38349347e-02 9.98732761e-01 2.47259022e-02 6.81300645e-02] [-6.25902172e-03 -2.50237499e-02 9.99667263e-01 -2.08217143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84119381700003 meters Centerline goodness : 0.889527 Centerline is valid? [False, False] Translation: X:13.55, Y:0.04, Z:-2.08 [[ 9.99332868e-01 3.58712266e-02 6.86098716e-03 1.35505667e+01] [-3.60620273e-02 9.98897072e-01 3.00694219e-02 4.48988470e-02] [-5.77479294e-03 -3.02967828e-02 9.99524265e-01 -2.08389026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87119381700003 meters Centerline goodness : 0.892576 Centerline is valid? [False, False] Translation: X:13.57, Y:0.03, Z:-2.09 [[ 9.99498889e-01 3.01075450e-02 9.77272878e-03 1.35684498e+01] [-3.03915233e-02 9.99077431e-01 3.03421020e-02 3.48344680e-02] [-8.85018655e-03 -3.06239054e-02 9.99491796e-01 -2.08574856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90119381700003 meters Centerline goodness : 0.894118 Centerline is valid? [False, False] Translation: X:13.59, Y:0.03, Z:-2.09 [[ 9.99620004e-01 2.43779867e-02 1.28670325e-02 1.35858130e+01] [-2.47585045e-02 9.99234400e-01 3.02924199e-02 2.52822967e-02] [-1.21187133e-02 -3.05994774e-02 9.99458258e-01 -2.08694602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93119381700004 meters Centerline goodness : 0.892854 Centerline is valid? [False, False] Translation: X:13.60, Y:0.02, Z:-2.09 [[ 0.99968729 0.01905015 0.01619919 13.6030221 ] [-0.01953319 0.99935291 0.03020304 0.01644557] [-0.01561334 -0.03051002 0.99941251 -2.08792523] [ 0. 0. 0. 1. ]] SLAMing on 137.961193817 meters Centerline goodness : 0.892622 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.01, Z:-2.09 [[ 9.99780054e-01 9.20099662e-03 1.88463483e-02 1.36297258e+01] [-1.05588889e-02 9.97256474e-01 7.32668765e-02 -1.07204671e-02] [-1.81205146e-02 -7.34497582e-02 9.97134284e-01 -2.08598977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.991193817 meters Centerline goodness : 0.893094 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.02, Z:-2.09 [[ 9.99808406e-01 5.99594726e-03 1.86333222e-02 1.36302140e+01] [-7.30792991e-03 9.97438158e-01 7.11597833e-02 -1.56590392e-02] [-1.81589162e-02 -7.12823205e-02 9.97290873e-01 -2.08527843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters Centerline goodness : 0.899008 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.03, Z:-2.08 [[ 9.99860705e-01 1.51954019e-03 1.66211244e-02 1.36372725e+01] [-2.90087396e-03 9.96511786e-01 8.34017085e-02 -3.05037822e-02] [-1.64364141e-02 -8.34383068e-02 9.96377385e-01 -2.07909917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.051193817 meters Centerline goodness : 0.899775 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.03, Z:-2.08 [[ 9.99788346e-01 7.37922751e-04 2.05601072e-02 1.36299148e+01] [-2.33211439e-03 9.96980096e-01 7.76224791e-02 -3.32737970e-02] [-2.04407382e-02 -7.76539985e-02 9.96770803e-01 -2.08053253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters Centerline goodness : 0.898095 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.03, Z:-2.08 [[ 9.99871177e-01 -2.95071946e-04 1.60481542e-02 1.36193912e+01] [-7.48615895e-04 9.97885643e-01 6.49898737e-02 -3.22132146e-02] [-1.60333994e-02 -6.49935153e-02 9.97756871e-01 -2.07684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11119381700001 meters Centerline goodness : 0.899493 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.03, Z:-2.07 [[ 9.99895755e-01 -1.52257031e-03 1.43582816e-02 1.35991604e+01] [ 6.16499240e-04 9.98019713e-01 6.28989068e-02 -3.36067343e-02] [-1.44256161e-02 -6.28834981e-02 9.97916613e-01 -2.07453737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters Centerline goodness : 0.897761 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.03, Z:-2.07 [[ 9.99946707e-01 -1.82663715e-03 1.01609943e-02 1.35878552e+01] [ 1.30006370e-03 9.98667488e-01 5.15902981e-02 -3.29566973e-02] [-1.02416914e-02 -5.15743388e-02 9.98616641e-01 -2.07041387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17119381700002 meters Centerline goodness : 0.895356 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.04, Z:-2.07 [[ 9.99959781e-01 -6.05153160e-03 6.61937234e-03 1.35550776e+01] [ 5.67582204e-03 9.98449438e-01 5.53760305e-02 -3.88977801e-02] [-6.94421839e-03 -5.53362329e-02 9.98443628e-01 -2.06508834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters Centerline goodness : 0.895356 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.04, Z:-2.07 [[ 9.99959565e-01 -6.07868350e-03 6.62712539e-03 1.35550623e+01] [ 5.70299730e-03 9.98453210e-01 5.53051799e-02 -3.87147788e-02] [-6.95305730e-03 -5.52651491e-02 9.98447504e-01 -2.06509649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23119381700002 meters Centerline goodness : 0.894528 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.04, Z:-2.06 [[ 9.99977483e-01 -6.34622526e-03 2.18141150e-03 1.35216462e+01] [ 6.23846658e-03 9.98908655e-01 4.62880257e-02 -3.81205423e-02] [-2.47278506e-03 -4.62733748e-02 9.98925753e-01 -2.05990346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters Centerline goodness : 0.898716 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.06 [[ 9.99958764e-01 -9.08106270e-03 7.22747281e-05 1.35022157e+01] [ 9.07006679e-03 9.99081302e-01 4.18842021e-02 -3.82716193e-02] [-4.52561395e-04 -4.18818194e-02 9.99122469e-01 -2.05872773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29119381700002 meters Centerline goodness : 0.894411 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.06 [[ 9.99945352e-01 -1.04068162e-02 -9.95810177e-04 1.34950038e+01] [ 1.04317870e-02 9.99505175e-01 2.96746159e-02 -4.05047196e-02] [ 6.86499152e-04 -2.96833824e-02 9.99559116e-01 -2.06056589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32119381700002 meters Centerline goodness : 0.899036 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.06 [[ 9.99920048e-01 -1.25377325e-02 -1.64416293e-03 1.34979372e+01] [ 1.25780872e-02 9.99545445e-01 2.73988153e-02 -4.15456075e-02] [ 1.29989655e-03 -2.74173051e-02 9.99623230e-01 -2.06248249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35119381700002 meters Centerline goodness : 0.893628 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.06 [[ 9.99919103e-01 -1.25670806e-02 -1.96362218e-03 1.34991692e+01] [ 1.26166974e-02 9.99536198e-01 2.77165528e-02 -4.28197778e-02] [ 1.61439529e-03 -2.77390851e-02 9.99613894e-01 -2.06320265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38119381700002 meters Centerline goodness : 0.889484 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.04, Z:-2.07 [[ 9.99916597e-01 -1.20991498e-02 -4.51774404e-03 1.34926497e+01] [ 1.21712932e-02 9.99793091e-01 1.62983148e-02 -3.95790503e-02] [ 4.31961353e-03 -1.63519422e-02 9.99856967e-01 -2.06505307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41119381700003 meters Centerline goodness : 0.891155 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.04, Z:-2.07 [[ 9.99916219e-01 -1.20315117e-02 -4.77468140e-03 1.34935769e+01] [ 1.21075721e-02 9.99794906e-01 1.62342947e-02 -3.93332533e-02] [ 4.57837903e-03 -1.62907444e-02 9.99856815e-01 -2.06557051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44119381700003 meters Centerline goodness : 0.890556 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.04, Z:-2.07 [[ 9.99916304e-01 -1.19611777e-02 -4.93103111e-03 1.34941594e+01] [ 1.20395198e-02 9.99796666e-01 1.61764460e-02 -3.92155968e-02] [ 4.73653912e-03 -1.62344593e-02 9.99856994e-01 -2.06588686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47119381700003 meters Centerline goodness : 0.888190 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.04, Z:-2.07 [[ 9.99916284e-01 -1.19658997e-02 -4.92356593e-03 1.34942638e+01] [ 1.20431815e-02 9.99799812e-01 1.59780603e-02 -3.88955516e-02] [ 4.73138842e-03 -1.60360181e-02 9.99860220e-01 -2.06600340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50119381700003 meters Centerline goodness : 0.889664 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.07 [[ 9.99924634e-01 -1.09252256e-02 -5.60045813e-03 1.34977892e+01] [ 1.10168478e-02 9.99801537e-01 1.65986736e-02 -3.81643202e-02] [ 5.41800239e-03 -1.66591220e-02 9.99846548e-01 -2.06882414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53119381700003 meters Centerline goodness : 0.888553 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.07 [[ 9.99920995e-01 -1.10062554e-02 -6.07171644e-03 1.34994864e+01] [ 1.11038514e-02 9.99805791e-01 1.62814406e-02 -3.70674124e-02] [ 5.89133956e-03 -1.63475737e-02 9.99849013e-01 -2.06990468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56119381700003 meters Centerline goodness : 0.888542 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.04, Z:-2.07 [[ 9.99916019e-01 -1.12022060e-02 -6.51659878e-03 1.35009694e+01] [ 1.13039672e-02 9.99811363e-01 1.57942765e-02 -3.60362950e-02] [ 6.33843877e-03 -1.58666135e-02 9.99854027e-01 -2.07069917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59119381700003 meters Centerline goodness : 0.889227 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.03, Z:-2.07 [[ 9.99917463e-01 -1.09571452e-02 -6.70882049e-03 1.35013004e+01] [ 1.10604841e-02 9.99817679e-01 1.55651474e-02 -3.46342565e-02] [ 6.53704775e-03 -1.56380655e-02 9.99856349e-01 -2.07060038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62119381700003 meters Centerline goodness : 0.891035 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.03, Z:-2.07 [[ 9.99946395e-01 -8.13374423e-03 -6.40702732e-03 1.34981613e+01] [ 8.24945882e-03 9.99799493e-01 1.82460975e-02 -3.37555734e-02] [ 6.25733357e-03 -1.82979739e-02 9.99812997e-01 -2.06714821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65119381700003 meters Centerline goodness : 0.891977 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.03, Z:-2.06 [[ 9.99976543e-01 -5.79077794e-03 -3.65802591e-03 1.34740676e+01] [ 5.86557556e-03 9.99766888e-01 2.07789464e-02 -3.43640006e-02] [ 3.53684692e-03 -2.07999154e-02 9.99777402e-01 -2.06469912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68119381700004 meters Centerline goodness : 0.893907 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.03, Z:-2.06 [[ 9.99976112e-01 -5.83950254e-03 -3.69801875e-03 1.34731371e+01] [ 5.91414145e-03 9.99772260e-01 2.05049053e-02 -3.36290694e-02] [ 3.57743812e-03 -2.05262860e-02 9.99782913e-01 -2.06331505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.711193817 meters Centerline goodness : 0.898321 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99990730e-01 -3.21449785e-03 -2.86478631e-03 1.34513255e+01] [ 3.28359699e-03 9.99695635e-01 2.44510669e-02 -3.46198934e-02] [ 2.78531647e-03 -2.44602471e-02 9.99696923e-01 -2.06148400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters Centerline goodness : 0.895345 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99996560e-01 -8.27515648e-04 -2.48921778e-03 1.34488423e+01] [ 8.94755780e-04 9.99631409e-01 2.71338528e-02 -3.47335875e-02] [ 2.46584659e-03 -2.71359867e-02 9.99628710e-01 -2.05905094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.771193817 meters Centerline goodness : 0.892155 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99996312e-01 -5.60323831e-04 -2.65757925e-03 1.34493686e+01] [ 6.32509559e-04 9.99628733e-01 2.72396109e-02 -3.45964864e-02] [ 2.64132957e-03 -2.72411913e-02 9.99625400e-01 -2.05921691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters Centerline goodness : 0.893495 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99995296e-01 -4.94748299e-04 -3.02722216e-03 1.34501707e+01] [ 5.77088347e-04 9.99628218e-01 2.72597343e-02 -3.46239091e-02] [ 3.01260999e-03 -2.72613531e-02 9.99623801e-01 -2.05935625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.831193817 meters Centerline goodness : 0.893033 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.04, Z:-2.06 [[ 9.99959873e-01 -1.54058589e-03 -8.82490191e-03 1.34411111e+01] [ 1.86238159e-03 9.99329244e-01 3.65731349e-02 -3.65840597e-02] [ 8.76263850e-03 -3.65881027e-02 9.99292013e-01 -2.05611267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters Centerline goodness : 0.891580 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.04, Z:-2.06 [[ 9.99954857e-01 -2.23639876e-03 -9.23483872e-03 1.34419692e+01] [ 2.57320573e-03 9.99325876e-01 3.66220167e-02 -3.82876086e-02] [ 9.14671186e-03 -3.66441267e-02 9.99286518e-01 -2.05613675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89119381700002 meters Centerline goodness : 0.896092 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.04, Z:-2.06 [[ 9.99949336e-01 -3.09988255e-03 -9.57682195e-03 1.34426750e+01] [ 3.44844501e-03 9.99324156e-01 3.65969824e-02 -3.98196020e-02] [ 9.45690316e-03 -3.66281534e-02 9.99284217e-01 -2.05609318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters Centerline goodness : 0.888034 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.04, Z:-2.06 [[ 9.99906616e-01 -9.18566340e-03 -1.01184735e-02 1.34147485e+01] [ 9.57423631e-03 9.99191469e-01 3.90479568e-02 -4.06357723e-02] [ 9.75161103e-03 -3.91411870e-02 9.99186106e-01 -2.05687676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95119381700002 meters Centerline goodness : 0.890913 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.06 [[ 9.99854647e-01 -1.35041812e-02 -1.04078233e-02 1.34160093e+01] [ 1.38616984e-02 9.99288349e-01 3.50805916e-02 -4.15915252e-02] [ 9.92668191e-03 -3.52197626e-02 9.99330290e-01 -2.05756911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters Centerline goodness : 0.887215 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.06 [[ 9.99697348e-01 -2.21946824e-02 -1.06116986e-02 1.34170143e+01] [ 2.24746788e-02 9.99381733e-01 2.70377716e-02 -4.27427583e-02] [ 1.00050430e-02 -2.72680831e-02 9.99578086e-01 -2.05784175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01119381700002 meters Centerline goodness : 0.887948 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.06 [[ 9.99587203e-01 -2.66640449e-02 -1.06982207e-02 1.34171832e+01] [ 2.69020949e-02 9.99378907e-01 2.27613238e-02 -4.28676949e-02] [ 1.00846672e-02 -2.30397326e-02 9.99683685e-01 -2.05752457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04119381700002 meters Centerline goodness : 0.894489 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.06 [[ 9.99474034e-01 -3.06401770e-02 -1.06224048e-02 1.34169942e+01] [ 3.08351936e-02 9.99349372e-01 1.87089160e-02 -4.24898685e-02] [ 1.00422490e-02 -1.90266197e-02 9.99768544e-01 -2.05706318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07119381700002 meters Centerline goodness : 0.889761 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.06 [[ 9.99357490e-01 -3.42161084e-02 -1.06707196e-02 1.34171055e+01] [ 3.43698821e-02 9.99302873e-01 1.45766893e-02 -4.11418267e-02] [ 1.01645231e-02 -1.49340750e-02 9.99836815e-01 -2.05664764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10119381700002 meters Centerline goodness : 0.893579 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.04, Z:-2.05 [[ 9.99520022e-01 -2.97628463e-02 -8.59647885e-03 1.34248076e+01] [ 2.98275270e-02 9.99526949e-01 7.49649793e-03 -3.81458622e-02] [ 8.36929516e-03 -7.74931147e-03 9.99934949e-01 -2.05498760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13119381700002 meters Centerline goodness : 0.894643 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.04, Z:-2.06 [[ 9.99639923e-01 -2.52998784e-02 -8.94094835e-03 1.34253342e+01] [ 2.53985562e-02 9.99615767e-01 1.11010016e-02 -3.57600392e-02] [ 8.65665895e-03 -1.13240915e-02 9.99898408e-01 -2.05504407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16119381700003 meters Centerline goodness : 0.899367 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.03, Z:-2.05 [[ 9.99757022e-01 -2.01719993e-02 -8.88743744e-03 1.34247371e+01] [ 2.03042103e-02 9.99680628e-01 1.50459373e-02 -3.28275693e-02] [ 8.58109241e-03 -1.52227338e-02 9.99847305e-01 -2.05456908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19119381700003 meters Centerline goodness : 0.896454 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.03, Z:-2.05 [[ 9.99845725e-01 -1.50125271e-02 -9.11866570e-03 1.34249775e+01] [ 1.51826427e-02 9.99706432e-01 1.88822038e-02 -3.02099655e-02] [ 8.83251915e-03 -1.90177362e-02 9.99780132e-01 -2.05436114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22119381700003 meters Centerline goodness : 0.898127 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.02, Z:-2.05 [[ 9.99969072e-01 -2.63670726e-03 -7.40964851e-03 1.34124189e+01] [ 2.66346278e-03 9.99989961e-01 3.60335772e-03 -2.22205490e-02] [ 7.40007312e-03 -3.62298160e-03 9.99966056e-01 -2.05409273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25119381700003 meters Centerline goodness : 0.903254 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.02, Z:-2.06 [[ 9.99969458e-01 -5.04346673e-04 -7.79921171e-03 1.34146750e+01] [ 5.45998564e-04 9.99985597e-01 5.33931906e-03 -2.14225394e-02] [ 7.79640651e-03 -5.34341435e-03 9.99955331e-01 -2.05579127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28119381700003 meters Centerline goodness : 0.899692 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.02, Z:-2.06 [[ 9.99966325e-01 1.34938782e-03 -8.09496232e-03 1.34354209e+01] [-1.27381935e-03 9.99955634e-01 9.33315061e-03 -2.28731516e-02] [ 8.10719722e-03 -9.32252480e-03 9.99923679e-01 -2.05649741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31119381700003 meters Centerline goodness : 0.899824 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99981617e-01 -2.18376066e-03 -5.65651132e-03 1.34452527e+01] [ 2.28223518e-03 9.99844932e-01 1.74615050e-02 -2.61574533e-02] [ 5.61750242e-03 -1.74740935e-02 9.99831536e-01 -2.05701347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34119381700003 meters Centerline goodness : 0.903783 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.03, Z:-2.06 [[ 9.99987583e-01 -3.79897126e-03 -3.22527603e-03 1.34533956e+01] [ 3.88790782e-03 9.99599475e-01 2.80316695e-02 -2.96194577e-02] [ 3.11749271e-03 -2.80438610e-02 9.99601832e-01 -2.05675558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37119381700003 meters Centerline goodness : 0.901814 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.03, Z:-2.06 [[ 9.99988953e-01 -4.45473102e-03 -1.49957459e-03 1.34724185e+01] [ 4.49588012e-03 9.99579178e-01 2.86575217e-02 -3.06018068e-02] [ 1.37128199e-03 -2.86639470e-02 9.99588164e-01 -2.05698534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40119381700003 meters Centerline goodness : 0.902167 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.03, Z:-2.06 [[ 9.99987840e-01 -4.48908370e-03 -2.04162937e-03 1.34740707e+01] [ 4.54612051e-03 9.99573482e-01 2.88476440e-02 -3.13780062e-02] [ 1.91125909e-03 -2.88565747e-02 9.99581735e-01 -2.05772104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43119381700004 meters Centerline goodness : 0.901498 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.03, Z:-2.06 [[ 9.99986174e-01 -4.14346069e-03 -3.23790781e-03 1.34770191e+01] [ 4.23851787e-03 9.99543188e-01 2.99240630e-02 -3.35491401e-02] [ 3.11243951e-03 -2.99373731e-02 9.99546931e-01 -2.05839209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters Centerline goodness : 0.903624 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.04, Z:-2.06 [[ 9.99985445e-01 -3.99259314e-03 -3.62902073e-03 1.34780108e+01] [ 4.10135965e-03 9.99527111e-01 3.04751273e-02 -3.52686534e-02] [ 3.50562982e-03 -3.04895677e-02 9.99528937e-01 -2.05861091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.491193817 meters Centerline goodness : 0.900646 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.04, Z:-2.06 [[ 9.99991224e-01 -4.07941939e-03 -9.54294495e-04 1.34728750e+01] [ 4.11205241e-03 9.99301452e-01 3.71443005e-02 -3.90822641e-02] [ 8.02100695e-04 -3.71478986e-02 9.99309457e-01 -2.06176260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters Centerline goodness : 0.902271 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.04, Z:-2.06 [[ 9.99990717e-01 -4.07066931e-03 -1.41233760e-03 1.34735915e+01] [ 4.12124456e-03 9.99273984e-01 3.78750503e-02 -4.12412141e-02] [ 1.25713541e-03 -3.78805193e-02 9.99281485e-01 -2.06133207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.551193817 meters Centerline goodness : 0.904342 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.04, Z:-2.06 [[ 9.99989413e-01 -4.34668062e-03 -1.51028552e-03 1.34736190e+01] [ 4.40177109e-03 9.99244230e-01 3.86211482e-02 -4.49099072e-02] [ 1.34127030e-03 -3.86273873e-02 9.99252784e-01 -2.06072168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters Centerline goodness : 0.905449 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.05, Z:-2.06 [[ 9.99990789e-01 -3.97632299e-03 -1.61601939e-03 1.34737234e+01] [ 4.03631784e-03 9.99231313e-01 3.89934790e-02 -4.56525946e-02] [ 1.45972651e-03 -3.89996426e-02 9.99238158e-01 -2.06043538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61119381700001 meters Centerline goodness : 0.904224 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.05, Z:-2.06 [[ 9.99996686e-01 -1.92671142e-03 -1.70730759e-03 1.34737051e+01] [ 1.99428976e-03 9.99177289e-01 4.05063857e-02 -4.75133830e-02] [ 1.62785886e-03 -4.05096564e-02 9.99177821e-01 -2.06004892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters Centerline goodness : 0.906535 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.05, Z:-2.06 [[ 9.99997231e-01 -4.66071217e-04 -2.30668497e-03 1.34947744e+01] [ 5.60298925e-04 9.99158199e-01 4.10192535e-02 -4.79194071e-02] [ 2.28562531e-03 -4.10204323e-02 9.99155694e-01 -2.06092134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67119381700002 meters Centerline goodness : 0.906046 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.05, Z:-2.06 [[ 9.99997180e-01 7.16059501e-04 -2.26426156e-03 1.35154925e+01] [-6.20923538e-04 9.99128254e-01 4.17414197e-02 -4.86129393e-02] [ 2.29217704e-03 -4.17398960e-02 9.99125881e-01 -2.06161038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters Centerline goodness : 0.906426 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.05, Z:-2.06 [[ 9.99977391e-01 2.39803772e-03 -6.28226007e-03 1.35235637e+01] [-2.15486582e-03 9.99258873e-01 3.84325644e-02 -4.98392300e-02] [ 6.36976685e-03 -3.84181580e-02 9.99241448e-01 -2.05979999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73119381700002 meters Centerline goodness : 0.905029 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.05, Z:-2.06 [[ 9.99954432e-01 3.39385777e-03 -8.92277411e-03 1.35492912e+01] [-3.09948103e-03 9.99457098e-01 3.28009475e-02 -5.03988731e-02] [ 9.02925167e-03 -3.27717969e-02 9.99422074e-01 -2.05746733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76119381700002 meters Centerline goodness : 0.908057 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.06, Z:-2.06 [[ 9.99946360e-01 4.69017451e-03 -9.23469965e-03 1.35496836e+01] [-4.36712275e-03 9.99388333e-01 3.46970884e-02 -5.65198114e-02] [ 9.39178649e-03 -3.46548982e-02 9.99355208e-01 -2.05687408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79119381700002 meters Centerline goodness : 0.908003 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.06, Z:-2.06 [[ 9.99967711e-01 3.91731116e-03 -7.01651543e-03 1.35687247e+01] [-3.68500438e-03 9.99454454e-01 3.28209492e-02 -5.82395613e-02] [ 7.14125748e-03 -3.27940336e-02 9.99436618e-01 -2.05675387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82119381700002 meters Centerline goodness : 0.910620 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.06, Z:-2.06 [[ 9.99974329e-01 5.50280373e-03 -4.58920383e-03 1.35771807e+01] [-5.39627797e-03 9.99722962e-01 2.29102492e-02 -5.89773478e-02] [ 4.71400305e-03 -2.28848965e-02 9.99726993e-01 -2.05621827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85119381700002 meters Centerline goodness : 0.908486 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.06, Z:-2.06 [[ 9.99979878e-01 6.31894739e-03 -5.61645952e-04 1.35938343e+01] [-6.30402662e-03 9.99704679e-01 2.34694244e-02 -6.17338389e-02] [ 7.09782144e-04 -2.34654115e-02 9.99724397e-01 -2.05505675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88119381700002 meters Centerline goodness : 0.913067 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.07, Z:-2.05 [[ 9.99953357e-01 8.76648041e-03 4.05373584e-03 1.36092761e+01] [-8.87479971e-03 9.99581768e-01 2.75231965e-02 -7.06862263e-02] [-3.81075887e-03 -2.75578888e-02 9.99612946e-01 -2.05360968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91119381700003 meters Centerline goodness : 0.914200 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.08, Z:-2.05 [[ 9.99939461e-01 8.94330946e-03 6.41024817e-03 1.36280974e+01] [-9.12426067e-03 9.99544178e-01 2.87781991e-02 -7.56473054e-02] [-6.14995389e-03 -2.88349457e-02 9.99565267e-01 -2.05387605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94119381700003 meters Centerline goodness : 0.914764 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.08, Z:-2.06 [[ 9.99935619e-01 9.15588866e-03 6.70279409e-03 1.36489043e+01] [-9.36362022e-03 9.99455281e-01 3.16459246e-02 -8.20852026e-02] [-6.40939639e-03 -3.17066497e-02 9.99476667e-01 -2.05562940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97119381700003 meters Centerline goodness : 0.910961 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.09, Z:-2.06 [[ 9.99953859e-01 9.20448642e-03 2.74920536e-03 1.36593053e+01] [-9.27956353e-03 9.99545749e-01 2.86737708e-02 -9.42153259e-02] [-2.48402920e-03 -2.86979591e-02 9.99585042e-01 -2.05661053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00119381700003 meters Centerline goodness : 0.909830 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.10, Z:-2.06 [[ 9.99962262e-01 8.65459146e-03 7.57056770e-04 1.36533819e+01] [-8.66637419e-03 9.99813386e-01 1.72652222e-02 -9.73267389e-02] [-6.07492047e-04 -1.72711316e-02 9.99850658e-01 -2.05934238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03119381700003 meters Centerline goodness : 0.909175 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.10, Z:-2.06 [[ 9.99973212e-01 7.31662158e-03 2.06108786e-04 1.36562182e+01] [-7.31903111e-03 9.99836161e-01 1.65554529e-02 -1.02446300e-01] [-8.49450339e-05 -1.65565179e-02 9.99862928e-01 -2.06163734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06119381700003 meters Centerline goodness : 0.909549 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.11, Z:-2.06 [[ 9.99988199e-01 4.85621572e-03 -1.35206134e-04 1.36570255e+01] [-4.85378343e-03 9.99885803e-01 1.43115613e-02 -1.06173266e-01] [ 2.04690722e-04 -1.43107361e-02 9.99897575e-01 -2.06189014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09119381700003 meters Centerline goodness : 0.912329 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.12, Z:-2.06 [[ 9.99993626e-01 3.56252806e-03 -2.39406870e-04 1.36567899e+01] [-3.55873170e-03 9.99890988e-01 1.43299422e-02 -1.17147954e-01] [ 2.90431593e-04 -1.43289989e-02 9.99897292e-01 -2.06117771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12119381700003 meters Centerline goodness : 0.912329 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.12, Z:-2.06 [[ 9.99993626e-01 3.56252806e-03 -2.39406870e-04 1.36567899e+01] [-3.55873170e-03 9.99890988e-01 1.43299422e-02 -1.17147954e-01] [ 2.90431593e-04 -1.43289989e-02 9.99897292e-01 -2.06117771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15119381700003 meters Centerline goodness : 0.914443 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.12, Z:-2.06 [[ 9.99999598e-01 8.39755052e-04 -3.13421884e-04 1.36565540e+01] [-8.35877212e-04 9.99925543e-01 1.21741649e-02 -1.21645000e-01] [ 3.23621864e-04 -1.21738980e-02 9.99925843e-01 -2.06059689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18119381700004 meters Centerline goodness : 0.913605 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.13, Z:-2.06 [[ 9.99998508e-01 -1.71643319e-03 -1.92632783e-04 1.36560070e+01] [ 1.71830126e-03 9.99946940e-01 1.01570430e-02 -1.26331908e-01] [ 1.75188676e-04 -1.01573589e-02 9.99948397e-01 -2.06010311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.211193817 meters Centerline goodness : 0.916964 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.14, Z:-2.06 [[ 9.99994206e-01 -3.40186576e-03 -1.22473839e-04 1.36549772e+01] [ 3.40291191e-03 9.99945165e-01 9.90389635e-03 -1.37010290e-01] [ 8.87753975e-05 -9.90425574e-03 9.99950948e-01 -2.05877579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters Centerline goodness : 0.922096 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.14, Z:-2.06 [[ 9.99984054e-01 -5.64662255e-03 8.95000766e-05 1.36537482e+01] [ 5.64569169e-03 9.99950009e-01 8.25258123e-03 -1.42104361e-01] [-1.36094814e-04 -8.25194435e-03 9.99965943e-01 -2.05752998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.271193817 meters Centerline goodness : 0.920657 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.15, Z:-2.06 [[ 9.99966436e-01 -8.19068159e-03 1.99729951e-04 1.36529975e+01] [ 8.18922865e-03 9.99945806e-01 6.42824296e-03 -1.47378495e-01] [-2.52370819e-04 -6.42639157e-03 9.99979319e-01 -2.05664511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters Centerline goodness : 0.924855 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.16, Z:-2.06 [[ 9.99911049e-01 -1.33332555e-02 3.44969301e-04 1.36524682e+01] [ 1.33321261e-02 9.99906343e-01 3.09175100e-03 -1.58127945e-01] [-3.86160098e-04 -3.08687681e-03 9.99995161e-01 -2.05580364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.331193817 meters Centerline goodness : 0.925170 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.16, Z:-2.06 [[ 9.99862775e-01 -1.65658444e-02 6.31172373e-05 1.36532752e+01] [ 1.65657888e-02 9.99862459e-01 7.99196764e-04 -1.62773010e-01] [-7.63479253e-05 -7.98041507e-04 9.99999679e-01 -2.05582944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters Centerline goodness : 0.924945 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.17, Z:-2.06 [[ 9.99796507e-01 -2.01715779e-02 -2.29356851e-04 1.36545723e+01] [ 2.01711660e-02 9.99795138e-01 -1.67521665e-03 -1.67842661e-01] [ 2.63101628e-04 1.67024936e-03 9.99998571e-01 -2.05636002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39119381700002 meters Centerline goodness : 0.926573 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.18, Z:-2.06 [[ 9.99602800e-01 -2.81797531e-02 -3.78129376e-04 1.36566248e+01] [ 2.81762421e-02 9.99576279e-01 -7.30493011e-03 -1.78136841e-01] [ 5.83820282e-04 7.29137433e-03 9.99973247e-01 -2.05776567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42119381700002 meters Centerline goodness : 0.926727 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.18, Z:-2.06 [[ 9.99484878e-01 -3.20869432e-02 -6.37948886e-04 1.36581072e+01] [ 3.20789683e-02 9.99435302e-01 -1.00008539e-02 -1.82862041e-01] [ 9.58485468e-04 9.97523748e-03 9.99949787e-01 -2.05859617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45119381700002 meters Centerline goodness : 0.924282 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.19, Z:-2.06 [[ 9.99348049e-01 -3.60883393e-02 -1.05291197e-03 1.36604289e+01] [ 3.60720894e-02 9.99268522e-01 -1.26974761e-02 -1.87656746e-01] [ 1.51037262e-03 1.26512172e-02 9.99918829e-01 -2.06004887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48119381700002 meters Centerline goodness : 0.923765 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.19, Z:-2.06 [[ 9.99156514e-01 -4.10367436e-02 -1.49892306e-03 1.36633565e+01] [ 4.10064729e-02 9.99022489e-01 -1.65086543e-02 -1.91670033e-01] [ 2.17491926e-03 1.64332640e-02 9.99862599e-01 -2.06203326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51119381700002 meters Centerline goodness : 0.921545 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.20, Z:-2.06 [[ 9.98750742e-01 -4.99396217e-02 -1.72918435e-03 1.36664587e+01] [ 4.98850999e-02 9.98476672e-01 -2.35756777e-02 -1.98148765e-01] [ 2.90391066e-03 2.34599651e-02 9.99720560e-01 -2.06419467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54119381700002 meters Centerline goodness : 0.922377 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.20, Z:-2.06 [[ 9.98720714e-01 -5.05296281e-02 -1.92129437e-03 1.36671751e+01] [ 5.04727198e-02 9.98464287e-01 -2.28379441e-02 -2.01686035e-01] [ 3.07233663e-03 2.27117548e-02 9.99737334e-01 -2.06429262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57119381700002 meters Centerline goodness : 0.924431 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.20, Z:-2.06 [[ 9.98688438e-01 -5.11528791e-02 -2.18773215e-03 1.36677715e+01] [ 5.10911408e-02 9.98442185e-01 -2.24253942e-02 -2.04001521e-01] [ 3.33144755e-03 2.22842082e-02 9.99746126e-01 -2.06406311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60119381700002 meters Centerline goodness : 0.923757 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.21, Z:-2.07 [[ 9.98535744e-01 -5.40719157e-02 1.61090851e-03 1.36769981e+01] [ 5.40895996e-02 9.98431253e-01 -1.44688630e-02 -2.06632173e-01] [-8.26022267e-04 1.45348103e-02 9.99894023e-01 -2.06508873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63119381700002 meters Centerline goodness : 0.928043 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.21, Z:-2.07 [[ 9.98284316e-01 -5.85274870e-02 1.71984472e-03 1.36773060e+01] [ 5.85493752e-02 9.98111450e-01 -1.85877297e-02 -2.07083411e-01] [-6.28703599e-04 1.86565349e-02 9.99825754e-01 -2.06504677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66119381700003 meters Centerline goodness : 0.926436 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.21, Z:-2.07 [[ 9.98249428e-01 -5.91271858e-02 1.43375969e-03 1.36783386e+01] [ 5.91437153e-02 9.98071777e-01 -1.88347610e-02 -2.07406235e-01] [-3.17348669e-04 1.88865873e-02 9.99821582e-01 -2.06547395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69119381700003 meters Centerline goodness : 0.923978 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.21, Z:-2.07 [[ 9.98218522e-01 -5.96514550e-02 1.21873677e-03 1.36791571e+01] [ 5.96638713e-02 9.98030980e-01 -1.93490491e-02 -2.06376916e-01] [-6.21381210e-05 1.93872937e-02 9.99812047e-01 -2.06587568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72119381700003 meters Centerline goodness : 0.925643 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.20, Z:-2.07 [[ 9.98186880e-01 -6.01837774e-02 9.30431087e-04 1.36801558e+01] [ 6.01902991e-02 9.97983568e-01 -2.01476073e-02 -2.04206802e-01] [ 2.84004179e-04 2.01670802e-02 9.99796583e-01 -2.06643076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75119381700003 meters Centerline goodness : 0.921525 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.20, Z:-2.07 [[ 9.98329080e-01 -5.77824910e-02 4.82182016e-04 1.36813600e+01] [ 5.77816761e-02 9.98162950e-01 -1.82209274e-02 -1.98955410e-01] [ 5.71554349e-04 1.82183429e-02 9.99833869e-01 -2.06728276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78119381700003 meters Centerline goodness : 0.923131 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.20, Z:-2.07 [[ 9.98454437e-01 -5.55755055e-02 -3.18217625e-04 1.36835389e+01] [ 5.55630555e-02 9.98323582e-01 -1.62102528e-02 -1.95752260e-01] [ 1.21857715e-03 1.61675177e-02 9.99868555e-01 -2.06830479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81119381700003 meters Centerline goodness : 0.923544 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.19, Z:-2.07 [[ 9.98623132e-01 -5.24525936e-02 -7.52284079e-04 1.36841894e+01] [ 5.24378836e-02 9.98534753e-01 -1.33647263e-02 -1.92707580e-01] [ 1.45219635e-03 1.33068767e-02 9.99910405e-01 -2.06841191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84119381700003 meters Centerline goodness : 0.926870 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.19, Z:-2.07 [[ 9.98782791e-01 -4.93111071e-02 -1.16218216e-03 1.36847996e+01] [ 4.92961153e-02 9.98728268e-01 -1.05706754e-02 -1.89566204e-01] [ 1.68195589e-03 1.05005176e-02 9.99943453e-01 -2.06846316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87119381700003 meters Centerline goodness : 0.921841 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.19, Z:-2.07 [[ 9.98931912e-01 -4.61787588e-02 -1.59893723e-03 1.36851838e+01] [ 4.61651718e-02 9.98904229e-01 -7.68889168e-03 -1.86532180e-01] [ 1.95224863e-03 7.60686406e-03 9.99969162e-01 -2.06814750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90119381700003 meters Centerline goodness : 0.925409 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.17, Z:-2.07 [[ 9.99016515e-01 -4.42271580e-02 3.15611959e-03 1.37000068e+01] [ 4.42639147e-02 9.98938852e-01 -1.27230462e-02 -1.74233140e-01] [-2.59006631e-03 1.28502355e-02 9.99914078e-01 -2.07012633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93119381700004 meters Centerline goodness : 0.923641 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.17, Z:-2.07 [[ 9.99114738e-01 -4.19818922e-02 2.69476287e-03 1.37010885e+01] [ 4.20082468e-02 9.99060932e-01 -1.06095223e-02 -1.70237321e-01] [-2.24682448e-03 1.07133323e-02 9.99940086e-01 -2.07052315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.961193817 meters Centerline goodness : 0.926491 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.17, Z:-2.07 [[ 9.99194672e-01 -4.00720357e-02 2.05922283e-03 1.37024597e+01] [ 4.00882224e-02 9.99159692e-01 -8.53493549e-03 -1.66698314e-01] [-1.71548021e-03 8.61061264e-03 9.99961456e-01 -2.07077861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.991193817 meters Centerline goodness : 0.923939 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.16, Z:-2.07 [[ 9.99144046e-01 -4.13216343e-02 1.92313415e-03 1.37030436e+01] [ 4.13393797e-02 9.99091590e-01 -1.03464918e-02 -1.61662834e-01] [-1.49385321e-03 1.04171369e-02 9.99944624e-01 -2.07105232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.021193817 meters Centerline goodness : 0.926763 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.15, Z:-2.07 [[ 9.99017702e-01 -4.42701035e-02 1.94647908e-03 1.37030128e+01] [ 4.42925909e-02 9.98925502e-01 -1.36384940e-02 -1.50007898e-01] [-1.34061004e-03 1.37113116e-02 9.99905097e-01 -2.07069270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.051193817 meters Centerline goodness : 0.920675 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.15, Z:-2.07 [[ 9.99066288e-01 -4.31788729e-02 1.46162118e-03 1.37046921e+01] [ 4.31935420e-02 9.98991951e-01 -1.22229165e-02 -1.45801855e-01] [-9.32376037e-04 1.22746365e-02 9.99924229e-01 -2.07155840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.081193817 meters Centerline goodness : 0.923203 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.14, Z:-2.07 [[ 9.99110217e-01 -4.21664925e-02 8.72918173e-04 1.37066623e+01] [ 4.21735612e-02 9.99049469e-01 -1.10249798e-02 -1.41455744e-01] [-4.07203707e-04 1.10519841e-02 9.99938842e-01 -2.07258548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11119381700001 meters Centerline goodness : 0.915458 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.13, Z:-2.07 [[ 9.99050555e-01 -4.35498105e-02 1.18408945e-03 1.37276194e+01] [ 4.35638296e-02 9.98899189e-01 -1.73954770e-02 -1.27920982e-01] [-4.25216269e-04 1.74305444e-02 9.99847986e-01 -2.07477368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14119381700002 meters Centerline goodness : 0.915507 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.12, Z:-2.08 [[ 9.99121816e-01 -4.18893085e-02 9.39407602e-04 1.37486323e+01] [ 4.18996583e-02 9.98932483e-01 -1.94502794e-02 -1.21007459e-01] [-1.23646016e-04 1.94725593e-02 9.99810384e-01 -2.07652337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17119381700002 meters Centerline goodness : 0.914305 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.11, Z:-2.08 [[ 9.99205164e-01 -3.97995110e-02 2.24488131e-03 1.37682149e+01] [ 3.98405064e-02 9.98944207e-01 -2.28736636e-02 -1.11879257e-01] [-1.33215055e-03 2.29449200e-02 9.99735843e-01 -2.07931838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20119381700002 meters Centerline goodness : 0.912029 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.09, Z:-2.08 [[ 9.99441606e-01 -3.30789323e-02 4.71801662e-03 1.37865538e+01] [ 3.31827806e-02 9.99162098e-01 -2.39584047e-02 -9.38925719e-02] [-3.92154494e-03 2.41015834e-02 9.99701823e-01 -2.08332982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23119381700002 meters Centerline goodness : 0.910832 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.09, Z:-2.08 [[ 9.99545843e-01 -2.92558878e-02 7.22501073e-03 1.38051547e+01] [ 2.94235492e-02 9.99271467e-01 -2.43061781e-02 -8.51132791e-02] [-6.50864825e-03 2.45077247e-02 9.99678453e-01 -2.08448375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26119381700002 meters Centerline goodness : 0.912653 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.08, Z:-2.09 [[ 9.99629120e-01 -2.37005654e-02 1.34128665e-02 1.38176176e+01] [ 2.40547535e-02 9.99348883e-01 -2.68919753e-02 -7.60563178e-02] [-1.27667781e-02 2.72046449e-02 9.99548356e-01 -2.08799765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29119381700002 meters Centerline goodness : 0.914254 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.07, Z:-2.09 [[ 0.99964449 -0.01868557 0.01901945 13.83122005] [ 0.01923826 0.99938541 -0.02930351 -0.06701003] [-0.01846021 0.029659 0.9993896 -2.09140757] [ 0. 0. 0. 1. ]] SLAMing on 141.32119381700002 meters Centerline goodness : 0.914114 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.05, Z:-2.09 [[ 0.99967398 -0.01405576 0.02131577 13.85027319] [ 0.01471246 0.99941201 -0.03097062 -0.05026296] [-0.02086792 0.03127413 0.99929298 -2.09372472] [ 0. 0. 0. 1. ]] SLAMing on 141.35119381700002 meters Centerline goodness : 0.914309 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.04, Z:-2.09 [[ 9.99710243e-01 -1.18208128e-02 2.09689867e-02 1.38520432e+01] [ 1.24399174e-02 9.99483099e-01 -2.96442645e-02 -4.38430487e-02] [-2.06077285e-02 2.98965273e-02 9.99340542e-01 -2.09486873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38119381700002 meters Centerline goodness : 0.910917 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.04, Z:-2.10 [[ 9.99742478e-01 -9.30405452e-03 2.06981067e-02 1.38536243e+01] [ 9.88037040e-03 9.99561382e-01 -2.79181280e-02 -3.80954188e-02] [-2.04292763e-02 2.81154434e-02 9.99395901e-01 -2.09595988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41119381700003 meters Centerline goodness : 0.911026 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.03, Z:-2.10 [[ 9.99769677e-01 -6.30889020e-03 2.05131669e-02 1.38545739e+01] [ 6.83634767e-03 9.99645154e-01 -2.57454923e-02 -3.26248775e-02] [-2.03434624e-02 2.58797977e-02 9.99458043e-01 -2.09641638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44119381700003 meters Centerline goodness : 0.912412 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.02, Z:-2.10 [[ 9.99791733e-01 -1.84469458e-04 2.04072546e-02 1.38544675e+01] [ 6.17547940e-04 9.99774692e-01 -2.12175247e-02 -2.18811091e-02] [-2.03987427e-02 2.12257083e-02 9.99566586e-01 -2.09561324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47119381700003 meters Centerline goodness : 0.915645 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.02, Z:-2.10 [[ 9.99791334e-01 3.24781801e-03 2.01677979e-02 1.38552651e+01] [-2.87346681e-03 9.99823561e-01 -1.85631451e-02 -1.71574261e-02] [-2.02245292e-02 1.85013201e-02 9.99624264e-01 -2.09582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50119381700003 meters Centerline goodness : 0.915854 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.01, Z:-2.10 [[ 9.99777301e-01 6.68749108e-03 2.00156193e-02 1.38554746e+01] [-6.37099030e-03 9.99854323e-01 -1.58349025e-02 -1.27092902e-02] [-2.01185993e-02 1.57038568e-02 9.99674262e-01 -2.09541430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53119381700003 meters Centerline goodness : 0.915085 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.00, Z:-2.09 [[ 9.99717868e-01 1.28509509e-02 1.99759030e-02 1.38543939e+01] [-1.26312552e-02 9.99858771e-01 -1.10855823e-02 -4.19110009e-03] [-2.01155421e-02 1.08301340e-02 9.99739003e-01 -2.09339746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56119381700003 meters Centerline goodness : 0.914293 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.00, Z:-2.09 [[ 9.99673440e-01 1.60831265e-02 1.98581415e-02 1.38543286e+01] [-1.59200623e-02 9.99838465e-01 -8.34242409e-03 -8.30017343e-04] [-1.99891060e-02 8.02355694e-03 9.99768002e-01 -2.09272026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59119381700003 meters Centerline goodness : 0.913655 Centerline is valid? [False, False] Translation: X:13.85, Y:0.00, Z:-2.09 [[ 9.99617797e-01 1.92905231e-02 1.98024025e-02 1.38542095e+01] [-1.91838952e-02 9.99800509e-01 -5.56052383e-03 2.27416293e-03] [-1.99057175e-02 5.17851137e-03 9.99788450e-01 -2.09210949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62119381700003 meters Centerline goodness : 0.913797 Centerline is valid? [False, False] Translation: X:13.85, Y:0.01, Z:-2.09 [[ 9.99557457e-01 2.22068070e-02 1.97926214e-02 1.38536545e+01] [-2.21505446e-02 9.99749972e-01 -3.05733302e-03 5.19703000e-03] [-1.98555663e-02 2.61756267e-03 9.99799432e-01 -2.09103119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65119381700003 meters Centerline goodness : 0.916827 Centerline is valid? [False, False] Translation: X:13.85, Y:0.01, Z:-2.09 [[ 9.99491957e-01 2.51610048e-02 1.95640276e-02 1.38541962e+01] [-2.51392414e-02 9.99683038e-01 -1.35759861e-03 1.14340376e-02] [-1.95919851e-02 8.65084075e-04 9.99807684e-01 -2.09073241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68119381700004 meters Centerline goodness : 0.912835 Centerline is valid? [False, False] Translation: X:13.86, Y:0.01, Z:-2.09 [[ 9.99492488e-01 2.55452152e-02 1.90317638e-02 1.38560076e+01] [-2.55176349e-02 9.99672943e-01 -1.69064615e-03 1.41976750e-02] [-1.90687272e-02 1.20414253e-03 9.99817450e-01 -2.09164261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.711193817 meters Centerline goodness : 0.913831 Centerline is valid? [False, False] Translation: X:13.86, Y:0.02, Z:-2.09 [[ 9.99497553e-01 2.56646418e-02 1.86001943e-02 1.38570096e+01] [-2.56288929e-02 9.99669197e-01 -2.15783707e-03 1.64640412e-02] [-1.86494214e-02 1.68005049e-03 9.99824673e-01 -2.09175979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.741193817 meters Centerline goodness : 0.914736 Centerline is valid? [False, False] Translation: X:13.86, Y:0.02, Z:-2.09 [[ 9.99417291e-01 2.86094317e-02 1.86166157e-02 1.38570364e+01] [-2.86391979e-02 9.99588924e-01 1.33421334e-03 1.61818392e-02] [-1.85707918e-02 -1.86660082e-03 9.99825806e-01 -2.09158943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.771193817 meters Centerline goodness : 0.914334 Centerline is valid? [False, False] Translation: X:13.86, Y:0.02, Z:-2.09 [[ 9.99328890e-01 3.14088139e-02 1.88482607e-02 1.38558982e+01] [-3.14956863e-02 9.99494509e-01 4.32995891e-03 1.63515140e-02] [-1.87027342e-02 -4.92069193e-03 9.99812980e-01 -2.09036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters Centerline goodness : 0.913793 Centerline is valid? [False, False] Translation: X:13.86, Y:0.01, Z:-2.09 [[ 9.99224934e-01 3.44789359e-02 1.89929911e-02 1.38553991e+01] [-3.46379201e-02 9.99367052e-01 8.10619673e-03 1.47782658e-02] [-1.87014764e-02 -8.75779160e-03 9.99786755e-01 -2.08964033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.831193817 meters Centerline goodness : 0.915431 Centerline is valid? [False, False] Translation: X:13.86, Y:0.01, Z:-2.09 [[ 9.99218690e-01 3.48402653e-02 1.86591982e-02 1.38560492e+01] [-3.50010096e-02 9.99352323e-01 8.35850526e-03 1.46121305e-02] [-1.83559005e-02 -9.00506545e-03 9.99790963e-01 -2.08955282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters Centerline goodness : 0.917140 Centerline is valid? [False, False] Translation: X:13.85, Y:0.01, Z:-2.09 [[ 9.99060954e-01 3.89121146e-02 1.90540721e-02 1.38549956e+01] [-3.91725328e-02 9.99141395e-01 1.34902168e-02 1.11671524e-02] [-1.85127793e-02 -1.42239451e-02 9.99727441e-01 -2.08840163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89119381700002 meters Centerline goodness : 0.915690 Centerline is valid? [False, False] Translation: X:13.86, Y:0.01, Z:-2.09 [[ 9.99077013e-01 3.81407876e-02 1.97586213e-02 1.38636711e+01] [-3.86267020e-02 9.98945316e-01 2.48240442e-02 7.71988189e-03] [-1.87909736e-02 -2.55643423e-02 9.99496555e-01 -2.08665668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters Centerline goodness : 0.918316 Centerline is valid? [False, False] Translation: X:13.86, Y:0.01, Z:-2.09 [[ 9.99070090e-01 3.85054182e-02 1.93981197e-02 1.38641641e+01] [-3.89959251e-02 9.98911985e-01 2.55766391e-02 5.69263735e-03] [-1.83921750e-02 -2.63093028e-02 9.99484641e-01 -2.08610344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95119381700002 meters Centerline goodness : 0.918278 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.01, Z:-2.08 [[ 9.99284648e-01 3.48128073e-02 1.47736495e-02 1.38841343e+01] [-3.55941252e-02 9.97772997e-01 5.64101503e-02 -7.17557076e-03] [-1.27769529e-02 -5.68956523e-02 9.98298369e-01 -2.07611984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters Centerline goodness : 0.917591 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.01, Z:-2.08 [[ 9.99363120e-01 3.26729222e-02 1.43469069e-02 1.38858150e+01] [-3.34160605e-02 9.97924810e-01 5.50403559e-02 -8.98976220e-03] [-1.25188051e-02 -5.54847189e-02 9.98381052e-01 -2.07644955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01119381700002 meters Centerline goodness : 0.917591 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.01, Z:-2.08 [[ 9.99361584e-01 3.26890697e-02 1.44169630e-02 1.38857461e+01] [-3.34330632e-02 9.97937373e-01 5.48017402e-02 -8.36426955e-03] [-1.25958083e-02 -5.52487571e-02 9.98393169e-01 -2.07645859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04119381700002 meters Centerline goodness : 0.915283 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.01, Z:-2.08 [[ 9.99491478e-01 2.87322368e-02 1.38291006e-02 1.38869227e+01] [-2.94053054e-02 9.98254629e-01 5.12154649e-02 -9.96098421e-03] [-1.23334288e-02 -5.15960696e-02 9.98591875e-01 -2.07646446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07119381700002 meters Centerline goodness : 0.913694 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.01, Z:-2.07 [[ 9.99657194e-01 2.53005325e-02 6.73634661e-03 1.38762305e+01] [-2.55483066e-02 9.98886405e-01 3.96640105e-02 -9.70069157e-03] [-5.72532446e-03 -3.98225157e-02 9.99190366e-01 -2.07143449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10119381700002 meters Centerline goodness : 0.910722 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.02, Z:-2.07 [[ 9.99888925e-01 1.46627780e-02 2.67234454e-03 1.38561988e+01] [-1.47763084e-02 9.98685442e-01 4.90820674e-02 -1.80093412e-02] [-1.94915213e-03 -4.91161029e-02 9.98791174e-01 -2.06866315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13119381700002 meters Centerline goodness : 0.909997 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.02, Z:-2.07 [[ 9.99966923e-01 8.13328749e-03 -3.93829952e-05 1.38376546e+01] [-8.12541749e-03 9.99190151e-01 3.94083796e-02 -1.56953901e-02] [ 3.59870782e-04 -3.94067561e-02 9.99223187e-01 -2.06724462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16119381700003 meters Centerline goodness : 0.910273 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.01, Z:-2.07 [[ 9.99981465e-01 4.90865593e-03 -3.60218113e-03 1.38286273e+01] [-4.81777439e-03 9.99680357e-01 2.48188019e-02 -1.40334476e-02] [ 3.72285668e-03 -2.48009874e-02 9.99685476e-01 -2.06566598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19119381700003 meters Centerline goodness : 0.908976 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.01, Z:-2.06 [[ 9.99989291e-01 2.93628590e-03 -3.57727103e-03 1.38271879e+01] [-2.85179084e-03 9.99722105e-01 2.34004146e-02 -1.48245034e-02] [ 3.64498724e-03 -2.33899624e-02 9.99719773e-01 -2.06388694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22119381700003 meters Centerline goodness : 0.912148 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.02, Z:-2.06 [[ 9.99998559e-01 -7.81351403e-04 -1.50744846e-03 1.38027340e+01] [ 8.11196716e-04 9.99801634e-01 1.99006053e-02 -1.52811607e-02] [ 1.49160006e-03 -1.99017995e-02 9.99800827e-01 -2.06106221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25119381700003 meters Centerline goodness : 0.910903 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.01, Z:-2.06 [[ 9.99987871e-01 -4.63093482e-03 -1.67695717e-03 1.38029832e+01] [ 4.65687398e-03 9.99864179e-01 1.58093830e-02 -1.47773245e-02] [ 1.60351718e-03 -1.58170006e-02 9.99873618e-01 -2.06084996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28119381700003 meters Centerline goodness : 0.910376 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.02, Z:-2.06 [[ 9.99968139e-01 -7.65359459e-03 -2.26792593e-03 1.38052377e+01] [ 7.68164194e-03 9.99890761e-01 1.26276967e-02 -1.51691717e-02] [ 2.17103091e-03 -1.26447157e-02 9.99917696e-01 -2.06214927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31119381700003 meters Centerline goodness : 0.907354 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99934238e-01 -1.12265940e-02 -2.34158086e-03 1.38059255e+01] [ 1.12466672e-02 9.99898530e-01 8.74315804e-03 -1.45269054e-02] [ 2.24318737e-03 -8.76891806e-03 9.99959036e-01 -2.06268734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34119381700003 meters Centerline goodness : 0.909153 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.02, Z:-2.06 [[ 9.99928769e-01 -1.17041582e-02 -2.33890744e-03 1.38061760e+01] [ 1.17237476e-02 9.99894763e-01 8.54501229e-03 -1.50337341e-02] [ 2.23864912e-03 -8.57182438e-03 9.99960755e-01 -2.06298423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37119381700003 meters Centerline goodness : 0.909859 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99920874e-01 -1.23203192e-02 -2.54085296e-03 1.38068980e+01] [ 1.23402149e-02 9.99892099e-01 7.96923118e-03 -1.39894599e-02] [ 2.44239533e-03 -7.99995528e-03 9.99965017e-01 -2.06342355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40119381700003 meters Centerline goodness : 0.910066 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99919928e-01 -1.23726197e-02 -2.65631611e-03 1.38070069e+01] [ 1.23930583e-02 9.99892617e-01 7.82094716e-03 -1.34709865e-02] [ 2.55926526e-03 -7.85324081e-03 9.99965888e-01 -2.06321310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43119381700004 meters Centerline goodness : 0.910477 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99916470e-01 -1.26161103e-02 -2.80832754e-03 1.38074178e+01] [ 1.26368909e-02 9.99891955e-01 7.50915026e-03 -1.27629510e-02] [ 2.71328785e-03 -7.54401155e-03 9.99967862e-01 -2.06324458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters Centerline goodness : 0.910424 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99913665e-01 -1.28325287e-02 -2.82642192e-03 1.38071131e+01] [ 1.28528545e-02 9.99890790e-01 7.29460196e-03 -1.22285542e-02] [ 2.73250506e-03 -7.33029977e-03 9.99969400e-01 -2.06275643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.491193817 meters Centerline goodness : 0.911606 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99904763e-01 -1.34450247e-02 -3.11381035e-03 1.38077356e+01] [ 1.34655714e-02 9.99887059e-01 6.67437565e-03 -1.12266808e-02] [ 3.02372153e-03 -6.71566924e-03 9.99972878e-01 -2.06283041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters Centerline goodness : 0.912046 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99901958e-01 -1.36053393e-02 -3.31188437e-03 1.38085469e+01] [ 1.36266046e-02 9.99886122e-01 6.48533554e-03 -1.07332466e-02] [ 3.22327203e-03 -6.52982944e-03 9.99973486e-01 -2.06335257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.551193817 meters Centerline goodness : 0.910641 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.06 [[ 9.99895296e-01 -1.40062488e-02 -3.63629260e-03 1.38100306e+01] [ 1.40276773e-02 9.99883988e-01 5.93589139e-03 -9.48552518e-03] [ 3.55273117e-03 -5.98627861e-03 9.99975771e-01 -2.06442450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters Centerline goodness : 0.909972 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.07 [[ 9.99888856e-01 -1.44286514e-02 -3.75349269e-03 1.38108981e+01] [ 1.44476102e-02 9.99882754e-01 5.07386087e-03 -6.85879043e-03] [ 3.67984364e-03 -5.12752595e-03 9.99980083e-01 -2.06525526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61119381700001 meters Centerline goodness : 0.908433 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.01, Z:-2.07 [[ 9.99884105e-01 -1.46750198e-02 -4.05216099e-03 1.38122038e+01] [ 1.46934461e-02 9.99881668e-01 4.55557405e-03 -5.39261604e-03] [ 3.98482835e-03 -4.61458629e-03 9.99981413e-01 -2.06615442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters Centerline goodness : 0.908819 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.00, Z:-2.07 [[ 9.99883285e-01 -1.46781079e-02 -4.23899004e-03 1.38131359e+01] [ 1.46950187e-02 9.99884077e-01 3.98613214e-03 -2.83649847e-03] [ 4.17998977e-03 -4.04795893e-03 9.99983071e-01 -2.06685541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67119381700002 meters Centerline goodness : 0.908467 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.00, Z:-2.07 [[ 9.99923106e-01 -1.15529339e-02 -4.50694347e-03 1.38140293e+01] [ 1.15833147e-02 9.99909965e-01 6.77406714e-03 -2.54264907e-04] [ 4.42827734e-03 -6.82575159e-03 9.99966899e-01 -2.06739538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters Centerline goodness : 0.908511 Centerline is valid? [False, False] Translation: X:13.81, Y:0.00, Z:-2.07 [[ 9.99957634e-01 -7.94658290e-03 -4.64567630e-03 1.38140944e+01] [ 7.99068729e-03 9.99922437e-01 9.55344620e-03 3.64798497e-03] [ 4.56939872e-03 -9.59016360e-03 9.99943573e-01 -2.06712113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73119381700002 meters Centerline goodness : 0.909497 Centerline is valid? [False, False] Translation: X:13.81, Y:0.01, Z:-2.07 [[ 9.99983153e-01 3.03738072e-03 -4.94642488e-03 1.38133888e+01] [-2.94430817e-03 9.99820506e-01 1.87159334e-02 1.02293086e-02] [ 5.00238444e-03 -1.87010543e-02 9.99812606e-01 -2.06549557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76119381700002 meters Centerline goodness : 0.911507 Centerline is valid? [False, False] Translation: X:13.81, Y:0.01, Z:-2.06 [[ 9.99958944e-01 7.59197244e-03 -4.94703697e-03 1.38131180e+01] [-7.48160973e-03 9.99730900e-01 2.19579669e-02 1.34874506e-02] [ 5.11241000e-03 -2.19200536e-02 9.99746655e-01 -2.06492164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79119381700002 meters Centerline goodness : 0.915517 Centerline is valid? [False, False] Translation: X:13.81, Y:0.03, Z:-2.06 [[ 9.99812281e-01 1.93304207e-02 -1.31810670e-03 1.38065398e+01] [-1.93096619e-02 9.99711697e-01 1.42709283e-02 2.50801667e-02] [ 1.59358974e-03 -1.42427972e-02 9.99897296e-01 -2.06180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82119381700002 meters Centerline goodness : 0.918510 Centerline is valid? [False, False] Translation: X:13.81, Y:0.03, Z:-2.06 [[ 9.99739412e-01 2.27912322e-02 -1.29161123e-03 1.38058382e+01] [-2.27665081e-02 9.99601315e-01 1.67002316e-02 2.95084997e-02] [ 1.67171514e-03 -1.66664742e-02 9.99859707e-01 -2.06064545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85119381700002 meters Centerline goodness : 0.919559 Centerline is valid? [False, False] Translation: X:13.81, Y:0.03, Z:-2.06 [[ 9.99658081e-01 2.61007654e-02 -1.57176575e-03 1.38063475e+01] [-2.60651612e-02 9.99469715e-01 1.95165812e-02 3.23226765e-02] [ 2.08032998e-03 -1.94689398e-02 9.99808298e-01 -2.06030350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88119381700002 meters Centerline goodness : 0.920694 Centerline is valid? [False, False] Translation: X:13.81, Y:0.03, Z:-2.06 [[ 9.99653599e-01 2.62497316e-02 -1.90633138e-03 1.38070022e+01] [-2.62089027e-02 9.99476461e-01 1.89709366e-02 3.44334134e-02] [ 2.40331533e-03 -1.89144022e-02 9.99818218e-01 -2.06017147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91119381700003 meters Centerline goodness : 0.918832 Centerline is valid? [False, False] Translation: X:13.82, Y:0.03, Z:-2.06 [[ 9.99769354e-01 2.13995478e-02 1.81608739e-03 1.38189097e+01] [-2.14378906e-02 9.99465228e-01 2.46916140e-02 3.25714845e-02] [-1.28672683e-03 -2.47248521e-02 9.99693466e-01 -2.06370815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94119381700003 meters Centerline goodness : 0.918666 Centerline is valid? [False, False] Translation: X:13.83, Y:0.03, Z:-2.07 [[ 9.99827397e-01 1.79723214e-02 4.70864444e-03 1.38284865e+01] [-1.81188690e-02 9.99284858e-01 3.31885305e-02 3.01026649e-02] [-4.10880215e-03 -3.32681173e-02 9.99438017e-01 -2.06501258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97119381700003 meters Centerline goodness : 0.919142 Centerline is valid? [False, False] Translation: X:13.84, Y:0.03, Z:-2.07 [[ 9.99873636e-01 1.42099731e-02 7.12661087e-03 1.38370681e+01] [-1.44954434e-02 9.99023018e-01 4.17479636e-02 2.79933792e-02] [-6.52641086e-03 -4.18459916e-02 9.99102757e-01 -2.06519424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00119381700003 meters Centerline goodness : 0.919585 Centerline is valid? [False, False] Translation: X:13.84, Y:0.03, Z:-2.07 [[ 9.99880983e-01 1.13649983e-02 1.04334648e-02 1.38447475e+01] [-1.18882735e-02 9.98600019e-01 5.15429025e-02 2.57197806e-02] [-9.83307317e-03 -5.16608039e-02 9.98616279e-01 -2.06536262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03119381700003 meters Centerline goodness : 0.921049 Centerline is valid? [False, False] Translation: X:13.85, Y:0.03, Z:-2.07 [[ 9.99924826e-01 6.90737026e-03 1.01307007e-02 1.38450277e+01] [-7.36836931e-03 9.98905175e-01 4.61969527e-02 2.95041523e-02] [-9.80050985e-03 -4.62681267e-02 9.98880979e-01 -2.06509589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06119381700003 meters Centerline goodness : 0.918147 Centerline is valid? [False, False] Translation: X:13.85, Y:0.03, Z:-2.07 [[ 9.99906079e-01 9.62438979e-03 9.75731989e-03 1.38460877e+01] [-1.00963358e-02 9.98721490e-01 4.95323150e-02 2.92131721e-02] [-9.26812675e-03 -4.96261761e-02 9.98724859e-01 -2.06560034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09119381700003 meters Centerline goodness : 0.917278 Centerline is valid? [False, False] Translation: X:13.85, Y:0.03, Z:-2.07 [[ 9.99909962e-01 9.68008481e-03 9.29325717e-03 1.38477061e+01] [-1.01261532e-02 9.98736784e-01 4.92168327e-02 2.99864728e-02] [-8.80509467e-03 -4.93065063e-02 9.98744882e-01 -2.06656254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12119381700003 meters Centerline goodness : 0.914891 Centerline is valid? [False, False] Translation: X:13.86, Y:0.03, Z:-2.07 [[ 9.99896087e-01 1.37551493e-02 4.31412016e-03 1.38596541e+01] [-1.39422683e-02 9.98804680e-01 4.68489552e-02 3.02460045e-02] [-3.66454903e-03 -4.69042356e-02 9.98892669e-01 -2.06655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15119381700003 meters Centerline goodness : 0.914858 Centerline is valid? [False, False] Translation: X:13.86, Y:0.03, Z:-2.06 [[ 9.99842428e-01 1.77182526e-02 -1.08757996e-03 1.38588291e+01] [-1.76725078e-02 9.99294736e-01 3.31317647e-02 3.44037591e-02] [ 1.67384990e-03 -3.31073238e-02 9.99450401e-01 -2.06455622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18119381700004 meters Centerline goodness : 0.913222 Centerline is valid? [False, False] Translation: X:13.87, Y:0.04, Z:-2.07 [[ 9.99795664e-01 2.00555114e-02 2.53125731e-03 1.38690612e+01] [-2.01108489e-02 9.99505987e-01 2.41523548e-02 3.83354150e-02] [-2.04561901e-03 -2.41983253e-02 9.99705085e-01 -2.06653037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.211193817 meters Centerline goodness : 0.915471 Centerline is valid? [False, False] Translation: X:13.87, Y:0.04, Z:-2.07 [[ 9.99787831e-01 2.04811213e-02 2.19478637e-03 1.38698487e+01] [-2.05269842e-02 9.99514408e-01 2.34433407e-02 4.14986439e-02] [-1.71357469e-03 -2.34834191e-02 9.99722758e-01 -2.06653936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters Centerline goodness : 0.915408 Centerline is valid? [False, False] Translation: X:13.87, Y:0.05, Z:-2.07 [[ 9.99702530e-01 2.42849191e-02 2.25724221e-03 1.38691533e+01] [-2.43359377e-02 9.99357685e-01 2.63055139e-02 4.51816280e-02] [-1.61696507e-03 -2.63526209e-02 9.99651402e-01 -2.06538712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.271193817 meters Centerline goodness : 0.914581 Centerline is valid? [False, False] Translation: X:13.87, Y:0.05, Z:-2.06 [[ 9.99696593e-01 2.45498611e-02 2.00666574e-03 1.38693046e+01] [-2.45936068e-02 9.99362447e-01 2.58815545e-02 4.70115874e-02] [-1.36999781e-03 -2.59230530e-02 9.99663002e-01 -2.06482063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters Centerline goodness : 0.915647 Centerline is valid? [False, False] Translation: X:13.88, Y:0.05, Z:-2.07 [[ 9.99647595e-01 2.59087571e-02 5.78116910e-03 1.38793248e+01] [-2.59996949e-02 9.99529830e-01 1.62522411e-02 4.93859528e-02] [-5.35737560e-03 -1.63968223e-02 9.99851210e-01 -2.06657954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.331193817 meters Centerline goodness : 0.914653 Centerline is valid? [False, False] Translation: X:13.88, Y:0.05, Z:-2.07 [[ 9.99640902e-01 2.62199939e-02 5.52989695e-03 1.38801450e+01] [-2.63072156e-02 9.99520376e-01 1.63385685e-02 4.89669679e-02] [-5.09884751e-03 -1.64781776e-02 9.99851225e-01 -2.06695641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters Centerline goodness : 0.915891 Centerline is valid? [False, False] Translation: X:13.90, Y:0.05, Z:-2.07 [[ 9.99687256e-01 2.45808595e-02 4.60135095e-03 1.39026536e+01] [-2.46498505e-02 9.99574563e-01 1.55909610e-02 4.65245047e-02] [-4.21615415e-03 -1.56995076e-02 9.99867866e-01 -2.06851010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39119381700002 meters Centerline goodness : 0.918596 Centerline is valid? [False, False] Translation: X:13.90, Y:0.05, Z:-2.07 [[ 9.99747863e-01 2.20783407e-02 4.09344968e-03 1.39041192e+01] [-2.21280198e-02 9.99676792e-01 1.25165084e-02 4.65260413e-02] [-3.81578290e-03 -1.26039325e-02 9.99913287e-01 -2.06907345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters Centerline goodness : 0.916706 Centerline is valid? [False, False] Translation: X:13.91, Y:0.04, Z:-2.07 [[ 9.99743555e-01 2.23363464e-02 3.72979882e-03 1.39051457e+01] [-2.23843463e-02 9.99660090e-01 1.33658192e-02 4.40357220e-02] [-3.42998746e-03 -1.34458807e-02 9.99903717e-01 -2.06928035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45119381700002 meters Centerline goodness : 0.919603 Centerline is valid? [False, False] Translation: X:13.93, Y:0.04, Z:-2.07 [[ 9.99766618e-01 2.12310115e-02 3.99413343e-03 1.39258523e+01] [-2.12903051e-02 9.99654109e-01 1.54397556e-02 4.01904846e-02] [-3.66495026e-03 -1.55211885e-02 9.99872822e-01 -2.07027719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters Centerline goodness : 0.915947 Centerline is valid? [False, False] Translation: X:13.94, Y:0.03, Z:-2.07 [[ 9.99774891e-01 2.03888420e-02 5.87051389e-03 1.39448098e+01] [-2.05066049e-02 9.99574323e-01 2.07521437e-02 2.91639613e-02] [-5.44490277e-03 -2.08678565e-02 9.99767416e-01 -2.07192696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51119381700002 meters Centerline goodness : 0.919267 Centerline is valid? [False, False] Translation: X:13.96, Y:0.02, Z:-2.07 [[ 9.99765595e-01 1.96938854e-02 8.99481766e-03 1.39626791e+01] [-1.99040732e-02 9.99515984e-01 2.39087017e-02 2.32403220e-02] [-8.51960879e-03 -2.40821309e-02 9.99673680e-01 -2.07263332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54119381700002 meters Centerline goodness : 0.924208 Centerline is valid? [False, False] Translation: X:13.98, Y:0.02, Z:-2.07 [[ 9.99759952e-01 1.76803769e-02 1.29399752e-02 1.39791636e+01] [-1.79834022e-02 9.99557626e-01 2.36885863e-02 1.98920978e-02] [-1.25154278e-02 -2.39156047e-02 9.99635638e-01 -2.07207433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57119381700002 meters Centerline goodness : 0.923631 Centerline is valid? [False, False] Translation: X:13.98, Y:0.02, Z:-2.07 [[ 9.99807204e-01 1.49840948e-02 1.26898265e-02 1.39795208e+01] [-1.52455541e-02 9.99668158e-01 2.07640646e-02 1.88044044e-02] [-1.23744848e-02 -2.09535248e-02 9.99703867e-01 -2.07163432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60119381700002 meters Centerline goodness : 0.927254 Centerline is valid? [False, False] Translation: X:13.98, Y:0.02, Z:-2.07 [[ 9.99808990e-01 1.50982483e-02 1.24107444e-02 1.39800204e+01] [-1.53652335e-02 9.99646312e-01 2.17062218e-02 1.56642282e-02] [-1.20786289e-02 -2.18927697e-02 9.99687358e-01 -2.07127088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63119381700002 meters Centerline goodness : 0.926180 Centerline is valid? [False, False] Translation: X:14.00, Y:0.00, Z:-2.07 [[ 9.99867969e-01 1.21378978e-02 1.08034930e-02 1.39990494e+01] [-1.26251143e-02 9.98850810e-01 4.62348973e-02 1.85383960e-03] [-1.02298833e-02 -4.63651882e-02 9.98872173e-01 -2.06822597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66119381700003 meters Centerline goodness : 0.925048 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.00, Z:-2.07 [[ 9.99899902e-01 1.00315349e-02 9.97768102e-03 1.40025578e+01] [-1.04620549e-02 9.98973423e-01 4.40754613e-02 -5.86518400e-04] [-9.52529363e-03 -4.41754365e-02 9.98978378e-01 -2.07052757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69119381700003 meters Centerline goodness : 0.919849 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.01, Z:-2.07 [[ 9.99959579e-01 6.38799739e-03 6.32727179e-03 1.40101664e+01] [-6.82825964e-03 9.97367071e-01 7.21962633e-02 -9.56617655e-03] [-5.84942299e-03 -7.22365493e-02 9.97370375e-01 -2.06509222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72119381700003 meters Centerline goodness : 0.916988 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.03, Z:-2.06 [[ 9.99998447e-01 8.43574215e-04 -1.54725553e-03 1.40231402e+01] [-6.72805708e-04 9.94234455e-01 1.07225913e-01 -2.57838600e-02] [ 1.62878777e-03 -1.07224706e-01 9.94233478e-01 -2.05685011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75119381700003 meters Centerline goodness : 0.916380 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.03, Z:-2.06 [[ 9.99992790e-01 -3.77812356e-03 -3.81284820e-04 1.40213057e+01] [ 3.79731303e-03 9.94857176e-01 1.01216502e-01 -2.60305822e-02] [-3.08451046e-06 -1.01217220e-01 9.94864350e-01 -2.05711794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78119381700003 meters Centerline goodness : 0.916262 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.03, Z:-2.06 [[ 9.99976038e-01 -6.29870667e-03 2.87209971e-03 1.40131432e+01] [ 6.00541200e-03 9.95677073e-01 9.26881907e-02 -2.70696609e-02] [-3.44349956e-03 -9.26687216e-02 9.95691042e-01 -2.05803446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81119381700003 meters Centerline goodness : 0.919186 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.03, Z:-2.05 [[ 9.99927507e-01 -1.19974806e-02 1.02084983e-03 1.39723177e+01] [ 1.18563415e-02 9.95845979e-01 9.02785370e-02 -3.00053357e-02] [-2.09972419e-03 -9.02598889e-02 9.95916032e-01 -2.05156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84119381700003 meters Centerline goodness : 0.916414 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.03, Z:-2.05 [[ 9.99901329e-01 -1.35798529e-02 3.59448174e-03 1.39781720e+01] [ 1.33005756e-02 9.97543215e-01 6.87795708e-02 -2.67049364e-02] [-4.51966732e-03 -6.87249755e-02 9.97625406e-01 -2.05133744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87119381700003 meters Centerline goodness : 0.919612 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.03, Z:-2.05 [[ 9.99853922e-01 -1.60829425e-02 5.78560237e-03 1.39861861e+01] [ 1.57429221e-02 9.98380589e-01 5.46659011e-02 -2.53152403e-02] [-6.65542165e-03 -5.45668333e-02 9.98487940e-01 -2.05004893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90119381700003 meters Centerline goodness : 0.921095 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.03, Z:-2.05 [[ 9.99848471e-01 -1.67260202e-02 4.82453838e-03 1.39937523e+01] [ 1.64970500e-02 9.98889656e-01 4.41282419e-02 -2.53084202e-02] [-5.55727135e-03 -4.40419645e-02 9.99014225e-01 -2.04642007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93119381700004 meters Centerline goodness : 0.921095 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.03, Z:-2.05 [[ 9.99848471e-01 -1.67260202e-02 4.82453838e-03 1.39937523e+01] [ 1.64970500e-02 9.98889656e-01 4.41282419e-02 -2.53084202e-02] [-5.55727135e-03 -4.40419645e-02 9.99014225e-01 -2.04642007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters Centerline goodness : 0.920945 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.02, Z:-2.05 [[ 9.99821759e-01 -1.72886990e-02 7.58620520e-03 1.40026047e+01] [ 1.70355405e-02 9.99334497e-01 3.22544990e-02 -2.48503574e-02] [-8.13879488e-03 -3.21195148e-02 9.99450898e-01 -2.04632668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.991193817 meters Centerline goodness : 0.922469 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.03, Z:-2.04 [[ 9.99835583e-01 -1.64747298e-02 7.57569801e-03 1.40183327e+01] [ 1.63455351e-02 9.99725074e-01 1.68107143e-02 -2.63060552e-02] [-7.85056723e-03 -1.66841215e-02 9.99829990e-01 -2.04335423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters Centerline goodness : 0.924794 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99870628e-01 -1.56485724e-02 3.72145852e-03 1.40279392e+01] [ 1.56083844e-02 9.99822064e-01 1.05933729e-02 -2.70017809e-02] [-3.88656750e-03 -1.05339164e-02 9.99936964e-01 -2.04076361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.051193817 meters Centerline goodness : 0.924920 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99869891e-01 -1.57235680e-02 3.60140527e-03 1.40282070e+01] [ 1.56840759e-02 9.99819279e-01 1.07433344e-02 -2.79180857e-02] [-3.76967797e-03 -1.06854519e-02 9.99935803e-01 -2.04075469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters Centerline goodness : 0.922164 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99867785e-01 -1.59104410e-02 3.35714084e-03 1.40287019e+01] [ 1.58730566e-02 9.99814784e-01 1.08831450e-02 -2.88167427e-02] [-3.52967469e-03 -1.08284180e-02 9.99935141e-01 -2.04079389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11119381700001 meters Centerline goodness : 0.920983 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99868989e-01 -1.58580688e-02 3.24454032e-03 1.40288636e+01] [ 1.58207849e-02 9.99811988e-01 1.12111788e-02 -2.96898588e-02] [-3.42171795e-03 -1.11583788e-02 9.99931889e-01 -2.04071057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters Centerline goodness : 0.920619 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99831930e-01 -1.81617458e-02 2.50266064e-03 1.40320344e+01] [ 1.81389857e-02 9.99796437e-01 8.83523942e-03 -2.97036502e-02] [-2.66261456e-03 -8.78835875e-03 9.99957837e-01 -2.04277307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17119381700002 meters Centerline goodness : 0.921976 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99832384e-01 -1.81482205e-02 2.41802040e-03 1.40326854e+01] [ 1.81265322e-02 9.99797777e-01 8.70822204e-03 -2.90633206e-02] [-2.57557016e-03 -8.66293207e-03 9.99959159e-01 -2.04341422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters Centerline goodness : 0.920547 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.03, Z:-2.04 [[ 9.99836811e-01 -1.79350503e-02 2.16446114e-03 1.40336477e+01] [ 1.79162019e-02 9.99803918e-01 8.43413501e-03 -2.72725726e-02] [-2.31530336e-03 -8.39397973e-03 9.99962090e-01 -2.04401636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23119381700002 meters Centerline goodness : 0.919310 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.02, Z:-2.05 [[ 9.99907965e-01 -1.32299000e-02 3.00526075e-03 1.40542527e+01] [ 1.32377131e-02 9.99909010e-01 -2.59495268e-03 -2.45443419e-02] [-2.97065634e-03 2.63449663e-03 9.99992117e-01 -2.04566100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26119381700002 meters Centerline goodness : 0.920006 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.02, Z:-2.04 [[ 9.99955423e-01 -9.05446607e-03 2.67730385e-03 1.40544000e+01] [ 9.05279501e-03 9.99958821e-01 6.35620350e-04 -2.25235954e-02] [-2.68294880e-03 -6.11354933e-04 9.99996214e-01 -2.04485673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29119381700002 meters Centerline goodness : 0.923587 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.02, Z:-2.05 [[ 9.99971324e-01 -7.25305791e-03 2.17815246e-03 1.40563856e+01] [ 7.24865516e-03 9.99971683e-01 2.02246178e-03 -2.13004714e-02] [-2.19275982e-03 -2.00661511e-03 9.99995583e-01 -2.04601205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32119381700002 meters Centerline goodness : 0.921830 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.02, Z:-2.05 [[ 9.99974757e-01 -6.82875148e-03 1.96326075e-03 1.40568492e+01] [ 6.82565838e-03 9.99975460e-01 1.57789356e-03 -1.86362181e-02] [-1.97398762e-03 -1.56445318e-03 9.99996828e-01 -2.04588590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35119381700002 meters Centerline goodness : 0.923719 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.02, Z:-2.05 [[ 9.99991384e-01 -3.75385645e-03 1.77188864e-03 1.40567731e+01] [ 3.74640618e-03 9.99984206e-01 4.18946107e-03 -1.56210435e-02] [-1.78758729e-03 -4.18278676e-03 9.99989654e-01 -2.04526616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38119381700002 meters Centerline goodness : 0.920855 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.02, Z:-2.04 [[ 9.99986800e-01 -4.10397979e-03 -3.09153882e-03 1.40463912e+01] [ 4.14827251e-03 9.99886850e-01 1.44595689e-02 -1.63964514e-02] [ 3.03184723e-03 -1.44722026e-02 9.99890676e-01 -2.04158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41119381700003 meters Centerline goodness : 0.919684 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.02, Z:-2.04 [[ 9.99985629e-01 -4.21901647e-03 -3.30770032e-03 1.40467254e+01] [ 4.26594842e-03 9.99888472e-01 1.43124160e-02 -1.51858648e-02] [ 3.24694710e-03 -1.43263208e-02 9.99892101e-01 -2.04142438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44119381700003 meters Centerline goodness : 0.921752 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.01, Z:-2.04 [[ 9.99983330e-01 -4.50756099e-03 -3.60861192e-03 1.40471572e+01] [ 4.55818999e-03 9.99889537e-01 1.41469734e-02 -1.43157198e-02] [ 3.54444496e-03 -1.41631863e-02 9.99893415e-01 -2.04113443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47119381700003 meters Centerline goodness : 0.920601 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.02, Z:-2.04 [[ 9.99918795e-01 -7.74090706e-03 -1.01232804e-02 1.40366437e+01] [ 7.94871859e-03 9.99755135e-01 2.06515605e-02 -1.57535147e-02] [ 9.96093977e-03 -2.07303506e-02 9.99735481e-01 -2.03675736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50119381700003 meters Centerline goodness : 0.919863 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.02, Z:-2.04 [[ 9.99888736e-01 -1.03200064e-02 -1.07709657e-02 1.40391287e+01] [ 1.05100050e-02 9.99787483e-01 1.77349354e-02 -1.54557725e-02] [ 1.05856520e-02 -1.78461651e-02 9.99784706e-01 -2.03810796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53119381700003 meters Centerline goodness : 0.918482 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.02, Z:-2.04 [[ 9.99883593e-01 -1.05109015e-02 -1.10598918e-02 1.40398988e+01] [ 1.07054532e-02 9.99786363e-01 1.76810982e-02 -1.58040037e-02] [ 1.08716847e-02 -1.77974411e-02 9.99782505e-01 -2.03831174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56119381700003 meters Centerline goodness : 0.913728 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.01, Z:-2.04 [[ 9.99884579e-01 -9.98793046e-03 -1.14486075e-02 1.40407153e+01] [ 1.01897672e-02 9.99791255e-01 1.77091863e-02 -1.48103157e-02] [ 1.12693396e-02 -1.78238009e-02 9.99777632e-01 -2.03833142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59119381700003 meters Centerline goodness : 0.917589 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.01, Z:-2.04 [[ 9.99907811e-01 -7.51988929e-03 -1.13057524e-02 1.40391122e+01] [ 7.74515353e-03 9.99769684e-01 2.00147819e-02 -1.47959992e-02] [ 1.11526396e-02 -2.01005016e-02 9.99735759e-01 -2.03673928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62119381700003 meters Centerline goodness : 0.912659 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.01, Z:-2.03 [[ 9.99923999e-01 -5.33901693e-03 -1.11126887e-02 1.40372759e+01] [ 5.57932727e-03 9.99748799e-01 2.17073908e-02 -1.44795404e-02] [ 1.09940010e-02 -2.17677424e-02 9.99702604e-01 -2.03491580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65119381700003 meters Centerline goodness : 0.919174 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.01, Z:-2.03 [[ 9.99960255e-01 -1.73469965e-03 -8.74522900e-03 1.40549915e+01] [ 1.95515107e-03 9.99678928e-01 2.52629945e-02 -1.49870079e-02] [ 8.69859744e-03 -2.52790887e-02 9.99642587e-01 -2.03366257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68119381700004 meters Centerline goodness : 0.914586 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.01, Z:-2.03 [[ 9.99954008e-01 3.24047417e-03 -9.02664431e-03 1.40554205e+01] [-2.97152906e-03 9.99555916e-01 2.96503020e-02 -1.48611209e-02] [ 9.11871676e-03 -2.96221154e-02 9.99519574e-01 -2.03340045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.711193817 meters Centerline goodness : 0.910787 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.02, Z:-2.03 [[ 9.99935324e-01 5.24500678e-03 -1.00914207e-02 1.40762000e+01] [-4.92461464e-03 9.99491114e-01 3.15160323e-02 -1.51816453e-02] [ 1.02515871e-02 -3.14642977e-02 9.99452301e-01 -2.03355211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters Centerline goodness : 0.910585 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.02, Z:-2.03 [[ 9.99923872e-01 6.27622082e-03 -1.06234876e-02 1.40783909e+01] [-5.92943597e-03 9.99458502e-01 3.23658011e-02 -1.58359100e-02] [ 1.08208700e-02 -3.23003459e-02 9.99419630e-01 -2.03495644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.771193817 meters Centerline goodness : 0.907999 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.02, Z:-2.04 [[ 9.99924022e-01 5.92739150e-03 -1.08081296e-02 1.40994435e+01] [-5.58076794e-03 9.99477922e-01 3.18235458e-02 -1.63753968e-02] [ 1.09911175e-02 -3.17608102e-02 9.99435064e-01 -2.03551764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters Centerline goodness : 0.909359 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.02, Z:-2.03 [[ 9.99972271e-01 3.69003019e-03 -6.46845576e-03 1.41157714e+01] [-3.49509578e-03 9.99547002e-01 2.98927217e-02 -2.07175443e-02] [ 6.57583061e-03 -2.98692849e-02 9.99532183e-01 -2.03454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.831193817 meters Centerline goodness : 0.910991 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.03, Z:-2.04 [[ 9.99994974e-01 2.77684418e-03 -1.53030372e-03 1.41259661e+01] [-2.71298732e-03 9.99185582e-01 4.02593179e-02 -2.66198634e-02] [ 1.64085127e-03 -4.02549639e-02 9.99188093e-01 -2.03684336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters Centerline goodness : 0.908226 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.04, Z:-2.02 [[ 9.99993104e-01 2.35531024e-04 -3.70633785e-03 1.41486231e+01] [ 6.71764607e-05 9.96676478e-01 8.14616048e-02 -4.06851521e-02] [ 3.71320649e-03 -8.14612920e-02 9.96669589e-01 -2.02212233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89119381700002 meters Centerline goodness : 0.911078 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.05, Z:-2.01 [[ 9.99958415e-01 -2.03298768e-03 -8.89015283e-03 1.41714763e+01] [ 3.06120037e-03 9.93101162e-01 1.17220780e-01 -5.22488038e-02] [ 8.59051270e-03 -1.17243120e-01 9.93066087e-01 -2.00625442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters Centerline goodness : 0.913224 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.06, Z:-2.00 [[ 9.99949480e-01 -1.50177557e-03 -9.93891294e-03 1.41708952e+01] [ 2.68983517e-03 9.92694333e-01 1.20626390e-01 -5.63657034e-02] [ 9.68514879e-03 -1.20647030e-01 9.92648222e-01 -2.00132373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95119381700002 meters Centerline goodness : 0.913574 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.06, Z:-2.00 [[ 9.99954418e-01 -1.57337535e-03 -9.41732960e-03 1.41700383e+01] [ 2.51489481e-03 9.94901816e-01 1.00816922e-01 -5.76015343e-02] [ 9.21069546e-03 -1.00836010e-01 9.94860423e-01 -1.99920869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters Centerline goodness : 0.916110 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.05, Z:-2.00 [[ 9.99956567e-01 -3.31228154e-04 -9.31420335e-03 1.41760518e+01] [ 1.00815332e-03 9.97348513e-01 7.27662476e-02 -5.37065320e-02] [ 9.26540463e-03 -7.27724773e-02 9.97305529e-01 -1.99782276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01119381700002 meters Centerline goodness : 0.914516 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.05, Z:-2.00 [[ 9.99982181e-01 1.65370806e-03 -5.73604734e-03 1.41732178e+01] [-1.33418835e-03 9.98470716e-01 5.52670642e-02 -5.24300158e-02] [ 5.81867088e-03 -5.52584264e-02 9.98455131e-01 -1.99750516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04119381700002 meters Centerline goodness : 0.919465 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.05, Z:-2.00 [[ 9.99986206e-01 4.88488691e-03 -1.93029794e-03 1.41725028e+01] [-4.80195136e-03 9.99153458e-01 4.08571770e-02 -5.49504419e-02] [ 2.12824655e-03 -4.08473442e-02 9.99163132e-01 -1.99772078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07119381700002 meters Centerline goodness : 0.916496 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.06, Z:-2.00 [[ 9.99986340e-01 5.05902922e-03 1.31372490e-03 1.41667680e+01] [-5.10129183e-03 9.99393285e-01 3.44534229e-02 -5.70674876e-02] [-1.13862697e-03 -3.44596540e-02 9.99405441e-01 -2.00243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10119381700002 meters Centerline goodness : 0.917714 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.06, Z:-2.00 [[ 9.99970657e-01 6.95461096e-03 -3.21231170e-03 1.41666115e+01] [-6.88298628e-03 9.99738783e-01 2.17942670e-02 -5.92494416e-02] [ 3.36304323e-03 -2.17715172e-02 9.99757316e-01 -2.00361426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13119381700002 meters Centerline goodness : 0.916217 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.06, Z:-2.00 [[ 9.99941363e-01 7.47957607e-03 -7.83108080e-03 1.41774394e+01] [-7.34510839e-03 9.99827467e-01 1.70612339e-02 -6.30739603e-02] [ 7.95734048e-03 -1.70027133e-02 9.99823779e-01 -2.00322518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16119381700003 meters Centerline goodness : 0.916558 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.07, Z:-2.00 [[ 9.99889027e-01 8.52272832e-03 -1.22186702e-02 1.41869273e+01] [-8.35231499e-03 9.99868077e-01 1.39308013e-02 -6.66245312e-02] [ 1.23357867e-02 -1.38272011e-02 9.99828304e-01 -2.00268529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19119381700003 meters Centerline goodness : 0.914105 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.07, Z:-2.00 [[ 9.99887248e-01 8.08542938e-03 -1.26537034e-02 1.41891515e+01] [-7.90679228e-03 9.99869267e-01 1.41042954e-02 -7.25925470e-02] [ 1.27660885e-02 -1.40026549e-02 9.99820460e-01 -2.00430141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22119381700003 meters Centerline goodness : 0.912481 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.08, Z:-2.01 [[ 9.99885470e-01 6.88394730e-03 -1.34780801e-02 1.41919484e+01] [-6.70688897e-03 9.99891197e-01 1.31381822e-02 -7.59056896e-02] [ 1.35670562e-02 -1.30462815e-02 9.99822849e-01 -2.00573555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25119381700003 meters Centerline goodness : 0.915362 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.08, Z:-2.00 [[ 9.99903811e-01 1.82543772e-03 -1.37490474e-02 1.41918726e+01] [-1.70349929e-03 9.99959162e-01 8.87535972e-03 -8.31719853e-02] [ 1.37646873e-02 -8.85108452e-03 9.99866087e-01 -2.00485733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28119381700003 meters Centerline goodness : 0.919409 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.09, Z:-2.01 [[ 9.99960875e-01 5.71481454e-05 -8.84567706e-03 1.42001348e+01] [-8.84882417e-05 9.99993721e-01 -3.54263363e-03 -8.53267504e-02] [ 8.84541907e-03 3.54327776e-03 9.99954601e-01 -2.00660996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31119381700003 meters Centerline goodness : 0.922649 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.09, Z:-2.01 [[ 9.99991891e-01 -1.69692898e-03 -3.65206606e-03 1.42108659e+01] [ 1.64376969e-03 9.99893372e-01 -1.45100538e-02 -8.81445142e-02] [ 3.67629918e-03 1.45039330e-02 9.99888054e-01 -2.01021494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34119381700003 meters Centerline goodness : 0.927580 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.09, Z:-2.01 [[ 9.99979757e-01 -5.09890476e-03 -3.80618098e-03 1.42111349e+01] [ 5.03346898e-03 9.99842684e-01 -1.70079996e-02 -9.22439098e-02] [ 3.89230438e-03 1.69884970e-02 9.99848109e-01 -2.01004402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37119381700003 meters Centerline goodness : 0.929919 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.10, Z:-2.00 [[ 9.99933435e-01 -1.07170977e-02 -4.27415957e-03 1.42119848e+01] [ 1.06546826e-02 9.99840011e-01 -1.43676534e-02 -1.02701079e-01] [ 4.42745530e-03 1.43211572e-02 9.99887645e-01 -2.00388620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40119381700003 meters Centerline goodness : 0.933231 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.11, Z:-2.00 [[ 9.99892086e-01 -1.40762730e-02 -4.20421412e-03 1.42112736e+01] [ 1.40033280e-02 9.99759065e-01 -1.69032134e-02 -1.06430487e-01] [ 4.44113542e-03 1.68425163e-02 9.99848291e-01 -2.00291681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43119381700004 meters Centerline goodness : 0.940072 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.11, Z:-2.00 [[ 9.99835283e-01 -1.76844689e-02 -4.08241871e-03 1.42108177e+01] [ 1.76000629e-02 9.99647845e-01 -1.98601237e-02 -1.09505807e-01] [ 4.43219681e-03 1.97850016e-02 9.99794434e-01 -2.00238252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters Centerline goodness : 0.940145 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.11, Z:-2.00 [[ 9.99824198e-01 -1.82832646e-02 -4.15884154e-03 1.42112177e+01] [ 1.82006155e-02 9.99651689e-01 -1.91112018e-02 -1.13947036e-01] [ 4.50680813e-03 1.90321485e-02 9.99808715e-01 -2.00245208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.491193817 meters Centerline goodness : 0.945968 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.12, Z:-2.00 [[ 9.99726709e-01 -2.29900924e-02 -4.23836369e-03 1.42127201e+01] [ 2.28894666e-02 9.99486324e-01 -2.24312596e-02 -1.17847455e-01] [ 4.75188328e-03 2.23281155e-02 9.99739403e-01 -2.00389274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters Centerline goodness : 0.942339 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.12, Z:-2.00 [[ 9.99714501e-01 -2.34717985e-02 -4.47108162e-03 1.42139678e+01] [ 2.33670544e-02 9.99480603e-01 -2.21924371e-02 -1.19596612e-01] [ 4.98965577e-03 2.20816252e-02 9.99743720e-01 -2.00482825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.551193817 meters Centerline goodness : 0.939881 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.12, Z:-2.01 [[ 9.99703086e-01 -2.38987484e-02 -4.75293853e-03 1.42153127e+01] [ 2.37877831e-02 9.99471103e-01 -2.21732872e-02 -1.20382006e-01] [ 5.28033853e-03 2.20536418e-02 9.99742844e-01 -2.00571034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters Centerline goodness : 0.938882 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.12, Z:-2.01 [[ 9.99684939e-01 -2.45585516e-02 -5.18655636e-03 1.42171488e+01] [ 2.44355853e-02 9.99446542e-01 -2.25723803e-02 -1.20040697e-01] [ 5.73803078e-03 2.24385321e-02 9.99731758e-01 -2.00693989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61119381700001 meters Centerline goodness : 0.938402 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.12, Z:-2.01 [[ 9.99681362e-01 -2.46483021e-02 -5.44390336e-03 1.42181392e+01] [ 2.45184024e-02 9.99440212e-01 -2.27620468e-02 -1.19419276e-01] [ 6.00190173e-03 2.26213181e-02 9.99726089e-01 -2.00746594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters Centerline goodness : 0.937016 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.12, Z:-2.01 [[ 9.99676014e-01 -2.48141652e-02 -5.66781646e-03 1.42190921e+01] [ 2.46771193e-02 9.99428794e-01 -2.30894934e-02 -1.18348798e-01] [ 6.23752548e-03 2.29421473e-02 9.99717336e-01 -2.00802221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67119381700002 meters Centerline goodness : 0.937364 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.12, Z:-2.01 [[ 9.99715472e-01 -2.31486909e-02 -5.75446658e-03 1.42398387e+01] [ 2.30177851e-02 9.99496047e-01 -2.18593969e-02 -1.18286749e-01] [ 6.25758302e-03 2.17207222e-02 9.99744494e-01 -2.00840021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters Centerline goodness : 0.937811 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.12, Z:-2.01 [[ 9.99774203e-01 -2.03698206e-02 -6.05088157e-03 1.42407512e+01] [ 2.02551176e-02 9.99624620e-01 -1.84485684e-02 -1.18343330e-01] [ 6.42440422e-03 1.83218415e-02 9.99811501e-01 -2.00878452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73119381700002 meters Centerline goodness : 0.937960 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.11, Z:-2.01 [[ 9.99724695e-01 -2.25589127e-02 -6.45215550e-03 1.42422887e+01] [ 2.24212142e-02 9.99534872e-01 -2.06719149e-02 -1.13998767e-01] [ 6.91549035e-03 2.05215586e-02 9.99765493e-01 -2.00946484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76119381700002 meters Centerline goodness : 0.937318 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.11, Z:-2.01 [[ 9.99705518e-01 -2.33320930e-02 -6.67012580e-03 1.42432495e+01] [ 2.31859066e-02 9.99506098e-01 -2.12125742e-02 -1.13049569e-01] [ 7.16176517e-03 2.10516746e-02 9.99752737e-01 -2.01002544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79119381700002 meters Centerline goodness : 0.937043 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.11, Z:-2.01 [[ 9.99682455e-01 -2.42166616e-02 -6.96725315e-03 1.42444738e+01] [ 2.40591767e-02 9.99471443e-01 -2.18629887e-02 -1.12206327e-01] [ 7.49301917e-03 2.16884199e-02 9.99736699e-01 -2.01068865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82119381700002 meters Centerline goodness : 0.937043 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.11, Z:-2.01 [[ 9.99682455e-01 -2.42166616e-02 -6.96725315e-03 1.42444738e+01] [ 2.40591767e-02 9.99471443e-01 -2.18629887e-02 -1.12206327e-01] [ 7.49301917e-03 2.16884199e-02 9.99736699e-01 -2.01068865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85119381700002 meters Centerline goodness : 0.936160 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.11, Z:-2.01 [[ 9.99629515e-01 -2.62434101e-02 -7.21920874e-03 1.42460969e+01] [ 2.60647639e-02 9.99376495e-01 -2.38170036e-02 -1.09057749e-01] [ 7.83974692e-03 2.36200128e-02 9.99690269e-01 -2.01182931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88119381700002 meters Centerline goodness : 0.938007 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.11, Z:-2.01 [[ 9.99685567e-01 -2.39527911e-02 -7.41828013e-03 1.42468996e+01] [ 2.37918723e-02 9.99494880e-01 -2.10696757e-02 -1.07789853e-01] [ 7.91921055e-03 2.08865559e-02 9.99750488e-01 -2.01229474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91119381700003 meters Centerline goodness : 0.936760 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.11, Z:-2.01 [[ 9.99728999e-01 -2.19338764e-02 -7.79962967e-03 1.42484070e+01] [ 2.17834095e-02 9.99584432e-01 -1.88797694e-02 -1.05065170e-01] [ 8.21049493e-03 1.87047504e-02 9.99791338e-01 -2.01320175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94119381700003 meters Centerline goodness : 0.938018 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.10, Z:-2.01 [[ 9.99769618e-01 -2.01460516e-02 -7.40589272e-03 1.42689011e+01] [ 2.00125238e-02 9.99643354e-01 -1.76823212e-02 -1.01782465e-01] [ 7.75948040e-03 1.75300369e-02 9.99816227e-01 -2.01402182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97119381700003 meters Centerline goodness : 0.939624 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.09, Z:-2.02 [[ 9.99788019e-01 -2.03047354e-02 -3.41102354e-03 1.42857545e+01] [ 2.02218260e-02 9.99535550e-01 -2.27982988e-02 -8.99344155e-02] [ 3.87235272e-03 2.27244889e-02 9.99734266e-01 -2.01602149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00119381700003 meters Centerline goodness : 0.939386 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.09, Z:-2.02 [[ 9.99807156e-01 -1.94079205e-02 -2.99720337e-03 1.43067215e+01] [ 1.93302006e-02 9.99522996e-01 -2.40857769e-02 -8.54343255e-02] [ 3.46322853e-03 2.40231955e-02 9.99705403e-01 -2.01691308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03119381700003 meters Centerline goodness : 0.939369 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.08, Z:-2.02 [[ 9.99847034e-01 -1.73563094e-02 2.16041886e-03 1.43200063e+01] [ 1.74150162e-02 9.99366797e-01 -3.10277801e-02 -7.90367402e-02] [-1.62052312e-03 3.10606577e-02 9.99516188e-01 -2.02129649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06119381700003 meters Centerline goodness : 0.938887 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.07, Z:-2.02 [[ 9.99869190e-01 -1.59682247e-02 2.57264309e-03 1.43407401e+01] [ 1.60435006e-02 9.99342042e-01 -3.25282910e-02 -7.30827256e-02] [-2.05153134e-03 3.25653101e-02 9.99467504e-01 -2.02233404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09119381700003 meters Centerline goodness : 0.942827 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.06, Z:-2.02 [[ 9.99899417e-01 -1.27386097e-02 6.23565794e-03 1.43573060e+01] [ 1.29484279e-02 9.99308610e-01 -3.48516802e-02 -5.85956516e-02] [-5.78738472e-03 3.49289167e-02 9.99373042e-01 -2.02333361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12119381700003 meters Centerline goodness : 0.944357 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.05, Z:-2.02 [[ 9.99918411e-01 -9.93821115e-03 8.02513932e-03 1.43767438e+01] [ 1.02111664e-02 9.99344914e-01 -3.47199567e-02 -5.22817152e-02] [-7.67482791e-03 3.47990699e-02 9.99364859e-01 -2.02386157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15119381700003 meters Centerline goodness : 0.945175 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.05, Z:-2.02 [[ 9.99937764e-01 -6.79414003e-03 8.84917779e-03 1.43969747e+01] [ 7.09328460e-03 9.99389015e-01 -3.42239968e-02 -4.59226828e-02] [-8.61124845e-03 3.42846366e-02 9.99375010e-01 -2.02431988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18119381700004 meters Centerline goodness : 0.944861 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.04, Z:-2.02 [[ 9.99964089e-01 -1.40798976e-03 8.35691082e-03 1.43984931e+01] [ 1.65175504e-03 9.99571217e-01 -2.92344489e-02 -4.05809400e-02] [-8.31216572e-03 2.92472026e-02 9.99537648e-01 -2.02476820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.211193817 meters Centerline goodness : 0.945883 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.03, Z:-2.03 [[ 9.99963272e-01 3.67368586e-03 7.74327611e-03 1.44006805e+01] [-3.48155826e-03 9.99689308e-01 -2.46812962e-02 -3.45979804e-02] [-7.83154166e-03 2.46534311e-02 9.99665382e-01 -2.02565127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.241193817 meters Centerline goodness : 0.944131 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.02, Z:-2.03 [[ 9.99931918e-01 9.77684711e-03 6.36969538e-03 1.44410405e+01] [-9.60202970e-03 9.99591454e-01 -2.69207301e-02 -1.94132669e-02] [-6.63029293e-03 2.68577352e-02 9.99617277e-01 -2.02681691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.271193817 meters Centerline goodness : 0.944561 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.02, Z:-2.03 [[ 9.99854234e-01 1.59286314e-02 6.14726079e-03 1.44427595e+01] [-1.57948187e-02 9.99649742e-01 -2.12348040e-02 -1.54464763e-02] [-6.48334902e-03 2.11346138e-02 9.99755617e-01 -2.02800890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters Centerline goodness : 0.940962 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.01, Z:-2.03 [[ 9.99765547e-01 2.09100296e-02 5.62327982e-03 1.44458389e+01] [-2.08122805e-02 9.99640331e-01 -1.69132417e-02 -1.16645051e-02] [-5.97491368e-03 1.67922431e-02 9.99841148e-01 -2.03015959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.331193817 meters Centerline goodness : 0.939549 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.00, Z:-2.03 [[ 9.99606552e-01 2.75646860e-02 5.18940716e-03 1.44486390e+01] [-2.75004483e-02 9.99548946e-01 -1.20677613e-02 -2.28400671e-03] [-5.51971050e-03 1.19203022e-02 9.99913716e-01 -2.03184927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36119381700001 meters Centerline goodness : 0.942498 Centerline is valid? [False, False] Translation: X:14.45, Y:0.00, Z:-2.03 [[ 9.99517138e-01 3.06431440e-02 5.14666871e-03 1.44487662e+01] [-3.05931988e-02 9.99486601e-01 -9.51786656e-03 1.70940006e-03] [-5.43568378e-03 9.35581768e-03 9.99941459e-01 -2.03144501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39119381700002 meters Centerline goodness : 0.942308 Centerline is valid? [False, False] Translation: X:14.45, Y:0.01, Z:-2.03 [[ 9.99438525e-01 3.31029561e-02 5.17970242e-03 1.44482196e+01] [-3.30643731e-02 9.99426086e-01 -7.36519804e-03 5.54077819e-03] [-5.42053955e-03 7.18979905e-03 9.99959461e-01 -2.03037067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42119381700002 meters Centerline goodness : 0.943061 Centerline is valid? [False, False] Translation: X:14.45, Y:0.01, Z:-2.03 [[ 9.99378758e-01 3.48084563e-02 5.51991356e-03 1.44464785e+01] [-3.47764394e-02 9.99378322e-01 -5.79389723e-03 8.62523771e-03] [-5.71815856e-03 5.59833488e-03 9.99967980e-01 -2.02860158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45119381700002 meters Centerline goodness : 0.948486 Centerline is valid? [False, False] Translation: X:14.44, Y:0.01, Z:-2.03 [[ 9.99443939e-01 3.28786066e-02 5.55076308e-03 1.44449909e+01] [-3.28313105e-02 9.99425549e-01 -8.40698113e-03 1.44145654e-02] [-5.82398427e-03 8.22006751e-03 9.99949255e-01 -2.02645401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters Centerline goodness : 0.949145 Centerline is valid? [False, False] Translation: X:14.44, Y:0.02, Z:-2.03 [[ 9.99488061e-01 3.15031077e-02 5.58306580e-03 1.44441300e+01] [-3.14472326e-02 9.99457093e-01 -9.82809641e-03 1.62023988e-02] [-5.88965029e-03 9.64749305e-03 9.99936117e-01 -2.02534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51119381700002 meters Centerline goodness : 0.950014 Centerline is valid? [False, True] Translation: X:14.44, Y:0.02, Z:-2.03 [[ 9.99513445e-01 3.06712688e-02 5.66980845e-03 1.44439043e+01] [-3.06106341e-02 9.99476354e-01 -1.04884612e-02 1.66358712e-02] [-5.98853389e-03 1.03098016e-02 9.99928920e-01 -2.02521552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54119381700002 meters Centerline goodness : 0.952144 Centerline is valid? [True, True] Translation: X:14.47, Y:0.01, Z:-2.03 [[ 9.99633502e-01 2.63186562e-02 6.33960697e-03 1.44746154e+01] [-2.63165108e-02 9.99653572e-01 -4.21601667e-04 1.45505749e-02] [-6.34850674e-03 2.54610815e-04 9.99979816e-01 -2.02758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57119381700002 meters Centerline goodness : 0.949160 Centerline is valid? [True, False] Translation: X:14.48, Y:0.02, Z:-2.03 [[ 9.99659664e-01 2.54095014e-02 5.90868313e-03 1.44761679e+01] [-2.53991518e-02 9.99675733e-01 -1.82009836e-03 1.79969239e-02] [-5.95301493e-03 1.66940338e-03 9.99980887e-01 -2.02838986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60119381700002 meters Centerline goodness : 0.947385 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.03 [[ 9.99602808e-01 2.75555966e-02 5.90898370e-03 1.44771638e+01] [-2.75597563e-02 9.99619963e-01 6.23690548e-04 1.93370438e-02] [-5.88955191e-03 -7.86292973e-04 9.99982347e-01 -2.02944276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63119381700002 meters Centerline goodness : 0.945906 Centerline is valid? [False, False] Translation: X:14.48, Y:0.02, Z:-2.03 [[ 9.99614671e-01 2.71958218e-02 5.55845810e-03 1.44784881e+01] [-2.71953388e-02 9.99630125e-01 -1.62465625e-04 2.19188654e-02] [-5.56082055e-03 1.12388714e-05 9.99984538e-01 -2.03019375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66119381700003 meters Centerline goodness : 0.946144 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.03 [[ 9.99638146e-01 2.63712350e-02 5.30416032e-03 1.44795230e+01] [-2.63604460e-02 9.99650310e-01 -2.09379661e-03 2.70159866e-02] [-5.35752151e-03 1.95321893e-03 9.99983741e-01 -2.03069936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69119381700003 meters Centerline goodness : 0.946443 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.03 [[ 9.99585422e-01 2.80237402e-02 6.60710533e-03 1.44768235e+01] [-2.80247658e-02 9.99607227e-01 6.26779306e-05 2.87093954e-02] [-6.60275377e-03 -2.47814525e-04 9.99978171e-01 -2.03018663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72119381700003 meters Centerline goodness : 0.945007 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.03 [[ 9.99598817e-01 2.76258072e-02 6.24666419e-03 1.44777084e+01] [-2.76222982e-02 9.99618222e-01 -6.47338589e-04 3.08501996e-02] [-6.26216260e-03 4.74531667e-04 9.99980280e-01 -2.03028796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75119381700003 meters Centerline goodness : 0.941053 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.03 [[ 9.99611403e-01 2.72242215e-02 5.99033234e-03 1.44784022e+01] [-2.72180328e-02 9.99628902e-01 -1.11224088e-03 3.19248022e-02] [-6.01838924e-03 9.48763607e-04 9.99981439e-01 -2.03050151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78119381700003 meters Centerline goodness : 0.944242 Centerline is valid? [False, False] Translation: X:14.48, Y:0.03, Z:-2.03 [[ 9.99642959e-01 2.60568895e-02 5.91545362e-03 1.44780133e+01] [-2.60431033e-02 9.99657950e-01 -2.39573160e-03 3.43300679e-02] [-5.97585555e-03 2.24081946e-03 9.99979634e-01 -2.02975221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81119381700003 meters Centerline goodness : 0.945453 Centerline is valid? [False, False] Translation: X:14.48, Y:0.04, Z:-2.03 [[ 9.99657565e-01 2.55151368e-02 5.80786071e-03 1.44778483e+01] [-2.54983512e-02 9.99670523e-01 -2.94608882e-03 3.58144550e-02] [-5.88111702e-03 2.79698911e-03 9.99978794e-01 -2.02912998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84119381700003 meters Centerline goodness : 0.942916 Centerline is valid? [False, False] Translation: X:14.48, Y:0.04, Z:-2.03 [[ 9.99678727e-01 2.46845210e-02 5.75473477e-03 1.44778749e+01] [-2.46637362e-02 9.99689122e-01 -3.65518979e-03 3.66519205e-02] [-5.84317235e-03 3.51208221e-03 9.99976761e-01 -2.02899438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87119381700003 meters Centerline goodness : 0.941889 Centerline is valid? [False, False] Translation: X:14.46, Y:0.04, Z:-2.03 [[ 9.99816505e-01 1.87487674e-02 3.92937998e-03 1.44599919e+01] [-1.87712910e-02 9.99807121e-01 5.77582475e-03 3.76671109e-02] [-3.82033249e-03 -5.84852445e-03 9.99975600e-01 -2.02806569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90119381700003 meters Centerline goodness : 0.943635 Centerline is valid? [False, False] Translation: X:14.46, Y:0.04, Z:-2.03 [[ 9.99898907e-01 1.36603444e-02 3.94600801e-03 1.44593548e+01] [-1.36648241e-02 9.99906015e-01 1.11050355e-03 3.72909624e-02] [-3.93046729e-03 -1.16431279e-03 9.99991598e-01 -2.02748081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93119381700004 meters Centerline goodness : 0.945684 Centerline is valid? [False, False] Translation: X:14.46, Y:0.04, Z:-2.03 [[ 9.99924448e-01 1.15743988e-02 4.13906232e-03 1.44576616e+01] [-1.15724548e-02 9.99932915e-01 -4.93303033e-04 3.72349787e-02] [-4.14449433e-03 4.45366651e-04 9.99991312e-01 -2.02586403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.961193817 meters Centerline goodness : 0.946838 Centerline is valid? [False, False] Translation: X:14.46, Y:0.04, Z:-2.02 [[ 9.99946719e-01 9.35102968e-03 4.37244528e-03 1.44557695e+01] [-9.34086140e-03 9.99953635e-01 -2.34020456e-03 3.80894769e-02] [-4.39412588e-03 2.29923746e-03 9.99987703e-01 -2.02409582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.991193817 meters Centerline goodness : 0.948120 Centerline is valid? [False, False] Translation: X:14.45, Y:0.04, Z:-2.02 [[ 9.99959645e-01 7.69574574e-03 4.63498445e-03 1.44545318e+01] [-7.67902933e-03 9.99963986e-01 -3.61363417e-03 3.92095126e-02] [-4.66262714e-03 3.57789617e-03 9.99982729e-01 -2.02310065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.021193817 meters Centerline goodness : 0.949802 Centerline is valid? [False, False] Translation: X:14.45, Y:0.04, Z:-2.02 [[ 9.99976636e-01 4.35863751e-03 5.26589543e-03 1.44522171e+01] [-4.32300844e-03 9.99967816e-01 -6.75854504e-03 4.33610578e-02] [-5.29518400e-03 6.73562262e-03 9.99963296e-01 -2.02168453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.051193817 meters Centerline goodness : 0.949621 Centerline is valid? [False, False] Translation: X:14.45, Y:0.04, Z:-2.02 [[ 9.99978904e-01 3.87357952e-03 5.21409955e-03 1.44523390e+01] [-3.83502622e-03 9.99965385e-01 -7.38384818e-03 4.49814061e-02] [-5.24252099e-03 7.36369621e-03 9.99959145e-01 -2.02165078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.081193817 meters Centerline goodness : 0.952405 Centerline is valid? [False, True] Translation: X:14.45, Y:0.05, Z:-2.02 [[ 9.99980966e-01 3.50271721e-03 5.07933074e-03 1.44527989e+01] [-3.46251046e-03 9.99962776e-01 -7.90306136e-03 4.64639648e-02] [-5.10682385e-03 7.88532369e-03 9.99955870e-01 -2.02178598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11119381700001 meters Centerline goodness : 0.951934 Centerline is valid? [True, True] Translation: X:14.48, Y:0.04, Z:-2.02 [[ 9.99979645e-01 2.75447559e-03 5.75513819e-03 1.44847882e+01] [-2.75148676e-03 9.99996076e-01 -5.27184668e-04 4.23396749e-02] [-5.75656772e-03 5.11338750e-04 9.99983300e-01 -2.02040294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters Centerline goodness : 0.953108 Centerline is valid? [True, True] Translation: X:14.52, Y:0.05, Z:-2.02 [[ 9.99981145e-01 2.14253286e-03 5.75498809e-03 1.45168821e+01] [-2.13952465e-03 9.99997571e-01 -5.28818166e-04 4.74066827e-02] [-5.75610712e-03 5.16495256e-04 9.99983300e-01 -2.02348710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17119381700002 meters Centerline goodness : 0.951378 Centerline is valid? [True, True] Translation: X:14.55, Y:0.05, Z:-2.02 [[ 9.99978203e-01 3.23660197e-03 5.75490351e-03 1.45492508e+01] [-3.23360649e-03 9.99994632e-01 -5.29736933e-04 4.90927810e-02] [-5.75658717e-03 5.11116293e-04 9.99983300e-01 -2.02398042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters Centerline goodness : 0.950943 Centerline is valid? [True, True] Translation: X:14.58, Y:0.05, Z:-2.03 [[ 9.99974869e-01 4.14047627e-03 5.75475504e-03 1.45819251e+01] [-4.13748646e-03 9.99991299e-01 -5.31345044e-04 5.15158550e-02] [-5.75690499e-03 5.07521470e-04 9.99983300e-01 -2.02564717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23119381700002 meters Centerline goodness : 0.951960 Centerline is valid? [True, True] Translation: X:14.61, Y:0.05, Z:-2.03 [[ 9.99970656e-01 5.05692037e-03 5.75460727e-03 1.46148471e+01] [-5.05393651e-03 9.99987087e-01 -5.32940546e-04 5.36260854e-02] [-5.75722800e-03 5.03841487e-04 9.99983300e-01 -2.02659104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26119381700002 meters Centerline goodness : 0.953242 Centerline is valid? [True, True] Translation: X:14.65, Y:0.06, Z:-2.02 [[ 9.99952557e-01 7.85941138e-03 5.75445963e-03 1.46472356e+01] [-7.85646450e-03 9.99968995e-01 -5.34529988e-04 6.23498767e-02] [-5.75848230e-03 4.89294920e-04 9.99983300e-01 -2.02396489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29119381700002 meters Centerline goodness : 0.953692 Centerline is valid? [True, True] Translation: X:14.68, Y:0.06, Z:-2.03 [[ 9.99939368e-01 9.38859792e-03 5.75443769e-03 1.46779409e+01] [-9.38567483e-03 9.99955811e-01 -5.34766091e-04 6.47705272e-02] [-5.75920411e-03 4.80724386e-04 9.99983300e-01 -2.02545432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32119381700002 meters Centerline goodness : 0.954590 Centerline is valid? [True, True] Translation: X:14.71, Y:0.07, Z:-2.03 [[ 9.99926883e-01 1.06356230e-02 5.75438780e-03 1.47082801e+01] [-1.06327174e-02 9.99943328e-01 -5.35302393e-04 6.65378724e-02] [-5.75975496e-03 4.74078474e-04 9.99983300e-01 -2.02638771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35119381700002 meters Centerline goodness : 0.954059 Centerline is valid? [True, True] Translation: X:14.74, Y:0.07, Z:-2.03 [[ 9.99924463e-01 1.08607549e-02 5.75433314e-03 1.47396548e+01] [-1.08578496e-02 9.99940908e-01 -5.35889315e-04 7.21617750e-02] [-5.75981327e-03 4.73369152e-04 9.99983300e-01 -2.02572493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38119381700002 meters Centerline goodness : 0.953461 Centerline is valid? [True, True] Translation: X:14.77, Y:0.07, Z:-2.03 [[ 9.99935972e-01 9.74366238e-03 5.75433314e-03 1.47702796e+01] [-9.74073871e-03 9.99952414e-01 -5.35889315e-04 7.34129163e-02] [-5.75928084e-03 4.79803547e-04 9.99983300e-01 -2.02724395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41119381700003 meters Centerline goodness : 0.955938 Centerline is valid? [True, True] Translation: X:14.80, Y:0.07, Z:-2.03 [[ 9.99951579e-01 7.98292994e-03 5.75428605e-03 1.48005630e+01] [-7.97997444e-03 9.99968016e-01 -5.36394513e-04 7.47927729e-02] [-5.75838400e-03 4.90449485e-04 9.99983300e-01 -2.02722763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44119381700003 meters Centerline goodness : 0.954136 Centerline is valid? [True, True] Translation: X:14.83, Y:0.08, Z:-2.03 [[ 9.99966001e-01 5.90642349e-03 5.75428605e-03 1.48319427e+01] [-5.90343386e-03 9.99982431e-01 -5.36394513e-04 7.53496075e-02] [-5.75735312e-03 5.02406229e-04 9.99983300e-01 -2.02804584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47119381700003 meters Centerline goodness : 0.953014 Centerline is valid? [True, True] Translation: X:14.86, Y:0.08, Z:-2.03 [[ 9.99978066e-01 3.27971777e-03 5.75426591e-03 1.48633140e+01] [-3.27668376e-03 9.99994488e-01 -5.36610433e-04 7.60416525e-02] [-5.75599412e-03 5.17743753e-04 9.99983300e-01 -2.02787375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50119381700003 meters Centerline goodness : 0.950731 Centerline is valid? [True, True] Translation: X:14.90, Y:0.08, Z:-2.03 [[ 9.99977661e-01 -3.40104301e-03 5.75424483e-03 1.48953317e+01] [ 3.40418795e-03 9.99994062e-01 -5.36836393e-04 7.88414537e-02] [-5.75238486e-03 5.56412932e-04 9.99983300e-01 -2.03026704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53119381700003 meters Centerline goodness : 0.950778 Centerline is valid? [True, True] Translation: X:14.93, Y:0.08, Z:-2.03 [[ 9.99964075e-01 -6.22406185e-03 5.75410776e-03 1.49279748e+01] [ 6.22726143e-03 9.99980466e-01 -5.38301617e-04 7.96304926e-02] [-5.75064493e-03 5.74114612e-04 9.99983300e-01 -2.03073127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56119381700003 meters Centerline goodness : 0.949781 Centerline is valid? [True, False] Translation: X:14.93, Y:0.08, Z:-2.03 [[ 9.99958640e-01 -7.10212277e-03 5.68146829e-03 1.49283516e+01] [ 7.11235200e-03 9.99973119e-01 -1.78228143e-03 8.32559623e-02] [-5.66865758e-03 1.82261632e-03 9.99982272e-01 -2.03090649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59119381700003 meters Centerline goodness : 0.951465 Centerline is valid? [False, True] Translation: X:14.93, Y:0.09, Z:-2.03 [[ 9.99965276e-01 -5.66164373e-03 6.11499306e-03 1.49263883e+01] [ 5.66253551e-03 9.99983959e-01 -1.28532468e-04 8.63795431e-02] [-6.11416727e-03 1.63154370e-04 9.99981295e-01 -2.02960069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62119381700003 meters Centerline goodness : 0.955394 Centerline is valid? [True, True] Translation: X:14.96, Y:0.09, Z:-2.03 [[ 9.99937100e-01 -9.43368453e-03 6.06644832e-03 1.49590784e+01] [ 9.43756126e-03 9.99955279e-01 -6.10735482e-04 9.41129836e-02] [-6.06041554e-03 6.67949545e-04 9.99981412e-01 -2.02664987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65119381700003 meters Centerline goodness : 0.956172 Centerline is valid? [True, True] Translation: X:14.99, Y:0.10, Z:-2.03 [[ 9.99928203e-01 -1.03338166e-02 6.06635852e-03 1.49909463e+01] [ 1.03377151e-02 9.99946377e-01 -6.11626219e-04 9.73190572e-02] [-6.05971279e-03 6.74294592e-04 9.99981412e-01 -2.02669420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68119381700004 meters Centerline goodness : 0.956341 Centerline is valid? [True, True] Translation: X:15.02, Y:0.10, Z:-2.03 [[ 9.99933493e-01 -9.80865513e-03 6.06632296e-03 1.50234810e+01] [ 9.81254612e-03 9.99951669e-01 -6.11978645e-04 1.00882967e-01] [-6.06002708e-03 6.71464018e-04 9.99981412e-01 -2.02531483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.711193817 meters Centerline goodness : 0.958799 Centerline is valid? [True, True] Translation: X:15.06, Y:0.10, Z:-2.02 [[ 9.99938320e-01 -9.30352956e-03 6.06627408e-03 1.50561729e+01] [ 9.30741428e-03 9.99956498e-01 -6.12462832e-04 1.04975531e-01] [-6.06031211e-03 6.68886382e-04 9.99981412e-01 -2.02494926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters Centerline goodness : 0.958799 Centerline is valid? [True, True] Translation: X:15.09, Y:0.10, Z:-2.03 [[ 9.99939055e-01 -9.22431085e-03 6.06622525e-03 1.50886791e+01] [ 9.22819703e-03 9.99957231e-01 -6.12946112e-04 1.01600717e-01] [-6.06031180e-03 6.68889078e-04 9.99981412e-01 -2.02514840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.771193817 meters Centerline goodness : 0.960664 Centerline is valid? [True, True] Translation: X:15.12, Y:0.11, Z:-2.02 [[ 9.99961043e-01 -6.41197438e-03 6.06617665e-03 1.51220292e+01] [ 6.41581230e-03 9.99979230e-01 -6.13426687e-04 1.12270057e-01] [-6.06211738e-03 6.52322241e-04 9.99981412e-01 -2.02424651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters Centerline goodness : 0.962533 Centerline is valid? [True, True] Translation: X:15.15, Y:0.12, Z:-2.03 [[ 9.99974985e-01 -3.63757670e-03 6.06612678e-03 1.51539572e+01] [ 3.64136710e-03 9.99993182e-01 -6.13919416e-04 1.16598064e-01] [-6.06385224e-03 6.35993053e-04 9.99981412e-01 -2.02538943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.831193817 meters Centerline goodness : 0.962670 Centerline is valid? [True, True] Translation: X:15.19, Y:0.12, Z:-2.02 [[ 9.99981558e-01 2.94857545e-04 6.06608951e-03 1.51869007e+01] [-2.91136523e-04 9.99999769e-01 -6.14287452e-04 1.21564259e-01] [-6.06626924e-03 6.12510062e-04 9.99981412e-01 -2.02426604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters Centerline goodness : 0.964316 Centerline is valid? [True, True] Translation: X:15.22, Y:0.13, Z:-2.02 [[ 9.99974492e-01 3.77071223e-03 6.06604156e-03 1.52196803e+01] [-3.76705169e-03 9.99992716e-01 -6.14760637e-04 1.26974899e-01] [-6.06831546e-03 5.91893863e-04 9.99981412e-01 -2.02218951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89119381700002 meters Centerline goodness : 0.964696 Centerline is valid? [True, True] Translation: X:15.25, Y:0.14, Z:-2.02 [[ 9.99914015e-01 1.16261021e-02 6.06599252e-03 1.52522664e+01] [-1.16225819e-02 9.99932266e-01 -6.15244124e-04 1.38030226e-01] [-6.07273454e-03 5.44688727e-04 9.99981412e-01 -2.02417360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters Centerline goodness : 0.961832 Centerline is valid? [True, True] Translation: X:15.28, Y:0.14, Z:-2.02 [[ 9.99858179e-01 1.57106947e-02 6.06595605e-03 1.52820628e+01] [-1.57072470e-02 9.99876444e-01 -6.15603483e-04 1.41440495e-01] [-6.07487813e-03 5.20236708e-04 9.99981412e-01 -2.02256596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95119381700002 meters Centerline goodness : 0.962738 Centerline is valid? [True, True] Translation: X:15.31, Y:0.14, Z:-2.02 [[ 9.99794611e-01 1.93375128e-02 6.06599203e-03 1.53106848e+01] [-1.93341335e-02 9.99812889e-01 -6.15248775e-04 1.44229590e-01] [-6.07675440e-03 4.97841710e-04 9.99981412e-01 -2.02339981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters Centerline goodness : 0.960971 Centerline is valid? [True, True] Translation: X:15.34, Y:0.15, Z:-2.02 [[ 9.99657246e-01 2.54674904e-02 6.06605150e-03 1.53399350e+01] [-2.54642267e-02 9.99675545e-01 -6.14661826e-04 1.51293653e-01] [-6.07973724e-03 4.59983837e-04 9.99981412e-01 -2.02273965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01119381700002 meters Centerline goodness : 0.961413 Centerline is valid? [True, True] Translation: X:15.37, Y:0.15, Z:-2.02 [[ 9.99605667e-01 2.74173850e-02 6.06609815e-03 1.53691915e+01] [-2.74141598e-02 9.99623973e-01 -6.14201106e-04 1.53277208e-01] [-6.08065692e-03 4.47661922e-04 9.99981412e-01 -2.02211304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04119381700002 meters Centerline goodness : 0.961657 Centerline is valid? [True, True] Translation: X:15.40, Y:0.15, Z:-2.02 [[ 9.99554255e-01 2.92317224e-02 6.06614526e-03 1.53981960e+01] [-2.92285332e-02 9.99572567e-01 -6.13735445e-04 1.54741853e-01] [-6.08149294e-03 4.36157347e-04 9.99981412e-01 -2.02112436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07119381700002 meters Centerline goodness : 0.960023 Centerline is valid? [True, True] Translation: X:15.43, Y:0.16, Z:-2.02 [[ 9.99517028e-01 3.04780563e-02 6.06619216e-03 1.54261559e+01] [-3.04748928e-02 9.99535344e-01 -6.13271611e-04 1.56736161e-01] [-6.08206479e-03 4.28108863e-04 9.99981412e-01 -2.01845549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10119381700002 meters Centerline goodness : 0.957760 Centerline is valid? [True, True] Translation: X:15.46, Y:0.16, Z:-2.02 [[ 9.99464035e-01 3.21689848e-02 6.06626511e-03 1.54558644e+01] [-3.21658567e-02 9.99482357e-01 -6.12549115e-04 1.61686464e-01] [-6.08283004e-03 4.17094196e-04 9.99981412e-01 -2.01760282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13119381700002 meters Centerline goodness : 0.957066 Centerline is valid? [True, True] Translation: X:15.48, Y:0.16, Z:-2.02 [[ 9.99425642e-01 3.33404459e-02 6.06631403e-03 1.54845686e+01] [-3.33373421e-02 9.99443969e-01 -6.12064247e-04 1.62180107e-01] [-6.08334747e-03 4.09477917e-04 9.99981412e-01 -2.01880986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16119381700003 meters Centerline goodness : 0.955220 Centerline is valid? [True, True] Translation: X:15.51, Y:0.16, Z:-2.02 [[ 9.99425012e-01 3.33593114e-02 6.06636309e-03 1.55119913e+01] [-3.33562109e-02 9.99443340e-01 -6.11577660e-04 1.61666970e-01] [-6.08338799e-03 4.08875124e-04 9.99981412e-01 -2.02205665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19119381700003 meters Centerline goodness : 0.953720 Centerline is valid? [True, True] Translation: X:15.54, Y:0.16, Z:-2.02 [[ 9.99415974e-01 3.36289876e-02 6.06644170e-03 1.55409539e+01] [-3.36258968e-02 9.99434303e-01 -6.10796850e-04 1.60136299e-01] [-6.08355042e-03 4.06450587e-04 9.99981412e-01 -2.02403092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22119381700003 meters Centerline goodness : 0.951315 Centerline is valid? [True, True] Translation: X:15.57, Y:0.16, Z:-2.02 [[ 9.99505377e-01 3.08577237e-02 6.06648880e-03 1.55696516e+01] [-3.08545849e-02 9.99523698e-01 -6.10328680e-04 1.61793959e-01] [-6.08243268e-03 4.22847804e-04 9.99981412e-01 -2.02340559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25119381700003 meters Centerline goodness : 0.951997 Centerline is valid? [True, True] Translation: X:15.60, Y:0.16, Z:-2.02 [[ 9.99568330e-01 2.87463246e-02 6.06653636e-03 1.55981991e+01] [-2.87431500e-02 9.99586644e-01 -6.09855574e-04 1.61774044e-01] [-6.08155983e-03 4.35220952e-04 9.99981412e-01 -2.02373043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28119381700003 meters Centerline goodness : 0.949845 Centerline is valid? [True, False] Translation: X:15.62, Y:0.16, Z:-2.03 [[ 9.99635042e-01 2.62767581e-02 6.27010010e-03 1.56169484e+01] [-2.63018998e-02 9.99646195e-01 3.96158189e-03 1.61521703e-01] [-6.16378418e-03 -4.12505162e-03 9.99972495e-01 -2.02544666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31119381700003 meters Centerline goodness : 0.944487 Centerline is valid? [False, False] Translation: X:15.64, Y:0.16, Z:-2.03 [[ 9.99693007e-01 2.45344740e-02 3.45694036e-03 1.56390319e+01] [-2.45625587e-02 9.99663585e-01 8.33047188e-03 1.63178287e-01] [-3.25139365e-03 -8.41282579e-03 9.99959326e-01 -2.02772934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34119381700003 meters Centerline goodness : 0.946119 Centerline is valid? [False, False] Translation: X:15.64, Y:0.16, Z:-2.03 [[ 9.99683774e-01 2.49865905e-02 2.83231927e-03 1.56411269e+01] [-2.50095947e-02 9.99651915e-01 8.40052279e-03 1.64092040e-01] [-2.62143296e-03 -8.46870148e-03 9.99960704e-01 -2.02857281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37119381700003 meters Centerline goodness : 0.946002 Centerline is valid? [False, False] Translation: X:15.66, Y:0.17, Z:-2.03 [[ 9.99786389e-01 2.06487397e-02 8.97244781e-04 1.56565095e+01] [-2.06587472e-02 9.99700349e-01 1.31312181e-02 1.65498505e-01] [-6.25832815e-04 -1.31469491e-02 9.99913379e-01 -2.03085726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40119381700003 meters Centerline goodness : 0.947695 Centerline is valid? [False, False] Translation: X:15.68, Y:0.17, Z:-2.03 [[ 9.99837467e-01 1.79713921e-02 1.43850935e-03 1.56760840e+01] [-1.79901738e-02 9.99735493e-01 1.43282012e-02 1.66599267e-01] [-1.18063114e-03 -1.43517514e-02 9.99896311e-01 -2.03120484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43119381700004 meters Centerline goodness : 0.949961 Centerline is valid? [False, False] Translation: X:15.68, Y:0.17, Z:-2.03 [[ 9.99821738e-01 1.88540829e-02 1.00823093e-03 1.56775592e+01] [-1.88665408e-02 9.99720496e-01 1.42472271e-02 1.69980891e-01] [-7.39330729e-04 -1.42637091e-02 9.99897995e-01 -2.03146453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters Centerline goodness : 0.951298 Centerline is valid? [False, True] Translation: X:15.68, Y:0.17, Z:-2.03 [[ 9.99825467e-01 1.86694761e-02 6.96965938e-04 1.56779552e+01] [-1.86772311e-02 9.99733067e-01 1.35998608e-02 1.71701435e-01] [-4.42877617e-04 -1.36105046e-02 9.99907275e-01 -2.03082177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.491193817 meters Centerline goodness : 0.953137 Centerline is valid? [True, True] Translation: X:15.71, Y:0.18, Z:-2.03 [[ 9.99838072e-01 1.79873834e-02 -5.33219361e-04 1.57063849e+01] [-1.79873601e-02 9.99838213e-01 4.84030640e-05 1.75294784e-01] [ 5.34003737e-04 -3.88040175e-05 9.99999857e-01 -2.02613384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters Centerline goodness : 0.951814 Centerline is valid? [True, True] Translation: X:15.74, Y:0.17, Z:-2.03 [[ 9.99851302e-01 1.72362961e-02 -5.33223875e-04 1.57350627e+01] [-1.72362728e-02 9.99851443e-01 4.83532875e-05 1.71995754e-01] [ 5.33978092e-04 -3.91553053e-05 9.99999857e-01 -2.02613829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.551193817 meters Centerline goodness : 0.954461 Centerline is valid? [True, True] Translation: X:15.76, Y:0.17, Z:-2.03 [[ 9.99904277e-01 1.38257843e-02 -5.33227508e-04 1.57622129e+01] [-1.38257605e-02 9.99904418e-01 4.83131832e-05 1.68213155e-01] [ 5.33844509e-04 -4.09362827e-05 9.99999857e-01 -2.02833029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.581193817 meters Centerline goodness : 0.954711 Centerline is valid? [True, True] Translation: X:15.79, Y:0.17, Z:-2.03 [[ 9.99928347e-01 1.19589751e-02 -5.33232007e-04 1.57913441e+01] [-1.19589511e-02 9.99928488e-01 4.82634768e-05 1.66114661e-01] [ 5.33771056e-04 -4.18831231e-05 9.99999857e-01 -2.02611088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61119381700001 meters Centerline goodness : 0.951540 Centerline is valid? [True, True] Translation: X:15.82, Y:0.16, Z:-2.03 [[ 9.99966420e-01 8.17766452e-03 -5.33235664e-04 1.58192595e+01] [-8.17763996e-03 9.99966561e-01 4.82230413e-05 1.64185607e-01] [ 5.33612185e-04 -4.38608127e-05 9.99999857e-01 -2.02866762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64119381700002 meters Centerline goodness : 0.951540 Centerline is valid? [True, True] Translation: X:15.85, Y:0.16, Z:-2.03 [[ 9.99967002e-01 8.10624497e-03 -5.33240183e-04 1.58484345e+01] [-8.10622043e-03 9.99967143e-01 4.81730219e-05 1.61642683e-01] [ 5.33613164e-04 -4.38488698e-05 9.99999857e-01 -2.02865192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67119381700002 meters Centerline goodness : 0.953471 Centerline is valid? [True, True] Translation: X:15.88, Y:0.16, Z:-2.02 [[ 9.99977249e-01 6.72442918e-03 -5.33243621e-04 1.58775025e+01] [-6.72440447e-03 9.99977390e-01 4.81349367e-05 1.58422757e-01] [ 5.33555244e-04 -4.45480957e-05 9.99999857e-01 -2.02489211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters Centerline goodness : 0.954550 Centerline is valid? [True, True] Translation: X:15.91, Y:0.15, Z:-2.03 [[ 9.99990360e-01 4.35841334e-03 -5.33247226e-04 1.59055795e+01] [-4.35838831e-03 9.99990501e-01 4.80949592e-05 1.54781389e-01] [ 5.33451779e-04 -4.57703971e-05 9.99999857e-01 -2.02547682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73119381700002 meters Centerline goodness : 0.954589 Centerline is valid? [True, True] Translation: X:15.93, Y:0.15, Z:-2.02 [[ 9.99994342e-01 3.32130978e-03 -5.33251699e-04 1.59343733e+01] [-3.32128463e-03 9.99994483e-01 4.80453217e-05 1.52247723e-01] [ 5.33408330e-04 -4.62739692e-05 9.99999857e-01 -2.02343309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76119381700002 meters Centerline goodness : 0.954924 Centerline is valid? [True, True] Translation: X:15.96, Y:0.15, Z:-2.02 [[ 9.99997843e-01 2.00751898e-03 -5.33255321e-04 1.59639895e+01] [-2.00749366e-03 9.99997984e-01 4.80050776e-05 1.50661964e-01] [ 5.33350617e-04 -4.69344673e-05 9.99999857e-01 -2.02295110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79119381700002 meters Centerline goodness : 0.953917 Centerline is valid? [True, True] Translation: X:15.99, Y:0.15, Z:-2.02 [[ 9.99999294e-01 1.06157661e-03 -5.33257115e-04 1.59933452e+01] [-1.06155117e-03 9.99999435e-01 4.79851486e-05 1.50323246e-01] [ 5.33307754e-04 -4.74190350e-05 9.99999857e-01 -2.02276354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82119381700002 meters Centerline goodness : 0.953729 Centerline is valid? [True, True] Translation: X:16.02, Y:0.15, Z:-2.02 [[ 9.99999535e-01 8.03191992e-04 -5.33258920e-04 1.60233113e+01] [-8.03166528e-04 9.99999676e-01 4.79650762e-05 1.49648498e-01] [ 5.33297273e-04 -4.75367582e-05 9.99999857e-01 -2.02357883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85119381700002 meters Centerline goodness : 0.956964 Centerline is valid? [True, True] Translation: X:16.05, Y:0.15, Z:-2.02 [[ 9.99999057e-01 1.26579487e-03 -5.33259816e-04 1.60528809e+01] [-1.26576948e-03 9.99999198e-01 4.79551151e-05 1.49057139e-01] [ 5.33320090e-04 -4.72800859e-05 9.99999857e-01 -2.02136250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88119381700002 meters Centerline goodness : 0.955698 Centerline is valid? [True, True] Translation: X:16.08, Y:0.15, Z:-2.02 [[ 9.99997171e-01 2.31800519e-03 -5.33261647e-04 1.60827226e+01] [-2.31797996e-03 9.99997312e-01 4.79347476e-05 1.48912902e-01] [ 5.33371327e-04 -4.66985222e-05 9.99999857e-01 -2.02154422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91119381700003 meters Centerline goodness : 0.959284 Centerline is valid? [True, True] Translation: X:16.11, Y:0.15, Z:-2.02 [[ 9.99981557e-01 6.04983968e-03 -5.33263465e-04 1.61114582e+01] [-6.04981498e-03 9.99981699e-01 4.79145095e-05 1.51355486e-01] [ 5.33543581e-04 -4.46874805e-05 9.99999857e-01 -2.02159003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94119381700003 meters Centerline goodness : 0.959824 Centerline is valid? [True, True] Translation: X:16.14, Y:0.15, Z:-2.02 [[ 9.99960042e-01 8.92358038e-03 -5.33266920e-04 1.61406947e+01] [-8.92355611e-03 9.99960183e-01 4.78760257e-05 1.50970983e-01] [ 5.33672913e-04 -4.31154754e-05 9.99999857e-01 -2.01980857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97119381700003 meters Centerline goodness : 0.961256 Centerline is valid? [True, True] Translation: X:16.17, Y:0.15, Z:-2.02 [[ 9.99922985e-01 1.23991439e-02 -5.33270493e-04 1.61690701e+01] [-1.23991201e-02 9.99923127e-01 4.78362000e-05 1.50633762e-01] [ 5.33822626e-04 -4.12204310e-05 9.99999857e-01 -2.01883653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00119381700003 meters Centerline goodness : 0.960132 Centerline is valid? [True, True] Translation: X:16.20, Y:0.15, Z:-2.02 [[ 9.99879900e-01 1.54887532e-02 -5.33275381e-04 1.61970779e+01] [-1.54887299e-02 9.99880041e-01 4.77816427e-05 1.50491756e-01] [ 5.33951488e-04 -3.95161458e-05 9.99999857e-01 -2.01926854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03119381700003 meters Centerline goodness : 0.960327 Centerline is valid? [True, True] Translation: X:16.23, Y:0.15, Z:-2.02 [[ 9.99767419e-01 2.15597563e-02 -5.33279783e-04 1.62262348e+01] [-2.15597339e-02 9.99767561e-01 4.77324654e-05 1.51077581e-01] [ 5.34184928e-04 -3.62239936e-05 9.99999857e-01 -2.01932085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06119381700003 meters Centerline goodness : 0.961443 Centerline is valid? [True, True] Translation: X:16.26, Y:0.15, Z:-2.02 [[ 9.99706242e-01 2.42310743e-02 -5.33283281e-04 1.62551328e+01] [-2.42310523e-02 9.99706384e-01 4.76933469e-05 1.49246464e-01] [ 5.34282362e-04 -3.47573216e-05 9.99999857e-01 -2.01743325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09119381700003 meters Centerline goodness : 0.960403 Centerline is valid? [True, True] Translation: X:16.28, Y:0.15, Z:-2.02 [[ 9.99640650e-01 2.68008623e-02 -5.33286899e-04 1.62826804e+01] [-2.68008407e-02 9.99640792e-01 4.76528670e-05 1.47590560e-01] [ 5.34372475e-04 -3.33432058e-05 9.99999857e-01 -2.01791361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12119381700003 meters Centerline goodness : 0.957895 Centerline is valid? [True, True] Translation: X:16.31, Y:0.15, Z:-2.02 [[ 9.99526040e-01 3.07800561e-02 -5.33291374e-04 1.63102198e+01] [-3.07800350e-02 9.99526181e-01 4.76027266e-05 1.45460379e-01] [ 5.34503905e-04 -3.11654376e-05 9.99999857e-01 -2.02154539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15119381700003 meters Centerline goodness : 0.960128 Centerline is valid? [True, True] Translation: X:16.34, Y:0.14, Z:-2.02 [[ 9.99391418e-01 3.48784909e-02 -5.33295784e-04 1.63392235e+01] [-3.48784705e-02 9.99391560e-01 4.75532691e-05 1.43523388e-01] [ 5.34629892e-04 -2.89237878e-05 9.99999857e-01 -2.01901468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18119381700004 meters Centerline goodness : 0.959160 Centerline is valid? [True, True] Translation: X:16.37, Y:0.14, Z:-2.02 [[ 9.99210251e-01 3.97314614e-02 -5.33299312e-04 1.63670678e+01] [-3.97314416e-02 9.99210393e-01 4.75136714e-05 1.40751396e-01] [ 5.34766003e-04 -2.62873970e-05 9.99999857e-01 -2.01920697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.211193817 meters Centerline goodness : 0.958228 Centerline is valid? [True, True] Translation: X:16.40, Y:0.14, Z:-2.02 [[ 9.98783188e-01 4.93138831e-02 -5.33303671e-04 1.63952203e+01] [-4.93138648e-02 9.98783330e-01 4.74646989e-05 1.36905384e-01] [ 5.34995485e-04 -2.11076782e-05 9.99999857e-01 -2.01868715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.241193817 meters Centerline goodness : 0.956801 Centerline is valid? [True, True] Translation: X:16.42, Y:0.13, Z:-2.02 [[ 9.98522261e-01 5.43416011e-02 -5.33316317e-04 1.64228316e+01] [-5.43415836e-02 9.98522403e-01 4.73221763e-05 1.32477378e-01] [ 5.35099853e-04 -1.82709933e-05 9.99999857e-01 -2.02090610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.271193817 meters Centerline goodness : 0.957797 Centerline is valid? [True, True] Translation: X:16.45, Y:0.13, Z:-2.02 [[ 9.97995908e-01 6.32762417e-02 -5.33320772e-04 1.64499197e+01] [-6.32762255e-02 9.97996051e-01 4.72719110e-05 1.26495905e-01] [ 5.35243213e-04 -1.34306483e-05 9.99999857e-01 -2.02492664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.301193817 meters Centerline goodness : 0.958882 Centerline is valid? [True, True] Translation: X:16.48, Y:0.12, Z:-2.02 [[ 9.97796450e-01 6.63472721e-02 -5.33333578e-04 1.64770532e+01] [-6.63472564e-02 9.97796592e-01 4.71269890e-05 1.22361910e-01] [ 5.35285174e-04 -1.16379226e-05 9.99999857e-01 -2.02395976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.331193817 meters Centerline goodness : 0.958089 Centerline is valid? [True, True] Translation: X:16.50, Y:0.12, Z:-2.02 [[ 9.97625159e-01 6.88749398e-02 -5.33348218e-04 1.65045042e+01] [-6.88749246e-02 9.97625302e-01 4.69607142e-05 1.17731852e-01] [ 5.35316094e-04 -1.01148716e-05 9.99999857e-01 -2.02339413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters Centerline goodness : 0.955934 Centerline is valid? [True, True] Translation: X:16.53, Y:0.11, Z:-2.02 [[ 9.97464346e-01 7.11659654e-02 -5.33363112e-04 1.65315298e+01] [-7.11659506e-02 9.97464488e-01 4.67909429e-05 1.12759426e-01] [ 5.35340686e-04 -8.71500431e-06 9.99999857e-01 -2.02479276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39119381700002 meters Centerline goodness : 0.955795 Centerline is valid? [True, True] Translation: X:16.56, Y:0.10, Z:-2.02 [[ 9.97162606e-01 7.52758400e-02 -5.33370012e-04 1.65595761e+01] [-7.52758258e-02 9.97162749e-01 4.67121632e-05 1.04665411e-01] [ 5.35373004e-04 -6.42975429e-06 9.99999857e-01 -2.02382117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters Centerline goodness : 0.958518 Centerline is valid? [True, True] Translation: X:16.59, Y:0.10, Z:-2.02 [[ 9.97004830e-01 7.73374716e-02 -5.33382810e-04 1.65866192e+01] [-7.73374577e-02 9.97004973e-01 4.65655607e-05 9.85338992e-02] [ 5.35386577e-04 -5.17561835e-06 9.99999857e-01 -2.02465519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45119381700002 meters Centerline goodness : 0.961671 Centerline is valid? [True, True] Translation: X:16.61, Y:0.09, Z:-2.02 [[ 9.96931622e-01 7.82755126e-02 -5.33387338e-04 1.66146492e+01] [-7.82754989e-02 9.96931765e-01 4.65136442e-05 9.20843182e-02] [ 5.35391659e-04 -4.61976281e-06 9.99999857e-01 -2.02110503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48119381700002 meters Centerline goodness : 0.963364 Centerline is valid? [True, True] Translation: X:16.64, Y:0.08, Z:-2.02 [[ 9.96890392e-01 7.87988716e-02 -5.33399919e-04 1.66430133e+01] [-7.87988581e-02 9.96890535e-01 4.63689188e-05 8.44328595e-02] [ 5.35395149e-04 -4.19342510e-06 9.99999857e-01 -2.01821956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51119381700002 meters Centerline goodness : 0.961737 Centerline is valid? [True, True] Translation: X:16.67, Y:0.07, Z:-2.02 [[ 9.96935330e-01 7.82282711e-02 -5.33412761e-04 1.66708232e+01] [-7.82282576e-02 9.96935473e-01 4.62207152e-05 7.04074188e-02] [ 5.35393870e-04 -4.35111310e-06 9.99999857e-01 -2.01715601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54119381700002 meters Centerline goodness : 0.960776 Centerline is valid? [True, True] Translation: X:16.70, Y:0.06, Z:-2.02 [[ 9.97100358e-01 7.60959344e-02 -5.33425437e-04 1.66986288e+01] [-7.60959207e-02 9.97100501e-01 4.60739537e-05 6.15667966e-02] [ 5.35384811e-04 -5.34885603e-06 9.99999857e-01 -2.01594256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57119381700002 meters Centerline goodness : 0.959752 Centerline is valid? [True, True] Translation: X:16.73, Y:0.05, Z:-2.02 [[ 9.97306592e-01 7.33435605e-02 -5.33438537e-04 1.67261174e+01] [-7.33435464e-02 9.97306734e-01 4.59217825e-05 5.22979295e-02] [ 5.35369912e-04 -6.67382229e-06 9.99999857e-01 -2.01960465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60119381700002 meters Centerline goodness : 0.955472 Centerline is valid? [True, True] Translation: X:16.75, Y:0.03, Z:-2.02 [[ 9.97649433e-01 6.85224365e-02 -5.33451493e-04 1.67531440e+01] [-6.85224218e-02 9.97649576e-01 4.57707829e-05 3.45451354e-02] [ 5.35333981e-04 -9.10980734e-06 9.99999857e-01 -2.01745896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63119381700002 meters Centerline goodness : 0.955472 Centerline is valid? [True, True] Translation: X:16.78, Y:0.03, Z:-2.02 [[ 9.97657912e-01 6.83988750e-02 -5.33457166e-04 1.67814983e+01] [-6.83988604e-02 9.97658055e-01 4.57045687e-05 3.22612288e-02] [ 5.35333979e-04 -9.10966236e-06 9.99999857e-01 -2.01744371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66119381700003 meters Centerline goodness : 0.954152 Centerline is valid? [True, True] Translation: X:16.81, Y:0.02, Z:-2.02 [[ 9.97860951e-01 6.53700073e-02 -5.33462818e-04 1.68087353e+01] [-6.53699922e-02 9.97861094e-01 4.56384982e-05 2.19255653e-02] [ 5.35305180e-04 -1.06684149e-05 9.99999857e-01 -2.02110301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69119381700003 meters Centerline goodness : 0.950671 Centerline is valid? [True, True] Translation: X:16.84, Y:0.01, Z:-2.02 [[ 9.98016836e-01 6.29452966e-02 -5.33467479e-04 1.68366949e+01] [-6.29452812e-02 9.98016979e-01 4.55839530e-05 1.16875411e-02] [ 5.35278897e-04 -1.19142920e-05 9.99999857e-01 -2.01890585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72119381700003 meters Centerline goodness : 0.948518 Centerline is valid? [True, False] Translation: X:16.85, Y:0.00, Z:-2.02 [[ 9.98193518e-01 6.00453371e-02 2.06345734e-03 1.68543431e+01] [-6.00567709e-02 9.98176830e-01 6.01669476e-03 1.22250098e-04] [-1.69842084e-03 -6.12975029e-03 9.99979771e-01 -2.02285790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75119381700003 meters Centerline goodness : 0.944703 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.01, Z:-2.03 [[ 9.98516136e-01 5.44482874e-02 9.53627196e-04 1.68673265e+01] [-5.44563385e-02 9.98415604e-01 1.41700108e-02 -9.74910621e-03] [-1.80583450e-04 -1.42009155e-02 9.99899146e-01 -2.02599594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78119381700003 meters Centerline goodness : 0.944783 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.03, Z:-2.03 [[ 9.98554385e-01 5.37066411e-02 2.17630275e-03 1.68904090e+01] [-5.37386027e-02 9.98370268e-01 1.92086067e-02 -2.89206721e-02] [-1.14112621e-03 -1.92977899e-02 9.99813129e-01 -2.02843385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81119381700003 meters Centerline goodness : 0.943173 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.04, Z:-2.03 [[ 9.98659661e-01 5.14703702e-02 5.44815049e-03 1.69074957e+01] [-5.15858270e-02 9.98386186e-01 2.37471169e-02 -3.73636346e-02] [-4.21708529e-03 -2.39963351e-02 9.99703152e-01 -2.03029691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84119381700003 meters Centerline goodness : 0.944777 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.05, Z:-2.03 [[ 9.98761382e-01 4.90665540e-02 8.25681140e-03 1.69251326e+01] [-4.92777188e-02 9.98401430e-01 2.76819770e-02 -4.56302998e-02] [-6.88535309e-03 -2.80545665e-02 9.99582680e-01 -2.03183480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87119381700003 meters Centerline goodness : 0.941625 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.05, Z:-2.03 [[ 9.98888822e-01 4.65123529e-02 7.59746959e-03 1.69261260e+01] [-4.66929056e-02 9.98580539e-01 2.56257791e-02 -5.06060238e-02] [-6.39477000e-03 -2.59520522e-02 9.99642735e-01 -2.03167511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90119381700003 meters Centerline goodness : 0.938962 Centerline is valid? [False, False] Translation: X:16.96, Y:-0.07, Z:-2.03 [[ 9.98937141e-01 4.52382762e-02 8.83665792e-03 1.69609098e+01] [-4.55239171e-02 9.98337183e-01 3.53615962e-02 -6.85643607e-02] [-7.22226652e-03 -3.57262911e-02 9.99335515e-01 -2.03367904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93119381700004 meters Centerline goodness : 0.939282 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.08, Z:-2.03 [[ 9.99019164e-01 4.26051175e-02 1.20628904e-02 1.69783789e+01] [-4.30345682e-02 9.98353851e-01 3.79158936e-02 -7.57356994e-02] [-1.04276219e-02 -3.83978256e-02 9.99208122e-01 -2.03442826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.961193817 meters Centerline goodness : 0.939212 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.08, Z:-2.04 [[ 9.99058615e-01 4.07989752e-02 1.47420091e-02 1.69967693e+01] [-4.13686682e-02 9.98316179e-01 4.06625246e-02 -8.22679085e-02] [-1.30581969e-02 -4.12341029e-02 9.99064178e-01 -2.03527179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.991193817 meters Centerline goodness : 0.938428 Centerline is valid? [False, False] Translation: X:17.00, Y:-0.09, Z:-2.04 [[ 9.99111915e-01 3.98151498e-02 1.37889181e-02 1.69991703e+01] [-4.03306825e-02 9.98410024e-01 3.93809553e-02 -8.57553447e-02] [-1.21990354e-02 -3.99020982e-02 9.99129124e-01 -2.03575245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.021193817 meters Centerline goodness : 0.937055 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.10, Z:-2.03 [[ 9.99023898e-01 4.27364759e-02 1.11734148e-02 1.70279555e+01] [-4.31350049e-02 9.98336280e-01 3.82628144e-02 -9.66611196e-02] [-9.51960757e-03 -3.87074313e-02 9.99205240e-01 -2.03394302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.051193817 meters Centerline goodness : 0.937528 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.10, Z:-2.03 [[ 9.99082426e-01 4.15268489e-02 1.04798553e-02 1.70292018e+01] [-4.18874026e-02 9.98440020e-01 3.69184459e-02 -1.01071000e-01] [-8.93040024e-03 -3.73235444e-02 9.99263329e-01 -2.03370639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.081193817 meters Centerline goodness : 0.938009 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.11, Z:-2.03 [[ 9.99091698e-01 4.13121380e-02 1.04444544e-02 1.70286235e+01] [-4.16695917e-02 9.98457062e-01 3.67034186e-02 -1.06075681e-01] [-8.91204257e-03 -3.71052970e-02 9.99271621e-01 -2.03262357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11119381700001 meters Centerline goodness : 0.939904 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.11, Z:-2.03 [[ 9.99057944e-01 4.21277969e-02 1.04150909e-02 1.70279639e+01] [-4.24969153e-02 9.98365782e-01 3.82070465e-02 -1.11122366e-01] [-8.78849170e-03 -3.86136626e-02 9.99215566e-01 -2.03153279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14119381700002 meters Centerline goodness : 0.941848 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.12, Z:-2.03 [[ 9.99016182e-01 4.31343754e-02 1.03002288e-02 1.70279302e+01] [-4.35117157e-02 9.98261482e-01 3.97585823e-02 -1.15388871e-01] [-8.56736007e-03 -4.01676477e-02 9.99156224e-01 -2.03093305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17119381700002 meters Centerline goodness : 0.937290 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.13, Z:-2.03 [[ 9.98863409e-01 4.68555151e-02 8.74363865e-03 1.70313202e+01] [-4.71917322e-02 9.97945766e-01 4.33265378e-02 -1.26863186e-01] [-6.69558992e-03 -4.36899207e-02 9.99022702e-01 -2.03033068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20119381700002 meters Centerline goodness : 0.938612 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.13, Z:-2.03 [[ 9.98903312e-01 4.61541920e-02 7.87168995e-03 1.70345168e+01] [-4.64508523e-02 9.97996179e-01 4.29644684e-02 -1.32948730e-01] [-5.87292617e-03 -4.32829965e-02 9.99045590e-01 -2.03216886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23119381700002 meters Centerline goodness : 0.929891 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.15, Z:-2.03 [[ 9.98909927e-01 4.64629702e-02 4.48883930e-03 1.70444602e+01] [-4.66086903e-02 9.98063836e-01 4.11850702e-02 -1.49456964e-01] [-2.56656748e-03 -4.13493944e-02 9.99141452e-01 -2.03381534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26119381700002 meters Centerline goodness : 0.929352 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.16, Z:-2.04 [[ 9.99007171e-01 4.44626614e-02 2.78291797e-03 1.70669050e+01] [-4.45406681e-02 9.98110236e-01 4.23330256e-02 -1.57610525e-01] [-8.95419934e-04 -4.24149491e-02 9.99099680e-01 -2.03543728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29119381700002 meters Centerline goodness : 0.927402 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.16, Z:-2.04 [[ 9.99064024e-01 4.32067932e-02 2.06132587e-03 1.70690381e+01] [-4.32552287e-02 9.98185266e-01 4.18946377e-02 -1.64547864e-01] [-2.47452159e-04 -4.19445884e-02 9.99119908e-01 -2.03635057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32119381700002 meters Centerline goodness : 0.925346 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.17, Z:-2.04 [[ 9.99146064e-01 4.12942402e-02 1.38901094e-03 1.70706912e+01] [-4.13164958e-02 9.98309570e-01 4.08772385e-02 -1.71011242e-01] [ 3.01331594e-04 -4.08997210e-02 9.99163211e-01 -2.03684013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35119381700002 meters Centerline goodness : 0.923001 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.18, Z:-2.04 [[ 9.99205062e-01 3.98585088e-02 7.37734075e-04 1.70724923e+01] [-3.98556899e-02 9.98385171e-01 4.04793030e-02 -1.78778014e-01] [ 8.76901896e-04 -4.04765274e-02 9.99180105e-01 -2.03741401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38119381700002 meters Centerline goodness : 0.919734 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.19, Z:-2.04 [[ 9.99289133e-01 3.76974416e-02 3.61772098e-04 1.70734699e+01] [-3.76823139e-02 9.98509144e-01 3.94909183e-02 -1.86776904e-01] [ 1.12747383e-03 -3.94764779e-02 9.99219864e-01 -2.03775563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41119381700003 meters Centerline goodness : 0.917567 Centerline is valid? [False, False] Translation: X:17.11, Y:-0.21, Z:-2.04 [[ 9.99365454e-01 3.55613438e-02 2.01999223e-03 1.71108990e+01] [-3.56155117e-02 9.98423666e-01 4.33787713e-02 -2.07610935e-01] [-4.74200647e-04 -4.34231886e-02 9.99056656e-01 -2.04035227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44119381700003 meters Centerline goodness : 0.917848 Centerline is valid? [False, False] Translation: X:17.11, Y:-0.22, Z:-2.04 [[ 9.99435507e-01 3.35569335e-02 1.61229462e-03 1.71117474e+01] [-3.35951631e-02 9.98526365e-01 4.26199868e-02 -2.15790925e-01] [-1.79722619e-04 -4.26500934e-02 9.99090055e-01 -2.04024524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47119381700003 meters Centerline goodness : 0.916085 Centerline is valid? [False, False] Translation: X:17.11, Y:-0.22, Z:-2.04 [[ 9.99503758e-01 3.14751085e-02 1.24750496e-03 1.71123483e+01] [-3.14997441e-02 9.98629663e-01 4.17919029e-02 -2.23752732e-01] [ 6.96092203e-05 -4.18104601e-02 9.99125558e-01 -2.03988888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50119381700003 meters Centerline goodness : 0.913168 Centerline is valid? [False, False] Translation: X:17.11, Y:-0.23, Z:-2.04 [[ 9.99568627e-01 2.93575757e-02 8.32643793e-04 1.71134272e+01] [-2.93670843e-02 9.98734138e-01 4.08374217e-02 -2.31424896e-01] [ 3.67297920e-04 -4.08442579e-02 9.99165458e-01 -2.04006522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53119381700003 meters Centerline goodness : 0.912192 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.25, Z:-2.04 [[ 9.99619314e-01 2.74551459e-02 2.72811731e-03 1.71334663e+01] [-2.75522612e-02 9.98541390e-01 4.64323634e-02 -2.50369639e-01] [-1.44933074e-03 -4.64898530e-02 9.98917711e-01 -2.04096378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56119381700003 meters Centerline goodness : 0.914056 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.26, Z:-2.04 [[ 9.99635892e-01 2.69474716e-02 -1.38438022e-03 1.71497052e+01] [-2.68910639e-02 9.99149425e-01 3.12617584e-02 -2.56677547e-01] [ 2.22562805e-03 -3.12131483e-02 9.99510273e-01 -2.03680697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59119381700003 meters Centerline goodness : 0.912067 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.26, Z:-2.04 [[ 9.99780135e-01 2.09005697e-02 -1.68739514e-03 1.71501338e+01] [-2.08495462e-02 9.99443037e-01 2.60559591e-02 -2.63352194e-01] [ 2.23103972e-03 -2.60150488e-02 9.99659062e-01 -2.03667638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62119381700003 meters Centerline goodness : 0.912868 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.27, Z:-2.04 [[ 9.99895214e-01 1.43369154e-02 -2.00339485e-03 1.71506500e+01] [-1.42935149e-02 9.99693434e-01 2.02171805e-02 -2.69110857e-01] [ 2.29263268e-03 -2.01864265e-02 9.99793605e-01 -2.03671178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65119381700003 meters Centerline goodness : 0.915630 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.28, Z:-2.04 [[ 9.99984632e-01 5.15475379e-03 -2.04044579e-03 1.71499093e+01] [-5.12766900e-03 9.99901517e-01 1.30637795e-02 -2.81835801e-01] [ 2.10758541e-03 -1.30531160e-02 9.99912583e-01 -2.03552860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68119381700004 meters Centerline goodness : 0.917020 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.29, Z:-2.04 [[ 9.99996409e-01 -9.47441879e-04 -2.50687474e-03 1.71510395e+01] [ 9.66773919e-04 9.99969720e-01 7.72166908e-03 -2.87163004e-01] [ 2.49948299e-03 -7.72406493e-03 9.99967045e-01 -2.03559764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.711193817 meters Centerline goodness : 0.914598 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.29, Z:-2.04 [[ 9.99985307e-01 -4.68389904e-03 -2.72895182e-03 1.71516947e+01] [ 4.69831435e-03 9.99974917e-01 5.30011856e-03 -2.94145574e-01] [ 2.70405815e-03 -5.31286216e-03 9.99982231e-01 -2.03557423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters Centerline goodness : 0.917054 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.31, Z:-2.03 [[ 9.99944766e-01 -1.00994164e-02 -2.90979955e-03 1.71519445e+01] [ 1.01070617e-02 9.99945477e-01 2.62484052e-03 -3.08709585e-01] [ 2.88313155e-03 -2.65410506e-03 9.99992322e-01 -2.03474042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.771193817 meters Centerline goodness : 0.917780 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.31, Z:-2.03 [[ 9.99916635e-01 -1.25071920e-02 -3.20840892e-03 1.71529302e+01] [ 1.25109632e-02 9.99921064e-01 1.15802415e-03 -3.14677018e-01] [ 3.19367203e-03 -1.19806789e-03 9.99994183e-01 -2.03497817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters Centerline goodness : 0.921414 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.32, Z:-2.04 [[ 9.99899944e-01 -1.36123838e-02 -3.84784632e-03 1.71550055e+01] [ 1.36150847e-02 9.99907082e-01 6.76598409e-04 -3.20183783e-01] [ 3.83827867e-03 -7.28919464e-04 9.99992368e-01 -2.03577231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.831193817 meters Centerline goodness : 0.921955 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.33, Z:-2.04 [[ 9.99888165e-01 -1.42260294e-02 -4.61270120e-03 1.71572106e+01] [ 1.42287538e-02 9.99898610e-01 5.58348831e-04 -3.25257648e-01] [ 4.60429043e-03 -6.23919377e-04 9.99989206e-01 -2.03653249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters Centerline goodness : 0.926260 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.33, Z:-2.04 [[ 9.99896200e-01 -1.35433317e-02 -4.91601588e-03 1.71579873e+01] [ 1.35545319e-02 9.99905597e-01 2.25217129e-03 -3.30514209e-01] [ 4.88504988e-03 -2.31857181e-03 9.99985380e-01 -2.03660960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89119381700002 meters Centerline goodness : 0.927971 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.34, Z:-2.04 [[ 9.99903157e-01 -1.28383366e-02 -5.37150985e-03 1.71590988e+01] [ 1.28612622e-02 9.99908235e-01 4.25545602e-03 -3.41321498e-01] [ 5.31638396e-03 -4.32412831e-03 9.99976519e-01 -2.03666826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters Centerline goodness : 0.929839 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.35, Z:-2.04 [[ 9.99952733e-01 -8.57251250e-03 -4.58734303e-03 1.71811396e+01] [ 8.53621772e-03 9.99932565e-01 -7.87387786e-03 -3.45059593e-01] [ 4.65453260e-03 7.83434713e-03 9.99958478e-01 -2.03884456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95119381700002 meters Centerline goodness : 0.928894 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.35, Z:-2.04 [[ 9.99957534e-01 -7.71430003e-03 -5.04180301e-03 1.71825164e+01] [ 7.68418341e-03 9.99952681e-01 -5.96570408e-03 -3.50427964e-01] [ 5.08758567e-03 5.92670861e-03 9.99969495e-01 -2.03934076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98119381700002 meters Centerline goodness : 0.929631 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.36, Z:-2.04 [[ 9.99948170e-01 -8.43941706e-03 -5.69497752e-03 1.71846976e+01] [ 8.40444068e-03 9.99945845e-01 -6.13785483e-03 -3.55499044e-01] [ 5.74646902e-03 6.08967361e-03 9.99964946e-01 -2.04034300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01119381700002 meters Centerline goodness : 0.932270 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.37, Z:-2.04 [[ 9.99932669e-01 -1.01143526e-02 -5.68829052e-03 1.71846304e+01] [ 1.00803822e-02 9.99931374e-01 -5.96929211e-03 -3.66532654e-01] [ 5.74827568e-03 5.91155005e-03 9.99966005e-01 -2.03984526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04119381700002 meters Centerline goodness : 0.933621 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.37, Z:-2.04 [[ 9.99906931e-01 -1.21856639e-02 -6.13505103e-03 1.71867016e+01] [ 1.21403938e-02 9.99899194e-01 -7.36287319e-03 -3.70452190e-01] [ 6.22415408e-03 7.28770600e-03 9.99954074e-01 -2.04109937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07119381700002 meters Centerline goodness : 0.935317 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.38, Z:-2.04 [[ 9.99904999e-01 -1.22071630e-02 -6.40145081e-03 1.71876388e+01] [ 1.21683793e-02 9.99907582e-01 -6.06291798e-03 -3.75398713e-01] [ 6.47487023e-03 5.98444671e-03 9.99961130e-01 -2.04128089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10119381700002 meters Centerline goodness : 0.937037 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.38, Z:-2.04 [[ 9.99904965e-01 -1.20950299e-02 -6.61604163e-03 1.71877961e+01] [ 1.20649663e-02 9.99916794e-01 -4.56523438e-03 -3.80282609e-01] [ 6.67070778e-03 4.48497820e-03 9.99967693e-01 -2.04062442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13119381700002 meters Centerline goodness : 0.940176 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.39, Z:-2.04 [[ 9.99856422e-01 -1.56357677e-02 -6.53132204e-03 1.71876352e+01] [ 1.55963632e-02 9.99860119e-01 -6.04113586e-03 -3.88517230e-01] [ 6.62486623e-03 5.93840361e-03 9.99960422e-01 -2.03995832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16119381700003 meters Centerline goodness : 0.942385 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.39, Z:-2.04 [[ 9.99788722e-01 -1.93897352e-02 -6.82267248e-03 1.71888220e+01] [ 1.93271109e-02 9.99771544e-01 -9.12809958e-03 -3.91166556e-01] [ 6.99810524e-03 8.99430847e-03 9.99935062e-01 -2.04044089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19119381700003 meters Centerline goodness : 0.940190 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.39, Z:-2.04 [[ 9.99701680e-01 -2.33634459e-02 -7.12042401e-03 1.71906131e+01] [ 2.32734278e-02 9.99651322e-01 -1.24732242e-02 -3.93317052e-01] [ 7.40935878e-03 1.23037865e-02 9.99896854e-01 -2.04167126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22119381700003 meters Centerline goodness : 0.937813 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.40, Z:-2.04 [[ 9.99463978e-01 -3.18281939e-02 -7.66308134e-03 1.71948468e+01] [ 3.16742816e-02 9.99309333e-01 -1.94318336e-02 -3.97812050e-01] [ 8.27626887e-03 1.91786951e-02 9.99781817e-01 -2.04496392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25119381700003 meters Centerline goodness : 0.935009 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.40, Z:-2.05 [[ 9.99316239e-01 -3.61042762e-02 -7.97091264e-03 1.71966109e+01] [ 3.59113238e-02 9.99086783e-01 -2.31511878e-02 -3.99477475e-01] [ 8.79949034e-03 2.28491119e-02 9.99700199e-01 -2.04604380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28119381700003 meters Centerline goodness : 0.937002 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.40, Z:-2.05 [[ 9.99246257e-01 -3.78834250e-02 -8.47136534e-03 1.71995084e+01] [ 3.76711154e-02 9.99003017e-01 -2.39553744e-02 -4.01932032e-01] [ 9.37043116e-03 2.36181924e-02 9.99677136e-01 -2.04802093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31119381700003 meters Centerline goodness : 0.936495 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.40, Z:-2.05 [[ 9.99212304e-01 -3.86375009e-02 -9.05073175e-03 1.72016740e+01] [ 3.84128898e-02 9.98978501e-01 -2.37992519e-02 -4.03852364e-01] [ 9.96103006e-03 2.34328406e-02 9.99675787e-01 -2.04916301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34119381700003 meters Centerline goodness : 0.936922 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.41, Z:-2.05 [[ 9.99191697e-01 -3.90562475e-02 -9.51636729e-03 1.72032597e+01] [ 3.88227845e-02 9.98967547e-01 -2.35930206e-02 -4.05103676e-01] [ 1.04279969e-02 2.32044984e-02 9.99676352e-01 -2.04986998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37119381700003 meters Centerline goodness : 0.937014 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.41, Z:-2.05 [[ 9.99179871e-01 -3.92651264e-02 -9.89116523e-03 1.72043686e+01] [ 3.90240221e-02 9.98962105e-01 -2.34912589e-02 -4.05502343e-01] [ 1.08032865e-02 2.30860000e-02 9.99675110e-01 -2.05018816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40119381700003 meters Centerline goodness : 0.938163 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.41, Z:-2.05 [[ 9.99200022e-01 -3.78838722e-02 -1.28112630e-02 1.72091126e+01] [ 3.76281697e-02 9.99098718e-01 -1.96436585e-02 -4.05262225e-01] [ 1.35438943e-02 1.91458796e-02 9.99724961e-01 -2.04802073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43119381700004 meters Centerline goodness : 0.936763 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.40, Z:-2.05 [[ 9.99263609e-01 -3.58558698e-02 -1.36600241e-02 1.72119445e+01] [ 3.56144286e-02 9.99211910e-01 -1.75263015e-02 -4.04283855e-01] [ 1.42776796e-02 1.70269014e-02 9.99753086e-01 -2.04938522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.461193817 meters Centerline goodness : 0.937893 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.40, Z:-2.05 [[ 9.99360708e-01 -3.40468546e-02 -1.09081277e-02 1.72301996e+01] [ 3.38219032e-02 9.99224068e-01 -2.01826987e-02 -4.01101861e-01] [ 1.15868211e-02 1.98008625e-02 9.99736801e-01 -2.05051281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.491193817 meters Centerline goodness : 0.936854 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.40, Z:-2.05 [[ 9.99497672e-01 -3.06634154e-02 -8.00984884e-03 1.72481828e+01] [ 3.05039001e-02 9.99347704e-01 -1.93307856e-02 -3.99461045e-01] [ 8.59737195e-03 1.90767436e-02 9.99781058e-01 -2.05024595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.521193817 meters Centerline goodness : 0.943464 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.39, Z:-2.05 [[ 9.99660412e-01 -2.47189074e-02 -8.24846846e-03 1.72474942e+01] [ 2.46022489e-02 9.99599888e-01 -1.39568632e-02 -3.93979324e-01] [ 8.59016655e-03 1.37491928e-02 9.99868576e-01 -2.04892856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.551193817 meters Centerline goodness : 0.943464 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.39, Z:-2.05 [[ 9.99660412e-01 -2.47189074e-02 -8.24846846e-03 1.72474942e+01] [ 2.46022489e-02 9.99599888e-01 -1.39568632e-02 -3.93979324e-01] [ 8.59016655e-03 1.37491928e-02 9.99868576e-01 -2.04892856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters Centerline goodness : 0.941263 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.39, Z:-2.05 [[ 9.99738176e-01 -2.11075708e-02 -8.83455449e-03 1.72481799e+01] [ 2.10125688e-02 9.99721828e-01 -1.07115742e-02 -3.91441189e-01] [ 9.05819228e-03 1.05231330e-02 9.99903602e-01 -2.04841021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61119381700001 meters Centerline goodness : 0.944775 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.39, Z:-2.05 [[ 9.99851556e-01 -1.68343994e-02 -3.66991431e-03 1.72591388e+01] [ 1.67699329e-02 9.99715844e-01 -1.69410805e-02 -3.87075776e-01] [ 3.95406440e-03 1.68770215e-02 9.99849754e-01 -2.05123160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters Centerline goodness : 0.949085 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.38, Z:-2.05 [[ 9.99957375e-01 -7.90095480e-03 -4.77738704e-03 1.72854420e+01] [ 7.79373223e-03 9.99726257e-01 -2.20605837e-02 -3.80109374e-01] [ 4.95037893e-03 2.20224097e-02 9.99745221e-01 -2.04969531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67119381700002 meters Centerline goodness : 0.948674 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.38, Z:-2.05 [[ 9.99977167e-01 -4.25732370e-03 -5.24800921e-03 1.72863979e+01] [ 4.15770391e-03 9.99813690e-01 -1.88493473e-02 -3.77390193e-01] [ 5.32727923e-03 1.88270972e-02 9.99808562e-01 -2.04966672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70119381700002 meters Centerline goodness : 0.948113 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.37, Z:-2.05 [[ 9.99984848e-01 3.85941464e-05 -5.50472467e-03 1.73078924e+01] [-1.34684830e-04 9.99847611e-01 -1.74567359e-02 -3.74828901e-01] [ 5.50321208e-03 1.74572128e-02 9.99832466e-01 -2.05078102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73119381700002 meters Centerline goodness : 0.949225 Centerline is valid? [False, False] Translation: X:17.33, Y:-0.37, Z:-2.05 [[ 9.99990679e-01 2.31377853e-03 -3.64520589e-03 1.73267448e+01] [-2.38638135e-03 9.99796320e-01 -2.00405281e-02 -3.70260134e-01] [ 3.59809410e-03 2.00490401e-02 9.99792523e-01 -2.05206575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76119381700002 meters Centerline goodness : 0.947244 Centerline is valid? [False, False] Translation: X:17.36, Y:-0.36, Z:-2.06 [[ 9.99968746e-01 7.65139107e-03 -1.99054043e-03 1.73604516e+01] [-7.70064398e-03 9.99631240e-01 -2.60400484e-02 -3.60817012e-01] [ 1.79056380e-03 2.60545630e-02 9.99658919e-01 -2.05500331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79119381700002 meters Centerline goodness : 0.945917 Centerline is valid? [False, False] Translation: X:17.36, Y:-0.36, Z:-2.06 [[ 9.99945479e-01 1.00868293e-02 -2.70073202e-03 1.73628264e+01] [-1.01483752e-02 9.99664338e-01 -2.38374038e-02 -3.57779114e-01] [ 2.45938166e-03 2.38635122e-02 9.99712201e-01 -2.05594611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82119381700002 meters Centerline goodness : 0.941663 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.36, Z:-2.06 [[ 9.99923650e-01 1.18451524e-02 -3.51932172e-03 1.73657359e+01] [-1.19201730e-02 9.99684237e-01 -2.21209439e-02 -3.55169024e-01] [ 3.25618449e-03 2.21612059e-02 9.99749108e-01 -2.05724021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85119381700002 meters Centerline goodness : 0.942731 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.35, Z:-2.06 [[ 9.99927959e-01 1.18150533e-02 -2.11708465e-03 1.73855698e+01] [-1.18657456e-02 9.99596962e-01 -2.57898854e-02 -3.51782733e-01] [ 1.81152252e-03 2.58131483e-02 9.99665144e-01 -2.05833392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88119381700002 meters Centerline goodness : 0.942016 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.35, Z:-2.06 [[ 9.99931952e-01 1.13982287e-02 -2.48434155e-03 1.73864329e+01] [-1.14601670e-02 9.99582207e-01 -2.65344123e-02 -3.49840783e-01] [ 2.18085831e-03 2.65610777e-02 9.99644813e-01 -2.05837978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91119381700003 meters Centerline goodness : 0.945779 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.35, Z:-2.06 [[ 9.99943190e-01 1.02720929e-02 -2.84630862e-03 1.73873025e+01] [-1.03480101e-02 9.99552053e-01 -2.80822252e-02 -3.46621081e-01] [ 2.55657040e-03 2.81100835e-02 9.99601564e-01 -2.05832189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94119381700003 meters Centerline goodness : 0.943950 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.34, Z:-2.06 [[ 9.99949758e-01 9.41660060e-03 -3.43645984e-03 1.73892162e+01] [-9.51245475e-03 9.99533179e-01 -2.90333958e-02 -3.44737915e-01] [ 3.16145974e-03 2.90646263e-02 9.99572535e-01 -2.05919297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97119381700003 meters Centerline goodness : 0.942899 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.34, Z:-2.06 [[ 9.99957193e-01 8.31787549e-03 -4.05267164e-03 1.73916428e+01] [-8.43663552e-03 9.99507489e-01 -3.02258715e-02 -3.42447580e-01] [ 3.79926062e-03 3.02587686e-02 9.99534878e-01 -2.06065510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00119381700003 meters Centerline goodness : 0.941141 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.34, Z:-2.06 [[ 9.99963406e-01 7.22797672e-03 -4.57637109e-03 1.73934571e+01] [-7.36807185e-03 9.99480550e-01 -3.13742222e-02 -3.40179659e-01] [ 4.34722175e-03 3.14067932e-02 9.99497231e-01 -2.06152340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03119381700003 meters Centerline goodness : 0.938350 Centerline is valid? [False, False] Translation: X:17.40, Y:-0.34, Z:-2.06 [[ 9.99992723e-01 3.73197584e-03 -7.91373931e-04 1.74033244e+01] [-3.74994992e-03 9.99703039e-01 -2.40784328e-02 -3.39503321e-01] [ 7.01278795e-04 2.40812252e-02 9.99709759e-01 -2.06266502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06119381700003 meters Centerline goodness : 0.943504 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.34, Z:-2.06 [[ 9.99996391e-01 2.14491570e-03 -1.61767593e-03 1.74057300e+01] [-2.18513278e-03 9.99677941e-01 -2.52831750e-02 -3.38993926e-01] [ 1.56292466e-03 2.52866186e-02 9.99679021e-01 -2.06357113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09119381700003 meters Centerline goodness : 0.940252 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.34, Z:-2.07 [[ 9.99997254e-01 4.78301688e-04 -2.29425955e-03 1.74084689e+01] [-5.39245834e-04 9.99645024e-01 -2.66371130e-02 -3.38644699e-01] [ 2.28070457e-03 2.66382770e-02 9.99642536e-01 -2.06519477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12119381700003 meters Centerline goodness : 0.940912 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.34, Z:-2.07 [[ 9.99994539e-01 -1.33922660e-03 -3.02122786e-03 1.74114350e+01] [ 1.25333848e-03 9.99600013e-01 -2.82531805e-02 -3.37687205e-01] [ 3.05785682e-03 2.82492396e-02 9.99596233e-01 -2.06703877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15119381700003 meters Centerline goodness : 0.935232 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.33, Z:-2.07 [[ 9.99983910e-01 -4.19087652e-03 -3.82303374e-03 1.74145236e+01] [ 4.07064869e-03 9.99513209e-01 -3.09317809e-02 -3.33920615e-01] [ 3.95080400e-03 3.09157210e-02 9.99514187e-01 -2.06876293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18119381700004 meters Centerline goodness : 0.937586 Centerline is valid? [False, False] Translation: X:17.43, Y:-0.33, Z:-2.07 [[ 9.99979013e-01 -6.46579507e-03 -4.09435354e-04 1.74252532e+01] [ 6.45504369e-03 9.99729928e-01 -2.23249515e-02 -3.33886039e-01] [ 5.53673338e-04 2.23218400e-02 9.99750683e-01 -2.07055535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21119381700004 meters Centerline goodness : 0.932074 Centerline is valid? [False, False] Translation: X:17.45, Y:-0.33, Z:-2.07 [[ 9.99977298e-01 -6.66591869e-03 -9.84134395e-04 1.74466992e+01] [ 6.64280443e-03 9.99738742e-01 -2.18705306e-02 -3.33686451e-01] [ 1.12966446e-03 2.18634967e-02 9.99760327e-01 -2.07089470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters Centerline goodness : 0.937338 Centerline is valid? [False, False] Translation: X:17.45, Y:-0.33, Z:-2.07 [[ 9.99970085e-01 -7.61196388e-03 -1.37342909e-03 1.74475530e+01] [ 7.57912668e-03 9.99717880e-01 -2.25103962e-02 -3.32687065e-01] [ 1.54438994e-03 2.24993134e-02 9.99745666e-01 -2.07084905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.271193817 meters Centerline goodness : 0.938614 Centerline is valid? [False, False] Translation: X:17.45, Y:-0.33, Z:-2.07 [[ 9.99912387e-01 -1.31358028e-02 -1.63341351e-03 1.74483551e+01] [ 1.30845249e-02 9.99516479e-01 -2.82064490e-02 -3.29025117e-01] [ 2.00313807e-03 2.81826054e-02 9.99600784e-01 -2.07082686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.301193817 meters Centerline goodness : 0.937152 Centerline is valid? [False, False] Translation: X:17.45, Y:-0.33, Z:-2.07 [[ 9.99872486e-01 -1.57893287e-02 -2.38930385e-03 1.74511328e+01] [ 1.57090673e-02 9.99410296e-01 -3.05333531e-02 -3.27039186e-01] [ 2.86999602e-03 3.04919259e-02 9.99530893e-01 -2.07220170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.331193817 meters Centerline goodness : 0.934994 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.33, Z:-2.07 [[ 9.99828642e-01 -1.84985020e-02 7.01210335e-04 1.74603320e+01] [ 1.85094995e-02 9.99583133e-01 -2.21576005e-02 -3.27087890e-01] [-2.91035605e-04 2.21667827e-02 9.99754244e-01 -2.07275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36119381700001 meters Centerline goodness : 0.934072 Centerline is valid? [False, False] Translation: X:17.48, Y:-0.32, Z:-2.07 [[ 9.99782478e-01 -2.08545444e-02 -2.90806837e-04 1.74831783e+01] [ 2.08402011e-02 9.99452951e-01 -2.56804275e-02 -3.19971541e-01] [ 8.26201368e-04 2.56687810e-02 9.99670161e-01 -2.07436301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39119381700002 meters Centerline goodness : 0.934830 Centerline is valid? [False, False] Translation: X:17.48, Y:-0.32, Z:-2.07 [[ 9.99834008e-01 -1.82078866e-02 -6.55934662e-04 1.74839867e+01] [ 1.81882448e-02 9.99575443e-01 -2.27622679e-02 -3.18050791e-01] [ 1.07010897e-03 2.27465593e-02 9.99740691e-01 -2.07447313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42119381700002 meters Centerline goodness : 0.937209 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.32, Z:-2.08 [[ 9.99866289e-01 -1.63022110e-02 -1.28131133e-03 1.74861834e+01] [ 1.62721128e-02 9.99652038e-01 -2.07610614e-02 -3.15557262e-01] [ 1.61931669e-03 2.07374358e-02 9.99783645e-01 -2.07558211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45119381700002 meters Centerline goodness : 0.936949 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.31, Z:-2.08 [[ 9.99911443e-01 -1.32179020e-02 -1.54707217e-03 1.74869136e+01] [ 1.31886048e-02 9.99757730e-01 -1.76221860e-02 -3.13911526e-01] [ 1.77962569e-03 1.76002217e-02 9.99843520e-01 -2.07583664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters Centerline goodness : 0.936973 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.31, Z:-2.08 [[ 9.99948543e-01 -9.97417042e-03 -1.85142315e-03 1.74879034e+01] [ 9.94620090e-03 9.99844718e-01 -1.45469286e-02 -3.11719737e-01] [ 1.99622920e-03 1.45277654e-02 9.99892474e-01 -2.07628336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51119381700002 meters Centerline goodness : 0.938094 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.30, Z:-2.08 [[ 9.99974074e-01 -6.81865676e-03 -2.31456568e-03 1.74893309e+01] [ 6.78763174e-03 9.99890399e-01 -1.31574036e-02 -3.03576299e-01] [ 2.40402782e-03 1.31413521e-02 9.99910759e-01 -2.07687931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54119381700002 meters Centerline goodness : 0.938860 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.30, Z:-2.08 [[ 9.99989978e-01 -3.66934746e-03 -2.56525668e-03 1.74900632e+01] [ 3.64278753e-03 9.99940495e-01 -1.02828259e-02 -3.01025252e-01] [ 2.60283530e-03 1.02733781e-02 9.99943840e-01 -2.07706560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57119381700002 meters Centerline goodness : 0.942760 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.30, Z:-2.08 [[ 9.99995903e-01 -6.44988788e-04 -2.78877742e-03 1.74904922e+01] [ 6.24077710e-04 9.99971735e-01 -7.49267567e-03 -2.98383181e-01] [ 2.79353128e-03 7.49090456e-03 9.99968041e-01 -2.07687466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60119381700002 meters Centerline goodness : 0.943477 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.30, Z:-2.08 [[ 9.99993189e-01 2.10326734e-03 -3.03301987e-03 1.74909280e+01] [-2.11822067e-03 9.99985577e-01 -4.93542510e-03 -2.95370862e-01] [ 3.02259561e-03 4.94181609e-03 9.99983221e-01 -2.07665076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63119381700002 meters Centerline goodness : 0.945246 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.29, Z:-2.08 [[ 9.99990906e-01 3.00464065e-03 -3.02669309e-03 1.74899525e+01] [-3.01955890e-03 9.99983257e-01 -4.93644027e-03 -2.87511249e-01] [ 3.01181019e-03 4.94553466e-03 9.99983235e-01 -2.07510747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66119381700003 meters Centerline goodness : 0.946149 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.28, Z:-2.08 [[ 9.99991446e-01 2.23897327e-03 -3.47791334e-03 1.74908402e+01] [-2.26041193e-03 9.99978395e-01 -6.17257917e-03 -2.84461550e-01] [ 3.46401796e-03 6.18038788e-03 9.99974901e-01 -2.07501925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69119381700003 meters Centerline goodness : 0.947156 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.28, Z:-2.08 [[ 9.99991542e-01 1.61243889e-03 -3.78358512e-03 1.74915360e+01] [-1.63978848e-03 9.99972471e-01 -7.23654989e-03 -2.81963146e-01] [ 3.77181247e-03 7.24269296e-03 9.99966658e-01 -2.07503676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72119381700003 meters Centerline goodness : 0.949984 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.28, Z:-2.08 [[ 9.99991314e-01 1.28738077e-03 -3.96423129e-03 1.74920354e+01] [-1.31929899e-03 9.99966651e-01 -8.05949159e-03 -2.79128222e-01] [ 3.95372345e-03 8.06465159e-03 9.99959664e-01 -2.07513202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75119381700003 meters Centerline goodness : 0.946507 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.27, Z:-2.08 [[ 9.99989838e-01 1.27607220e-03 -4.32377250e-03 1.75140490e+01] [-1.32060405e-03 9.99945956e-01 -1.03121513e-02 -2.70790970e-01] [ 4.31037978e-03 1.03177565e-02 9.99937480e-01 -2.07700039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78119381700003 meters Centerline goodness : 0.950088 Centerline is valid? [False, True] Translation: X:17.52, Y:-0.27, Z:-2.08 [[ 9.99986697e-01 1.87443778e-03 -4.80536609e-03 1.75166638e+01] [-1.92274660e-03 9.99947465e-01 -1.00682688e-02 -2.66268382e-01] [ 4.78624130e-03 1.00773744e-02 9.99937767e-01 -2.07886898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81119381700003 meters Centerline goodness : 0.949642 Centerline is valid? [True, False] Translation: X:17.52, Y:-0.26, Z:-2.08 [[ 9.99980705e-01 2.77649738e-03 -5.55704410e-03 1.75197121e+01] [-2.82852206e-03 9.99952043e-01 -9.37607424e-03 -2.62260984e-01] [ 5.53074495e-03 9.39161155e-03 9.99940602e-01 -2.08066473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84119381700003 meters Centerline goodness : 0.946012 Centerline is valid? [False, False] Translation: X:17.52, Y:-0.25, Z:-2.08 [[ 9.99971256e-01 3.89309163e-03 -6.50624480e-03 1.75235735e+01] [-3.95437773e-03 9.99947685e-01 -9.43341390e-03 -2.54910133e-01] [ 6.46917929e-03 9.45887089e-03 9.99934338e-01 -2.08318511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87119381700003 meters Centerline goodness : 0.946055 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.25, Z:-2.09 [[ 9.99965990e-01 3.95810116e-03 -7.23553741e-03 1.75269096e+01] [-4.03012311e-03 9.99942211e-01 -9.96658814e-03 -2.51344881e-01] [ 7.19567051e-03 9.99540928e-03 9.99924154e-01 -2.08538310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90119381700003 meters Centerline goodness : 0.945423 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.25, Z:-2.09 [[ 9.99951593e-01 6.55770851e-03 -7.33536333e-03 1.75271564e+01] [-6.61260672e-03 9.99950123e-01 -7.48500053e-03 -2.48749282e-01] [ 7.28591302e-03 7.53314407e-03 9.99945082e-01 -2.08533077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93119381700004 meters Centerline goodness : 0.948220 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.24, Z:-2.08 [[ 9.99943016e-01 7.96329922e-03 -7.10986196e-03 1.75264737e+01] [-8.00887988e-03 9.99947412e-01 -6.40561826e-03 -2.44602635e-01] [ 7.05847820e-03 6.46219528e-03 9.99954208e-01 -2.08483951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96119381700004 meters Centerline goodness : 0.949736 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.24, Z:-2.08 [[ 9.99931614e-01 9.43460772e-03 -6.91057517e-03 1.75255112e+01] [-9.47797225e-03 9.99935429e-01 -6.26945934e-03 -2.35548651e-01] [ 6.85097905e-03 6.33452883e-03 9.99956468e-01 -2.08371696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.991193817 meters Centerline goodness : 0.950626 Centerline is valid? [False, True] Translation: X:17.52, Y:-0.23, Z:-2.08 [[ 9.99921790e-01 1.05715321e-02 -6.68257789e-03 1.75241238e+01] [-1.06070796e-02 9.99929663e-01 -5.30656408e-03 -2.31547844e-01] [ 6.62600935e-03 5.37703169e-03 9.99963591e-01 -2.08236577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters Centerline goodness : 0.952293 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.23, Z:-2.08 [[ 9.99938821e-01 9.16064888e-03 -6.19981220e-03 1.75529957e+01] [-9.15763520e-03 9.99957936e-01 5.14307326e-04 -2.31194232e-01] [ 6.20426280e-03 -4.57500243e-04 9.99980649e-01 -2.08262192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.051193817 meters Centerline goodness : 0.951686 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.22, Z:-2.08 [[ 9.99956163e-01 7.01675741e-03 -6.19985199e-03 1.75827950e+01] [-7.01370570e-03 9.99975272e-01 5.13827177e-04 -2.24100301e-01] [ 6.20330408e-03 -4.70320715e-04 9.99980649e-01 -2.08309527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters Centerline goodness : 0.951873 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.22, Z:-2.08 [[ 9.99958139e-01 6.72921864e-03 -6.19989155e-03 1.76121889e+01] [-6.72616439e-03 9.99977247e-01 5.13349416e-04 -2.21434684e-01] [ 6.20320493e-03 -4.71626437e-04 9.99980649e-01 -2.07987061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11119381700001 meters Centerline goodness : 0.955510 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.22, Z:-2.08 [[ 9.99957944e-01 6.75800434e-03 -6.19993307e-03 1.76410414e+01] [-6.75495373e-03 9.99977054e-01 5.12847502e-04 -2.18105685e-01] [ 6.20325663e-03 -4.70945673e-04 9.99980649e-01 -2.07924671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters Centerline goodness : 0.955757 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.22, Z:-2.08 [[ 9.99949243e-01 7.94172081e-03 -6.19997446e-03 1.76696177e+01] [-7.93869591e-03 9.99968357e-01 5.12346598e-04 -2.16083701e-01] [ 6.20384719e-03 -4.63100881e-04 9.99980649e-01 -2.07893477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17119381700002 meters Centerline goodness : 0.954687 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.21, Z:-2.08 [[ 9.99939342e-01 9.10343263e-03 -6.20002858e-03 1.76980441e+01] [-9.10043398e-03 9.99958459e-01 5.11690811e-04 -2.14538856e-01] [ 6.20442917e-03 -4.55236822e-04 9.99980649e-01 -2.08169069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters Centerline goodness : 0.954760 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.21, Z:-2.08 [[ 9.99932376e-01 9.83878627e-03 -6.20008430e-03 1.77276435e+01] [-9.83580586e-03 9.99951497e-01 5.11014793e-04 -2.09587351e-01] [ 6.20481134e-03 -4.49997410e-04 9.99980649e-01 -2.08148750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23119381700002 meters Centerline goodness : 0.958055 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.21, Z:-2.08 [[ 9.99941921e-01 8.81546556e-03 -6.20012328e-03 1.77571090e+01] [-8.81246850e-03 9.99961039e-01 5.10541409e-04 -2.07700740e-01] [ 6.20438238e-03 -4.55873366e-04 9.99980649e-01 -2.07866447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26119381700002 meters Centerline goodness : 0.958068 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.21, Z:-2.08 [[ 9.99956508e-01 6.96702970e-03 -6.20016481e-03 1.77862567e+01] [-6.96400042e-03 9.99975621e-01 5.10036595e-04 -2.05094249e-01] [ 6.20356710e-03 -4.66836462e-04 9.99980649e-01 -2.07926960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29119381700002 meters Centerline goodness : 0.955512 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.20, Z:-2.08 [[ 9.99969270e-01 4.79755403e-03 -6.20020593e-03 1.78143314e+01] [-4.79448637e-03 9.99988377e-01 5.09536206e-04 -2.02155692e-01] [ 6.20257839e-03 -4.79793745e-04 9.99980649e-01 -2.07982871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32119381700002 meters Centerline goodness : 0.955850 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.20, Z:-2.08 [[ 9.99980574e-01 6.38787704e-04 -6.20025660e-03 1.78428009e+01] [-6.35644413e-04 9.99999668e-01 5.08918931e-04 -1.95194839e-01] [ 6.20057963e-03 -5.04967886e-04 9.99980649e-01 -2.07888560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35119381700002 meters Centerline goodness : 0.957920 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.19, Z:-2.08 [[ 9.99979452e-01 -1.62824063e-03 -6.20030682e-03 1.78717731e+01] [ 1.63142343e-03 9.99998540e-01 5.08306310e-04 -1.93259948e-01] [ 6.19947012e-03 -5.18411191e-04 9.99980649e-01 -2.07784962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38119381700002 meters Centerline goodness : 0.958598 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.19, Z:-2.08 [[ 9.99976680e-01 -2.86276859e-03 -6.20034631e-03 1.79003704e+01] [ 2.86597198e-03 9.99995764e-01 5.07824204e-04 -1.91249516e-01] [ 6.19886626e-03 -5.25582380e-04 9.99980649e-01 -2.07677236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41119381700003 meters Centerline goodness : 0.959846 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.19, Z:-2.08 [[ 9.99975772e-01 -3.16405538e-03 -6.20039529e-03 1.79285952e+01] [ 3.16726084e-03 9.99994856e-01 5.07225414e-04 -1.88341252e-01] [ 6.19875850e-03 -5.26851394e-04 9.99980649e-01 -2.07665008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44119381700003 meters Centerline goodness : 0.959846 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.19, Z:-2.08 [[ 9.99974889e-01 -3.43161636e-03 -6.20044379e-03 1.79577796e+01] [ 3.43482327e-03 9.99993973e-01 5.06631874e-04 -1.90541694e-01] [ 6.19866785e-03 -5.27916580e-04 9.99980649e-01 -2.07646792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47119381700003 meters Centerline goodness : 0.960425 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.18, Z:-2.08 [[ 9.99979862e-01 -1.35229987e-03 -6.20057890e-03 1.79873818e+01] [ 1.35545687e-03 9.99998954e-01 5.04972791e-04 -1.81110300e-01] [ 6.19988954e-03 -5.13367239e-04 9.99980649e-01 -2.07654366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50119381700003 meters Centerline goodness : 0.959881 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.18, Z:-2.08 [[ 9.99980768e-01 1.25291438e-04 -6.20060754e-03 1.80160657e+01] [-1.22164814e-04 9.99999865e-01 5.04620946e-04 -1.77330381e-01] [ 6.20066993e-03 -5.03853745e-04 9.99980649e-01 -2.07715443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53119381700003 meters Centerline goodness : 0.959409 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.17, Z:-2.08 [[ 9.99978650e-01 2.06212704e-03 -6.20065452e-03 1.80454526e+01] [-2.05904097e-03 9.99997753e-01 5.04042927e-04 -1.73807141e-01] [ 6.20167999e-03 -4.91264764e-04 9.99980649e-01 -2.07713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56119381700003 meters Centerline goodness : 0.962336 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.16, Z:-2.07 [[ 9.99959931e-01 6.45653629e-03 -6.20078595e-03 1.80748925e+01] [-6.45354421e-03 9.99979049e-01 5.02420898e-04 -1.64852512e-01] [ 6.20389994e-03 -4.62383720e-04 9.99980649e-01 -2.07223794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59119381700003 meters Centerline goodness : 0.960155 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.16, Z:-2.07 [[ 9.99948746e-01 8.00340961e-03 -6.20092354e-03 1.81026396e+01] [-8.00045762e-03 9.99967870e-01 5.00716938e-04 -1.61690382e-01] [ 6.20473175e-03 -4.51081049e-04 9.99980649e-01 -2.07270326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62119381700003 meters Centerline goodness : 0.962791 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.16, Z:-2.07 [[ 9.99927345e-01 1.03369234e-02 -6.20097213e-03 1.81306067e+01] [-1.03340197e-02 9.99946478e-01 5.00114537e-04 -1.58951583e-01] [ 6.20580988e-03 -4.35997233e-04 9.99980649e-01 -2.07241045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65119381700003 meters Centerline goodness : 0.965098 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.16, Z:-2.07 [[ 9.99903285e-01 1.24486243e-02 -6.20102272e-03 1.81585214e+01] [-1.24457649e-02 9.99922424e-01 4.99486457e-04 -1.56200740e-01] [ 6.20675959e-03 -4.22261678e-04 9.99980649e-01 -2.07137773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68119381700004 meters Centerline goodness : 0.964522 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.15, Z:-2.07 [[ 9.99871266e-01 1.47985892e-02 -6.20106743e-03 1.81874142e+01] [-1.47957783e-02 9.99890412e-01 4.98930804e-04 -1.53537265e-01] [ 6.20777133e-03 -4.07116956e-04 9.99980649e-01 -2.07246437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71119381700004 meters Centerline goodness : 0.962236 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.15, Z:-2.08 [[ 9.99786954e-01 1.96873553e-02 -6.20110291e-03 1.82153195e+01] [-1.96846407e-02 9.99806114e-01 4.98489336e-04 -1.48442904e-01] [ 6.20971455e-03 -3.76316652e-04 9.99980649e-01 -2.07586877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters Centerline goodness : 0.961804 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.15, Z:-2.07 [[ 9.99739322e-01 2.19734907e-02 -6.20114719e-03 1.82438916e+01] [-2.19708233e-02 9.99758488e-01 4.97937973e-04 -1.47839291e-01] [ 6.21059097e-03 -3.61563862e-04 9.99980649e-01 -2.07176402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.771193817 meters Centerline goodness : 0.961417 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.15, Z:-2.07 [[ 9.99681659e-01 2.44566094e-02 -6.20118652e-03 1.82731182e+01] [-2.44539928e-02 9.99700833e-01 4.97447620e-04 -1.46837392e-01] [ 6.21149721e-03 -3.45645492e-04 9.99980649e-01 -2.07188011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters Centerline goodness : 0.961628 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.14, Z:-2.07 [[ 9.99585232e-01 2.81231133e-02 -6.20122610e-03 1.83012390e+01] [-2.81205700e-02 9.99604415e-01 4.96953710e-04 -1.41163663e-01] [ 6.21274888e-03 -3.22365576e-04 9.99980649e-01 -2.07271462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.831193817 meters Centerline goodness : 0.962918 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.14, Z:-2.07 [[ 9.99555831e-01 2.91493402e-02 -6.20127517e-03 1.83293579e+01] [-2.91468204e-02 9.99575018e-01 4.96340640e-04 -1.40100028e-01] [ 6.21310774e-03 -3.15372727e-04 9.99980649e-01 -2.07311777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters Centerline goodness : 0.957849 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.14, Z:-2.08 [[ 9.99546335e-01 2.94731681e-02 -6.20132300e-03 1.83574080e+01] [-2.94706582e-02 9.99565523e-01 4.95742370e-04 -1.39650016e-01] [ 6.21323976e-03 -3.12760399e-04 9.99980649e-01 -2.07993434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89119381700002 meters Centerline goodness : 0.961287 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.14, Z:-2.07 [[ 9.99557654e-01 2.90867534e-02 -6.20137007e-03 1.83863604e+01] [-2.90842398e-02 9.99576841e-01 4.95152787e-04 -1.38021356e-01] [ 6.21314830e-03 -3.14571624e-04 9.99980649e-01 -2.07283744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters Centerline goodness : 0.962513 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.14, Z:-2.07 [[ 9.99576324e-01 2.84379215e-02 -6.20140927e-03 1.84149042e+01] [-2.84353984e-02 9.99595510e-01 4.94661391e-04 -1.38107769e-01] [ 6.21296800e-03 -3.18112271e-04 9.99980649e-01 -2.07347736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95119381700002 meters Centerline goodness : 0.963841 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.14, Z:-2.07 [[ 9.99585546e-01 2.81118859e-02 -6.20144822e-03 1.84437951e+01] [-2.81093596e-02 9.99604732e-01 4.94172667e-04 -1.38402219e-01] [ 6.21288911e-03 -3.19649117e-04 9.99980649e-01 -2.07320894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters Centerline goodness : 0.963818 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.14, Z:-2.07 [[ 9.99583338e-01 2.81902724e-02 -6.20148704e-03 1.84714380e+01] [-2.81877506e-02 9.99602525e-01 4.93684954e-04 -1.39096563e-01] [ 6.21293922e-03 -3.18673285e-04 9.99980649e-01 -2.07307379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01119381700002 meters Centerline goodness : 0.967092 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.14, Z:-2.07 [[ 9.99524120e-01 3.02171268e-02 -6.20153506e-03 1.84997614e+01] [-3.02146476e-02 9.99543312e-01 4.93080982e-04 -1.37939854e-01] [ 6.21360239e-03 -3.05469138e-04 9.99980649e-01 -2.07207949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04119381700002 meters Centerline goodness : 0.965911 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.14, Z:-2.07 [[ 9.99473632e-01 3.18433672e-02 -6.20158258e-03 1.85283494e+01] [-3.18409231e-02 9.99492828e-01 4.92482687e-04 -1.38289575e-01] [ 6.21411961e-03 -2.94759346e-04 9.99980649e-01 -2.07082157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07119381700002 meters Centerline goodness : 0.965920 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.14, Z:-2.07 [[ 9.99408703e-01 3.38198780e-02 -6.20161989e-03 1.85573267e+01] [-3.38174747e-02 9.99427905e-01 4.92012356e-04 -1.39326676e-01] [ 6.21471177e-03 -2.81998307e-04 9.99980649e-01 -2.06891594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10119381700002 meters Centerline goodness : 0.963043 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.14, Z:-2.07 [[ 9.99230418e-01 3.87312795e-02 -6.20165771e-03 1.85854861e+01] [-3.87289735e-02 9.99249631e-01 4.91535161e-04 -1.41711215e-01] [ 6.21604197e-03 -2.50973047e-04 9.99980649e-01 -2.07175956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13119381700002 meters Centerline goodness : 0.960503 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.14, Z:-2.07 [[ 9.99119760e-01 4.14878719e-02 -6.20170445e-03 1.86134964e+01] [-4.14856227e-02 9.99138980e-01 4.90944689e-04 -1.44859614e-01] [ 6.21673292e-03 -2.33230969e-04 9.99980649e-01 -2.07239184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16119381700003 meters Centerline goodness : 0.961469 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.15, Z:-2.07 [[ 9.99042398e-01 4.33107958e-02 -6.20174907e-03 1.86408571e+01] [-4.33085851e-02 9.99061623e-01 4.90380478e-04 -1.47475482e-01] [ 6.21716826e-03 -2.21321911e-04 9.99980649e-01 -2.07233026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19119381700003 meters Centerline goodness : 0.962247 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.15, Z:-2.07 [[ 9.98958289e-01 4.52092225e-02 -6.20179328e-03 1.86698416e+01] [-4.52070518e-02 9.98977519e-01 4.89820635e-04 -1.50096506e-01] [ 6.21759648e-03 -2.08945593e-04 9.99980649e-01 -2.06928217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22119381700003 meters Centerline goodness : 0.959286 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.15, Z:-2.07 [[ 9.98866713e-01 4.71892718e-02 -6.20183006e-03 1.86972861e+01] [-4.71871421e-02 9.98885947e-01 4.89354597e-04 -1.52517402e-01] [ 6.21801317e-03 -1.96153381e-04 9.99980649e-01 -2.06991931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25119381700003 meters Centerline goodness : 0.958045 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.16, Z:-2.06 [[ 9.98891736e-01 4.66565881e-02 -6.20187575e-03 1.87259109e+01] [-4.66544517e-02 9.98910969e-01 4.88774813e-04 -1.55197595e-01] [ 6.21792628e-03 -1.98888008e-04 9.99980649e-01 -2.06494360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28119381700003 meters Centerline goodness : 0.958840 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.16, Z:-2.07 [[ 9.98911058e-01 4.62410535e-02 -6.20191639e-03 1.87543715e+01] [-4.62389124e-02 9.98930290e-01 4.88258618e-04 -1.59537856e-01] [ 6.21785973e-03 -2.00957064e-04 9.99980649e-01 -2.06560935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31119381700003 meters Centerline goodness : 0.955119 Centerline is valid? [True, True] Translation: X:18.78, Y:-0.17, Z:-2.07 [[ 9.99015634e-01 4.39237908e-02 -6.20195724e-03 1.87827894e+01] [-4.39216083e-02 9.99034861e-01 4.87739177e-04 -1.67762882e-01] [ 6.21739484e-03 -2.14859127e-04 9.99980649e-01 -2.06603159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34119381700003 meters Centerline goodness : 0.952635 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.17, Z:-2.07 [[ 9.99094621e-01 4.20888753e-02 -6.20199871e-03 1.88106698e+01] [-4.20866607e-02 9.99113845e-01 4.87211289e-04 -1.72929698e-01] [ 6.21700895e-03 -2.25748763e-04 9.99980649e-01 -2.06790189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37119381700003 meters Centerline goodness : 0.956435 Centerline is valid? [True, True] Translation: X:18.84, Y:-0.18, Z:-2.06 [[ 9.99177387e-01 4.00759821e-02 -6.20204993e-03 1.88385725e+01] [-4.00737328e-02 9.99196607e-01 4.86558387e-04 -1.77235955e-01] [ 6.21656655e-03 -2.37618846e-04 9.99980649e-01 -2.06444827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40119381700003 meters Centerline goodness : 0.956547 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.18, Z:-2.07 [[ 9.99268791e-01 3.77282071e-02 -6.20211090e-03 1.88661142e+01] [-3.77259176e-02 9.99288006e-01 4.85779937e-04 -1.80923441e-01] [ 6.21602264e-03 -2.51444406e-04 9.99980649e-01 -2.06640779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43119381700004 meters Centerline goodness : 0.954930 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.18, Z:-2.06 [[ 9.99351379e-01 3.54732809e-02 -6.20216124e-03 1.88950834e+01] [-3.54709519e-02 9.99370590e-01 4.85136341e-04 -1.84884901e-01] [ 6.21546692e-03 -2.64825108e-04 9.99980649e-01 -2.06371719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46119381700004 meters Centerline goodness : 0.948475 Centerline is valid? [True, False] Translation: X:18.91, Y:-0.19, Z:-2.06 [[ 9.99390792e-01 3.24472441e-02 -1.28538379e-02 1.89090598e+01] [-3.23101477e-02 9.99420253e-01 1.07336685e-02 -1.91099647e-01] [ 1.31946639e-02 -1.03118201e-02 9.99859774e-01 -2.06483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.491193817 meters Centerline goodness : 0.945750 Centerline is valid? [False, False] Translation: X:18.91, Y:-0.19, Z:-2.06 [[ 9.99367639e-01 3.18204766e-02 -1.58675430e-02 1.89147990e+01] [-3.16192883e-02 9.99418367e-01 1.27729460e-02 -1.92771960e-01] [ 1.62647551e-02 -1.22631485e-02 9.99792515e-01 -2.06488963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters Centerline goodness : 0.945232 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.19, Z:-2.06 [[ 9.99330072e-01 3.08152005e-02 -1.97441363e-02 1.89216285e+01] [-3.05014983e-02 9.99406696e-01 1.59973204e-02 -1.94540613e-01] [ 2.02253826e-02 -1.53843776e-02 9.99677075e-01 -2.06383568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.551193817 meters Centerline goodness : 0.945521 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.20, Z:-2.06 [[ 9.99318483e-01 3.08922703e-02 -2.02048581e-02 1.89226367e+01] [-3.05616335e-02 9.99397126e-01 1.64733150e-02 -1.96143952e-01] [ 2.07015752e-02 -1.58445947e-02 9.99660139e-01 -2.06395562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters Centerline goodness : 0.944950 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.20, Z:-2.06 [[ 0.99924674 0.03046686 -0.02403606 18.9346448 ] [-0.02980989 0.99918452 0.02723356 -0.20009214] [ 0.02484618 -0.02649654 0.99934008 -2.06298729] [ 0. 0. 0. 1. ]] SLAMing on 154.61119381700001 meters Centerline goodness : 0.941040 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.20, Z:-2.06 [[ 0.99918292 0.03207588 -0.02458907 18.93714147] [-0.03136545 0.99909432 0.02875313 -0.20095541] [ 0.02548908 -0.02795839 0.99928406 -2.06445864] [ 0. 0. 0. 1. ]] SLAMing on 154.64119381700002 meters Centerline goodness : 0.938485 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.20, Z:-2.07 [[ 0.99912186 0.03335737 -0.02535344 18.93928566] [-0.03260614 0.99903319 0.02948773 -0.20087509] [ 0.02631257 -0.02863516 0.99924355 -2.06509864] [ 0. 0. 0. 1. ]] SLAMing on 154.67119381700002 meters Centerline goodness : 0.939809 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.20, Z:-2.07 [[ 0.99906133 0.03467033 -0.0259699 18.94122352] [-0.03387649 0.99896333 0.03040805 -0.20123608] [ 0.02699724 -0.02949974 0.99920014 -2.065762 ] [ 0. 0. 0. 1. ]] SLAMing on 154.70119381700002 meters Centerline goodness : 0.938975 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.20, Z:-2.07 [[ 0.9989417 0.03760594 -0.02648138 18.94235866] [-0.03673217 0.99878858 0.03274337 -0.20377082] [ 0.02768065 -0.031736 0.99911291 -2.06543946] [ 0. 0. 0. 1. ]] SLAMing on 154.73119381700002 meters Centerline goodness : 0.938097 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.21, Z:-2.06 [[ 0.99891478 0.0381653 -0.02669602 18.94239743] [-0.03726979 0.99875112 0.03327416 -0.20514405] [ 0.0279326 -0.03224309 0.99908966 -2.06477173] [ 0. 0. 0. 1. ]] SLAMing on 154.76119381700002 meters Centerline goodness : 0.939541 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.21, Z:-2.06 [[ 0.99889034 0.03862638 -0.02694598 18.94271353] [-0.03770927 0.99871861 0.03375131 -0.20623903] [ 0.02821515 -0.03269774 0.99906695 -2.06439871] [ 0. 0. 0. 1. ]] SLAMing on 154.79119381700002 meters Centerline goodness : 0.941253 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.21, Z:-2.06 [[ 0.99892082 0.03727478 -0.0277091 18.94349233] [-0.03638172 0.99882345 0.03206382 -0.20824636] [ 0.02887167 -0.03102111 0.99910166 -2.06344146] [ 0. 0. 0. 1. ]] SLAMing on 154.82119381700002 meters Centerline goodness : 0.940806 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.06 [[ 0.99899018 0.03483017 -0.0283809 18.94553061] [-0.03399248 0.99898714 0.02948239 -0.20948011] [ 0.02937903 -0.02848788 0.99916231 -2.06432704] [ 0. 0. 0. 1. ]] SLAMing on 154.85119381700002 meters Centerline goodness : 0.940571 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 0.99905835 0.03218607 -0.02909419 18.9475263 ] [-0.03140996 0.99914855 0.02675036 -0.21061447] [ 0.02993041 -0.02581132 0.99921867 -2.06510687] [ 0. 0. 0. 1. ]] SLAMing on 154.88119381700002 meters Centerline goodness : 0.939965 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 0.99914352 0.02898338 -0.02953274 18.94836045] [-0.02829537 0.99932441 0.02345407 -0.21122848] [ 0.03019257 -0.02259834 0.99928861 -2.06509223] [ 0. 0. 0. 1. ]] SLAMing on 154.91119381700003 meters Centerline goodness : 0.941640 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.06 [[ 9.99234727e-01 2.52423696e-02 -2.98794798e-02 1.89485193e+01] [-2.46601106e-02 9.99501817e-01 1.96976466e-02 -2.11599336e-01] [ 3.03618096e-02 -1.89457412e-02 9.99359405e-01 -2.06444828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94119381700003 meters Centerline goodness : 0.944486 Centerline is valid? [False, False] Translation: X:18.98, Y:-0.22, Z:-2.07 [[ 9.99482806e-01 1.70428619e-02 -2.72701608e-02 1.89774433e+01] [-1.63770945e-02 9.99566811e-01 2.44536406e-02 -2.16941796e-01] [ 2.76751077e-02 -2.39943873e-02 9.99328954e-01 -2.06531347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97119381700003 meters Centerline goodness : 0.942793 Centerline is valid? [False, False] Translation: X:18.99, Y:-0.22, Z:-2.07 [[ 9.99660868e-01 1.26722127e-02 -2.27500431e-02 1.89905619e+01] [-1.20131665e-02 9.99510822e-01 2.88756034e-02 -2.19659103e-01] [ 2.31048321e-02 -2.85925106e-02 9.99324089e-01 -2.06871247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00119381700003 meters Centerline goodness : 0.941591 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.22, Z:-2.07 [[ 9.99722400e-01 8.20355508e-03 -2.20867326e-02 1.90105457e+01] [-7.59059524e-03 9.99587610e-01 2.76946319e-02 -2.21514462e-01] [ 2.23048187e-02 -2.75192924e-02 9.99372395e-01 -2.06903479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03119381700003 meters Centerline goodness : 0.940081 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.23, Z:-2.07 [[ 9.99719134e-01 1.16578502e-03 -2.36705263e-02 1.90301282e+01] [-2.30704807e-04 9.99220794e-01 3.94683505e-02 -2.27992348e-01] [ 2.36980937e-02 -3.94518042e-02 9.98940416e-01 -2.06970812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06119381700003 meters Centerline goodness : 0.938343 Centerline is valid? [False, False] Translation: X:19.04, Y:-0.23, Z:-2.07 [[ 9.99762989e-01 -2.98885425e-03 -2.15645958e-02 1.90416141e+01] [ 3.97112791e-03 9.98949499e-01 4.56522470e-02 -2.29751657e-01] [ 2.14054942e-02 -4.57270627e-02 9.98724607e-01 -2.07181617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09119381700003 meters Centerline goodness : 0.938266 Centerline is valid? [False, False] Translation: X:19.05, Y:-0.23, Z:-2.07 [[ 9.99792197e-01 -5.32497046e-03 -1.96775883e-02 1.90516552e+01] [ 6.40402352e-03 9.98455500e-01 5.51869813e-02 -2.32281340e-01] [ 1.93533272e-02 -5.53015290e-02 9.98282119e-01 -2.07298011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12119381700003 meters Centerline goodness : 0.938419 Centerline is valid? [False, False] Translation: X:19.05, Y:-0.23, Z:-2.07 [[ 9.99789946e-01 -5.70893310e-03 -1.96843308e-02 1.90514365e+01] [ 6.79574407e-03 9.98430291e-01 5.55947198e-02 -2.34112104e-01] [ 1.93360456e-02 -5.57168116e-02 9.98259362e-01 -2.07256226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15119381700003 meters Centerline goodness : 0.937838 Centerline is valid? [False, False] Translation: X:19.05, Y:-0.23, Z:-2.07 [[ 9.99788279e-01 -5.83396416e-03 -1.97322422e-02 1.90514886e+01] [ 6.92364280e-03 9.98428359e-01 5.56136321e-02 -2.34478736e-01] [ 1.93767823e-02 -5.57384766e-02 9.98257363e-01 -2.07237121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18119381700004 meters Centerline goodness : 0.939698 Centerline is valid? [False, False] Translation: X:19.05, Y:-0.23, Z:-2.07 [[ 9.99787663e-01 -5.84746936e-03 -1.97594337e-02 1.90515985e+01] [ 6.93572936e-03 9.98436621e-01 5.54635887e-02 -2.34184261e-01] [ 1.94042206e-02 -5.55888578e-02 9.98265173e-01 -2.07240345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21119381700004 meters Centerline goodness : 0.938950 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.23, Z:-2.07 [[ 9.99845053e-01 -4.34866251e-03 -1.70575466e-02 1.90256287e+01] [ 5.09022295e-03 9.99032852e-01 4.36743655e-02 -2.30813282e-01] [ 1.68511244e-02 -4.37544249e-02 9.98900190e-01 -2.07426234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters Centerline goodness : 0.934128 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.23, Z:-2.07 [[ 9.99835535e-01 -4.40848114e-03 -1.75916937e-02 1.90270327e+01] [ 5.17577577e-03 9.99026365e-01 4.38124756e-02 -2.31110357e-01] [ 1.73814193e-02 -4.38963207e-02 9.98884878e-01 -2.07484464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.271193817 meters Centerline goodness : 0.935736 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.23, Z:-2.07 [[ 9.99831310e-01 -4.65175669e-03 -1.77682909e-02 1.90273814e+01] [ 5.42208882e-03 9.99036311e-01 4.35551356e-02 -2.30580489e-01] [ 1.75485599e-02 -4.36441295e-02 9.98893006e-01 -2.07486717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters Centerline goodness : 0.936297 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.23, Z:-2.08 [[ 9.99885609e-01 -5.23871351e-03 -1.41888642e-02 1.90012825e+01] [ 5.89530357e-03 9.98894570e-01 4.66356373e-02 -2.30519083e-01] [ 1.39288687e-02 -4.67139503e-02 9.98811190e-01 -2.07817129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.331193817 meters Centerline goodness : 0.933073 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.23, Z:-2.08 [[ 9.99854198e-01 -9.11571747e-03 -1.44390259e-02 1.90018830e+01] [ 9.71965964e-03 9.99056638e-01 4.23244930e-02 -2.29038675e-01] [ 1.40395866e-02 -4.24586645e-02 9.98999575e-01 -2.07811039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters Centerline goodness : 0.933073 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.23, Z:-2.08 [[ 9.99854486e-01 -9.12089795e-03 -1.44158102e-02 1.90018501e+01] [ 9.72305078e-03 9.99059017e-01 4.22675238e-02 -2.28900963e-01] [ 1.40167274e-02 -4.24015390e-02 9.99002323e-01 -2.07811935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39119381700002 meters Centerline goodness : 0.936648 Centerline is valid? [False, False] Translation: X:18.98, Y:-0.23, Z:-2.08 [[ 9.99827264e-01 -1.32292692e-02 -1.30548568e-02 1.89801754e+01] [ 1.36976266e-02 9.99241091e-01 3.64639086e-02 -2.28173565e-01] [ 1.25625585e-02 -3.66364305e-02 9.99249696e-01 -2.07780033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters Centerline goodness : 0.936072 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.23, Z:-2.08 [[ 9.99828797e-01 -1.49901978e-02 -1.08476237e-02 1.89578052e+01] [ 1.53160201e-02 9.99414235e-01 3.06040258e-02 -2.25417126e-01] [ 1.03825092e-02 -3.07649287e-02 9.99472722e-01 -2.07653147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45119381700002 meters Centerline goodness : 0.938858 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.22, Z:-2.08 [[ 9.99814738e-01 -1.58114258e-02 -1.09766974e-02 1.89577258e+01] [ 1.61319808e-02 9.99426995e-01 2.97563421e-02 -2.24119176e-01] [ 1.04999175e-02 -2.99279052e-02 9.99496910e-01 -2.07610924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters Centerline goodness : 0.938926 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.22, Z:-2.08 [[ 9.99800439e-01 -1.67065727e-02 -1.09532000e-02 1.89573086e+01] [ 1.70073180e-02 9.99464221e-01 2.79646438e-02 -2.19511417e-01] [ 1.04801382e-02 -2.81453477e-02 9.99548901e-01 -2.07548029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51119381700002 meters Centerline goodness : 0.939206 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.22, Z:-2.07 [[ 9.99795284e-01 -1.70414809e-02 -1.09076984e-02 1.89567265e+01] [ 1.73308742e-02 9.99484901e-01 2.70106029e-02 -2.17223175e-01] [ 1.04417792e-02 -2.71941134e-02 9.99575635e-01 -2.07466055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54119381700002 meters Centerline goodness : 0.940376 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.22, Z:-2.07 [[ 9.99792506e-01 -1.72499724e-02 -1.08344051e-02 1.89558130e+01] [ 1.75296215e-02 9.99501184e-01 2.62696841e-02 -2.15532243e-01] [ 1.03758494e-02 -2.64541563e-02 9.99596178e-01 -2.07342220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57119381700002 meters Centerline goodness : 0.944820 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99786680e-01 -1.76776048e-02 -1.06816479e-02 1.89547729e+01] [ 1.79450670e-02 9.99514123e-01 2.54851364e-02 -2.14228735e-01] [ 1.02259417e-02 -2.56713828e-02 9.99618132e-01 -2.07225654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60119381700002 meters Centerline goodness : 0.946912 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99773558e-01 -1.85283067e-02 -1.04659218e-02 1.89541129e+01] [ 1.87803365e-02 9.99522939e-01 2.45192273e-02 -2.12876579e-01] [ 1.00066292e-02 -2.47102286e-02 9.99644573e-01 -2.07187578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63119381700002 meters Centerline goodness : 0.942712 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99761160e-01 -1.90769805e-02 -1.06626256e-02 1.89547994e+01] [ 1.93283753e-02 9.99525247e-01 2.39936478e-02 -2.12259429e-01] [ 1.01998372e-02 -2.41940084e-02 9.99655247e-01 -2.07233826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66119381700003 meters Centerline goodness : 0.944292 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.21, Z:-2.07 [[ 9.99748457e-01 -1.96669360e-02 -1.07812140e-02 1.89553064e+01] [ 1.99153522e-02 9.99526860e-01 2.34400168e-02 -2.11674677e-01] [ 1.03151197e-02 -2.36488323e-02 9.99667110e-01 -2.07271936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69119381700003 meters Centerline goodness : 0.942756 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.21, Z:-2.07 [[ 9.99732096e-01 -2.03620112e-02 -1.10056317e-02 1.89558551e+01] [ 2.06100377e-02 9.99524987e-01 2.29134639e-02 -2.11394912e-01] [ 1.05338397e-02 -2.31341517e-02 9.99676872e-01 -2.07292772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72119381700003 meters Centerline goodness : 0.939212 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.21, Z:-2.07 [[ 9.99684986e-01 -2.26910124e-02 -1.07260166e-02 1.89551310e+01] [ 2.29053960e-02 9.99531397e-01 2.03058709e-02 -2.11013241e-01] [ 1.02602296e-02 -2.05451579e-02 9.99736277e-01 -2.07245665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75119381700003 meters Centerline goodness : 0.940960 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99616067e-01 -2.56438701e-02 -1.04933090e-02 1.89533933e+01] [ 2.58254628e-02 9.99512361e-01 1.75523670e-02 -2.10124124e-01] [ 1.00380815e-02 -1.78166226e-02 9.99790881e-01 -2.07082718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78119381700003 meters Centerline goodness : 0.940758 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99598451e-01 -2.63264633e-02 -1.04811073e-02 1.89531605e+01] [ 2.65014753e-02 9.99505492e-01 1.69246515e-02 -2.09288884e-01] [ 1.00303581e-02 -1.71956203e-02 9.99801832e-01 -2.07047467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81119381700003 meters Centerline goodness : 0.940237 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99588448e-01 -2.66632358e-02 -1.05832910e-02 1.89534117e+01] [ 2.68366317e-02 9.99502080e-01 1.65947880e-02 -2.08738395e-01] [ 1.01355506e-02 -1.68719782e-02 9.99806285e-01 -2.07050677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84119381700003 meters Centerline goodness : 0.941341 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99580580e-01 -2.69030656e-02 -1.07186696e-02 1.89536790e+01] [ 2.70756917e-02 9.99500493e-01 1.62994356e-02 -2.08276998e-01] [ 1.02748108e-02 -1.65828147e-02 9.99809701e-01 -2.07048713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87119381700003 meters Centerline goodness : 0.941179 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.21, Z:-2.07 [[ 9.99588958e-01 -2.65495927e-02 -1.08181997e-02 1.89543385e+01] [ 2.67182622e-02 9.99518810e-01 1.57570208e-02 -2.05513595e-01] [ 1.03946516e-02 -1.60395875e-02 9.99817325e-01 -2.07096276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90119381700003 meters Centerline goodness : 0.940448 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.20, Z:-2.07 [[ 9.99671644e-01 -2.31452545e-02 -1.09955330e-02 1.89546809e+01] [ 2.33520264e-02 9.99545512e-01 1.90644064e-02 -2.04349869e-01] [ 1.05492852e-02 -1.93149145e-02 9.99757794e-01 -2.07124500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93119381700004 meters Centerline goodness : 0.942523 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.20, Z:-2.07 [[ 9.99746440e-01 -1.95037332e-02 -1.12543050e-02 1.89552829e+01] [ 1.97530518e-02 9.99552032e-01 2.24844706e-02 -2.03013654e-01] [ 1.08107323e-02 -2.27010763e-02 9.99683845e-01 -2.07162774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96119381700004 meters Centerline goodness : 0.942199 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.20, Z:-2.07 [[ 9.99806444e-01 -1.59303584e-02 -1.15454612e-02 1.89558532e+01] [ 1.62233496e-02 9.99536913e-01 2.57441572e-02 -2.01358256e-01] [ 1.11300010e-02 -2.59264803e-02 9.99601891e-01 -2.07189521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.991193817 meters Centerline goodness : 0.941849 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.20, Z:-2.07 [[ 9.99870225e-01 -1.10476729e-02 -1.17252859e-02 1.89566314e+01] [ 1.13895311e-02 9.99499865e-01 2.95008169e-02 -1.98881621e-01] [ 1.13935063e-02 -2.96305340e-02 9.99495983e-01 -2.07246231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters Centerline goodness : 0.942628 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.20, Z:-2.07 [[ 9.99878105e-01 -1.02003959e-02 -1.18206214e-02 1.89572208e+01] [ 1.05444622e-02 9.99511517e-01 2.94200817e-02 -1.96887123e-01] [ 1.15147507e-02 -2.95411376e-02 9.99497239e-01 -2.07272025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.051193817 meters Centerline goodness : 0.944600 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.19, Z:-2.07 [[ 9.99888285e-01 -6.59387429e-03 -1.34141447e-02 1.89385529e+01] [ 6.94605781e-03 9.99627862e-01 2.63797187e-02 -1.92906016e-01] [ 1.32352083e-02 -2.64699471e-02 9.99561990e-01 -2.07146060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters Centerline goodness : 0.945674 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.19, Z:-2.07 [[ 9.99942391e-01 3.10600566e-03 -1.02746414e-02 1.89333824e+01] [-2.92445075e-03 9.99840157e-01 1.76382713e-02 -1.86378444e-01] [ 1.03277837e-02 -1.76072075e-02 9.99791640e-01 -2.06998929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11119381700001 meters Centerline goodness : 0.948931 Centerline is valid? [False, False] Translation: X:18.93, Y:-0.18, Z:-2.07 [[ 9.99936269e-01 4.27327326e-03 -1.04497327e-02 1.89335921e+01] [-4.09004640e-03 9.99838619e-01 1.74930698e-02 -1.83824947e-01] [ 1.05227989e-02 -1.74492150e-02 9.99792376e-01 -2.06944235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14119381700002 meters Centerline goodness : 0.947600 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99923754e-01 5.69886066e-03 -1.09548631e-02 1.89350532e+01] [-5.50031718e-03 9.99821608e-01 1.80692554e-02 -1.82816083e-01] [ 1.10558830e-02 -1.80076225e-02 9.99776722e-01 -2.06986076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17119381700002 meters Centerline goodness : 0.946618 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99905490e-01 7.32114211e-03 -1.16366657e-02 1.89373166e+01] [-7.09813958e-03 9.99792555e-01 1.90909184e-02 -1.82542219e-01] [ 1.17740190e-02 -1.90065155e-02 9.99750031e-01 -2.07088462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20119381700002 meters Centerline goodness : 0.946423 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99892100e-01 9.02608229e-03 -1.15895627e-02 1.89371764e+01] [-8.79699967e-03 9.99767876e-01 1.96674065e-02 -1.80960101e-01] [ 1.17643921e-02 -1.95633310e-02 9.99739404e-01 -2.07030779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23119381700002 meters Centerline goodness : 0.949524 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99877367e-01 1.00529433e-02 -1.20078546e-02 1.89380545e+01] [-9.81068682e-03 9.99750519e-01 2.00661620e-02 -1.80135824e-01] [ 1.22065828e-02 -1.99458959e-02 9.99726543e-01 -2.07018144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26119381700002 meters Centerline goodness : 0.951000 Centerline is valid? [False, True] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99859726e-01 1.12259779e-02 -1.24300712e-02 1.89391255e+01] [-1.09661060e-02 9.99723907e-01 2.07811213e-02 -1.80304703e-01] [ 1.26599278e-02 -2.06418968e-02 9.99706776e-01 -2.07034806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29119381700002 meters Centerline goodness : 0.949180 Centerline is valid? [True, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99846410e-01 1.21077795e-02 -1.26711231e-02 1.89401142e+01] [-1.18362014e-02 9.99703218e-01 2.12927181e-02 -1.80980562e-01] [ 1.29251701e-02 -2.11394698e-02 9.99692984e-01 -2.07089799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32119381700002 meters Centerline goodness : 0.946663 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.18, Z:-2.07 [[ 9.99786988e-01 1.57472954e-02 -1.33417345e-02 1.89434059e+01] [-1.54167278e-02 9.99580270e-01 2.45276916e-02 -1.84958480e-01] [ 1.37223794e-02 -2.43167810e-02 9.99610119e-01 -2.07305404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35119381700002 meters Centerline goodness : 0.946816 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.19, Z:-2.07 [[ 9.99770846e-01 1.65078583e-02 -1.36289024e-02 1.89443417e+01] [-1.61607639e-02 9.99551883e-01 2.51964722e-02 -1.86202954e-01] [ 1.40387349e-02 -2.49704449e-02 9.99589611e-01 -2.07342485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38119381700002 meters Centerline goodness : 0.945047 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.19, Z:-2.07 [[ 9.99741109e-01 1.79805601e-02 -1.39432675e-02 1.89450810e+01] [-1.75972792e-02 9.99476726e-01 2.71405464e-02 -1.90176715e-01] [ 1.44239736e-02 -2.68881564e-02 9.99534380e-01 -2.07348471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41119381700003 meters Centerline goodness : 0.946912 Centerline is valid? [False, False] Translation: X:18.94, Y:-0.19, Z:-2.07 [[ 9.99790891e-01 1.47872181e-02 -1.41249067e-02 1.89448180e+01] [-1.44454540e-02 9.99607613e-01 2.39989210e-02 -1.92011875e-01] [ 1.44742416e-02 -2.37898619e-02 9.99612194e-01 -2.07267428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44119381700003 meters Centerline goodness : 0.946897 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.20, Z:-2.07 [[ 9.99829295e-01 1.16029702e-02 -1.43788761e-02 1.89450481e+01] [-1.12941902e-02 9.99707779e-01 2.13728339e-02 -1.95828439e-01] [ 1.46226626e-02 -2.12067877e-02 9.99668170e-01 -2.07226867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47119381700003 meters Centerline goodness : 0.946644 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.20, Z:-2.07 [[ 9.99858335e-01 8.16989070e-03 -1.47160752e-02 1.89454550e+01] [-7.89304362e-03 9.99792608e-01 1.87734073e-02 -2.00434787e-01] [ 1.48663999e-02 -1.86545931e-02 9.99715458e-01 -2.07194789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50119381700003 meters Centerline goodness : 0.948600 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.20, Z:-2.07 [[ 9.99878556e-01 2.63231254e-03 -1.53604914e-02 1.89474832e+01] [-2.42481794e-03 9.99905777e-01 1.35113558e-02 -2.04199633e-01] [ 1.53946102e-02 -1.34724685e-02 9.99790727e-01 -2.07272965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53119381700003 meters Centerline goodness : 0.946038 Centerline is valid? [False, False] Translation: X:18.96, Y:-0.22, Z:-2.08 [[ 9.99921378e-01 -3.75426625e-03 -1.19642266e-02 1.89638577e+01] [ 3.95243018e-03 9.99854686e-01 1.65826619e-02 -2.19416118e-01] [ 1.19002323e-02 -1.66286459e-02 9.99790914e-01 -2.07556872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56119381700003 meters Centerline goodness : 0.943897 Centerline is valid? [False, False] Translation: X:18.98, Y:-0.23, Z:-2.08 [[ 9.99922611e-01 -9.63668592e-03 -7.86809073e-03 1.89794313e+01] [ 9.77266875e-03 9.99800303e-01 1.74312868e-02 -2.26200815e-01] [ 7.69853965e-03 -1.75068300e-02 9.99817105e-01 -2.07726102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59119381700003 meters Centerline goodness : 0.947814 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.23, Z:-2.08 [[ 9.99904388e-01 -1.29516984e-02 -4.84439195e-03 1.89959156e+01] [ 1.30503741e-02 9.99695879e-01 2.09245539e-02 -2.34547466e-01] [ 4.57191016e-03 -2.09857744e-02 9.99769321e-01 -2.07795034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62119381700003 meters Centerline goodness : 0.946138 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.99568055e-01 -2.86263516e-02 -6.65102238e-03 1.90050229e+01] [ 2.91759822e-02 9.93771164e-01 1.07552941e-01 -2.66193912e-01] [ 3.53074593e-03 -1.07700534e-01 9.94177111e-01 -2.06922608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65119381700003 meters Centerline goodness : 0.945953 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.99320150e-01 -3.60747410e-02 -7.60597089e-03 1.90074351e+01] [ 3.66593619e-02 9.94202036e-01 1.01086114e-01 -2.69339457e-01] [ 3.91521637e-03 -1.01296220e-01 9.94848605e-01 -2.06869489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68119381700004 meters Centerline goodness : 0.943493 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.99049311e-01 -4.33044772e-02 -5.01961911e-03 1.90132512e+01] [ 4.35698721e-02 9.95709768e-01 8.16316315e-02 -2.68581923e-01] [ 1.46306866e-03 -8.17727294e-02 9.96649929e-01 -2.06810619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71119381700004 meters Centerline goodness : 0.939819 Centerline is valid? [False, False] Translation: X:19.02, Y:-0.27, Z:-2.07 [[ 9.98574664e-01 -5.25385560e-02 -9.39896918e-03 1.90174459e+01] [ 5.29917110e-02 9.96955720e-01 5.71941443e-02 -2.73858128e-01] [ 6.36545834e-03 -5.76106909e-02 9.98318831e-01 -2.06912073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.741193817 meters Centerline goodness : 0.935433 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.98342184e-01 -5.63981304e-02 -1.14949716e-02 1.90113978e+01] [ 5.68269281e-02 9.97533150e-01 4.12106149e-02 -2.73643013e-01] [ 9.14241355e-03 -4.17955193e-02 9.99084356e-01 -2.07094695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.771193817 meters Centerline goodness : 0.936170 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.98234050e-01 -5.80318006e-02 -1.26921947e-02 1.90053848e+01] [ 5.83661003e-02 9.97908638e-01 2.77803475e-02 -2.73131908e-01] [ 1.10535071e-02 -2.84720827e-02 9.99533471e-01 -2.07334063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.801193817 meters Centerline goodness : 0.935298 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.98021616e-01 -6.14966364e-02 -1.30773844e-02 1.90067134e+01] [ 6.17989288e-02 9.97796981e-01 2.41262801e-02 -2.72926758e-01] [ 1.15648896e-02 -2.48867174e-02 9.99623381e-01 -2.07351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.831193817 meters Centerline goodness : 0.938303 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.28, Z:-2.07 [[ 9.98060601e-01 -6.07864297e-02 -1.34181752e-02 1.90061608e+01] [ 6.11098970e-02 9.97813388e-01 2.51798102e-02 -2.75393110e-01] [ 1.18582441e-02 -2.59509598e-02 9.99592882e-01 -2.07168061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86119381700001 meters Centerline goodness : 0.941502 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.28, Z:-2.07 [[ 9.98087023e-01 -6.02881538e-02 -1.36978979e-02 1.90056819e+01] [ 6.06217992e-02 9.97837332e-01 2.54097778e-02 -2.75376281e-01] [ 1.21363653e-02 -2.61915607e-02 9.99583269e-01 -2.07028059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89119381700002 meters Centerline goodness : 0.943346 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.07 [[ 9.98139927e-01 -5.93423174e-02 -1.39705215e-02 1.90054787e+01] [ 5.96878390e-02 9.97884350e-01 2.57717940e-02 -2.74784535e-01] [ 1.24116068e-02 -2.65577268e-02 9.99570227e-01 -2.06928207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters Centerline goodness : 0.944706 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.28, Z:-2.07 [[ 9.98376959e-01 -5.51107922e-02 -1.43613812e-02 1.90053151e+01] [ 5.55239947e-02 9.98001563e-01 3.01656353e-02 -2.75469206e-01] [ 1.26702288e-02 -3.09140765e-02 9.99441737e-01 -2.06851719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95119381700002 meters Centerline goodness : 0.948117 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.06 [[ 9.98755118e-01 -4.79014398e-02 -1.39164165e-02 1.90095028e+01] [ 4.82514619e-02 9.98496491e-01 2.60106448e-02 -2.71376037e-01] [ 1.26495457e-02 -2.66497521e-02 9.99564795e-01 -2.06440824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters Centerline goodness : 0.948349 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.27, Z:-2.06 [[ 9.98947432e-01 -4.36509484e-02 -1.40933756e-02 1.90088836e+01] [ 4.40647049e-02 9.98562385e-01 3.05199225e-02 -2.72157132e-01] [ 1.27408912e-02 -3.11088186e-02 9.99434796e-01 -2.06342120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01119381700002 meters Centerline goodness : 0.951084 Centerline is valid? [False, True] Translation: X:19.01, Y:-0.27, Z:-2.06 [[ 9.98995376e-01 -4.25909028e-02 -1.39375037e-02 1.90082584e+01] [ 4.30033550e-02 9.98601033e-01 3.07682943e-02 -2.71400516e-01] [ 1.26075562e-02 -3.13367431e-02 9.99429366e-01 -2.06308009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04119381700002 meters Centerline goodness : 0.952121 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.26, Z:-2.06 [[ 9.99209896e-01 -3.73782491e-02 -1.35074019e-02 1.90357611e+01] [ 3.73790874e-02 9.99301140e-01 -1.90480672e-04 -2.57955228e-01] [ 1.35050819e-02 -3.14564181e-04 9.99908753e-01 -2.05759502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07119381700002 meters Centerline goodness : 0.952428 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.26, Z:-2.06 [[ 9.99289589e-01 -3.51833595e-02 -1.35073832e-02 1.90632146e+01] [ 3.51839796e-02 9.99380834e-01 -1.91791614e-04 -2.55863675e-01] [ 1.35057678e-02 -2.83588134e-04 9.99908753e-01 -2.05742209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10119381700002 meters Centerline goodness : 0.949620 Centerline is valid? [True, False] Translation: X:19.07, Y:-0.25, Z:-2.06 [[ 9.99333471e-01 -3.36259432e-02 -1.42095040e-02 1.90657213e+01] [ 3.36397789e-02 9.99433752e-01 7.35731936e-04 -2.54767452e-01] [ 1.41767182e-02 -1.21324612e-03 9.99898769e-01 -2.05911943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13119381700002 meters Centerline goodness : 0.947277 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99448602e-01 -2.96769372e-02 -1.48919759e-02 1.90674160e+01] [ 2.97603448e-02 9.99542418e-01 5.41079682e-03 -2.56608036e-01] [ 1.47245857e-02 -5.85100365e-03 9.99874468e-01 -2.05981491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16119381700003 meters Centerline goodness : 0.944418 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99465402e-01 -2.91104249e-02 -1.48826388e-02 1.90677955e+01] [ 2.91956338e-02 9.99558361e-01 5.54049895e-03 -2.56540859e-01] [ 1.47147798e-02 -5.97204508e-03 9.99873897e-01 -2.06046313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19119381700003 meters Centerline goodness : 0.941919 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99565410e-01 -2.52600023e-02 -1.51961953e-02 1.90688863e+01] [ 2.54123616e-02 9.99627853e-01 9.91799845e-03 -2.58895719e-01] [ 1.49400114e-02 -1.02998594e-02 9.99835341e-01 -2.06126883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22119381700003 meters Centerline goodness : 0.943669 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99561923e-01 -2.52487918e-02 -1.54421663e-02 1.90698209e+01] [ 2.54034529e-02 9.99628231e-01 9.90270027e-03 -2.59202356e-01] [ 1.51863941e-02 -1.02906465e-02 9.99831724e-01 -2.06188545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25119381700003 meters Centerline goodness : 0.943669 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99561923e-01 -2.52487918e-02 -1.54421663e-02 1.90698209e+01] [ 2.54034529e-02 9.99628231e-01 9.90270027e-03 -2.59202356e-01] [ 1.51863941e-02 -1.02906465e-02 9.99831724e-01 -2.06188545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28119381700003 meters Centerline goodness : 0.939852 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99628645e-01 -2.19279389e-02 -1.61783355e-02 1.90713137e+01] [ 2.21730400e-02 9.99639664e-01 1.51293934e-02 -2.62602872e-01] [ 1.58407495e-02 -1.54824979e-02 9.99754651e-01 -2.06167318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31119381700003 meters Centerline goodness : 0.942522 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.26, Z:-2.06 [[ 9.99629568e-01 -2.16937543e-02 -1.64349374e-02 1.90718114e+01] [ 2.19591616e-02 9.99628508e-01 1.61443874e-02 -2.64404151e-01] [ 1.60785996e-02 -1.64993045e-02 9.99734591e-01 -2.06137077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34119381700003 meters Centerline goodness : 0.939859 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.27, Z:-2.06 [[ 9.99545453e-01 -2.51926171e-02 -1.65595437e-02 1.90723741e+01] [ 2.54080069e-02 9.99593569e-01 1.29278751e-02 -2.65475910e-01] [ 1.62271264e-02 -1.33427438e-02 9.99779301e-01 -2.06137640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37119381700003 meters Centerline goodness : 0.939684 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.27, Z:-2.06 [[ 9.99537819e-01 -2.50675599e-02 -1.71978583e-02 1.90738464e+01] [ 2.53116389e-02 9.99579820e-01 1.41246262e-02 -2.68064772e-01] [ 1.68365622e-02 -1.45534041e-02 9.99752334e-01 -2.06132337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40119381700003 meters Centerline goodness : 0.938571 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.27, Z:-2.06 [[ 9.99459431e-01 -2.75316441e-02 -1.79681266e-02 1.90765096e+01] [ 2.77447326e-02 9.99546337e-01 1.17196779e-02 -2.69773397e-01] [ 1.76373131e-02 -1.22118635e-02 9.99769871e-01 -2.06251756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43119381700004 meters Centerline goodness : 0.936440 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.27, Z:-2.06 [[ 9.99380852e-01 -2.99739226e-02 -1.84249050e-02 1.90785691e+01] [ 3.01487640e-02 9.99502287e-01 9.28597532e-03 -2.71890190e-01] [ 1.81373976e-02 -9.83571404e-03 9.99787124e-01 -2.06373153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46119381700004 meters Centerline goodness : 0.931002 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.28, Z:-2.06 [[ 9.99433960e-01 -2.76958267e-02 -1.90971587e-02 1.90812614e+01] [ 2.79516646e-02 9.99521292e-01 1.32624072e-02 -2.79867415e-01] [ 1.87207034e-02 -1.37886975e-02 9.99729667e-01 -2.06498959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.491193817 meters Centerline goodness : 0.932563 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.28, Z:-2.07 [[ 9.99450178e-01 -2.68909214e-02 -1.93964150e-02 1.90820568e+01] [ 2.71794099e-02 9.99521505e-01 1.47662238e-02 -2.82831934e-01] [ 1.89900566e-02 -1.52852881e-02 9.99702825e-01 -2.06501526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters Centerline goodness : 0.932500 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.28, Z:-2.06 [[ 9.99523447e-01 -2.55931453e-02 -1.72588889e-02 1.90890123e+01] [ 2.56729562e-02 9.99660630e-01 4.41870412e-03 -2.82782799e-01] [ 1.71399432e-02 -4.85968507e-03 9.99841290e-01 -2.06386939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.551193817 meters Centerline goodness : 0.933854 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.29, Z:-2.06 [[ 9.99615473e-01 -2.13424617e-02 -1.77032781e-02 1.90891659e+01] [ 2.15405549e-02 9.99706627e-01 1.10754419e-02 -2.89148435e-01] [ 1.74617073e-02 -1.14525215e-02 9.99781940e-01 -2.06229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters Centerline goodness : 0.936006 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.30, Z:-2.06 [[ 9.99770918e-01 -1.76224355e-02 -1.21474590e-02 1.90904392e+01] [ 1.76261004e-02 9.99844629e-01 1.94698506e-04 -2.95635718e-01] [ 1.21421406e-02 -4.08766237e-04 9.99926198e-01 -2.06222272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61119381700001 meters Centerline goodness : 0.935139 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.30, Z:-2.06 [[ 9.99829224e-01 -1.36027630e-02 -1.25095081e-02 1.90907693e+01] [ 1.36809155e-02 9.99887294e-01 6.18323516e-03 -3.01706880e-01] [ 1.24239891e-02 -6.35332074e-03 9.99902635e-01 -2.06133882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters Centerline goodness : 0.936923 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.31, Z:-2.06 [[ 9.99841357e-01 -1.25894461e-02 -1.26002634e-02 1.90904231e+01] [ 1.26939992e-02 9.99885374e-01 8.25239658e-03 -3.06189914e-01] [ 1.24949260e-02 -8.41103512e-03 9.99886559e-01 -2.06033057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67119381700002 meters Centerline goodness : 0.941019 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.31, Z:-2.06 [[ 9.99827186e-01 -1.38072754e-02 -1.24481608e-02 1.90888824e+01] [ 1.39100653e-02 9.99869553e-01 8.20901214e-03 -3.14894297e-01] [ 1.23331928e-02 -8.38074823e-03 9.99888822e-01 -2.05822622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters Centerline goodness : 0.942365 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.32, Z:-2.06 [[ 9.99800989e-01 -1.57751849e-02 -1.22117434e-02 1.90877026e+01] [ 1.58565533e-02 9.99852525e-01 6.59522826e-03 -3.18769002e-01] [ 1.21059015e-02 -6.78755189e-03 9.99903684e-01 -2.05712873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73119381700002 meters Centerline goodness : 0.943200 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.32, Z:-2.06 [[ 9.99805070e-01 -1.54541242e-02 -1.22878965e-02 1.90875294e+01] [ 1.55518931e-02 9.99847843e-01 7.90117216e-03 -3.23457074e-01] [ 1.21639211e-02 -8.09073203e-03 9.99893284e-01 -2.05654001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76119381700002 meters Centerline goodness : 0.943008 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.33, Z:-2.06 [[ 9.99762295e-01 -1.76756833e-02 -1.27641527e-02 1.90894026e+01] [ 1.77540721e-02 9.99824053e-01 6.05434055e-03 -3.26464279e-01] [ 1.26548923e-02 -6.27951709e-03 9.99900206e-01 -2.05743017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79119381700002 meters Centerline goodness : 0.941325 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.33, Z:-2.06 [[ 9.99691225e-01 -2.13721976e-02 -1.26760941e-02 1.90895785e+01] [ 2.14256111e-02 9.99762067e-01 4.09298306e-03 -3.32952549e-01] [ 1.25856020e-02 -4.36331231e-03 9.99911278e-01 -2.05745010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82119381700002 meters Centerline goodness : 0.942116 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.34, Z:-2.06 [[ 9.99593169e-01 -2.53966519e-02 -1.29809765e-02 1.90904916e+01] [ 2.54117188e-02 9.99676573e-01 9.97043784e-04 -3.36432993e-01] [ 1.29514566e-02 -1.32650708e-03 9.99915246e-01 -2.05750385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85119381700002 meters Centerline goodness : 0.939830 Centerline is valid? [False, False] Translation: X:19.09, Y:-0.34, Z:-2.06 [[ 9.99406210e-01 -3.16988167e-02 -1.35060330e-02 1.90932077e+01] [ 3.16371898e-02 9.99488120e-01 -4.75245109e-03 -3.39645582e-01] [ 1.36497666e-02 4.32233620e-03 9.99897495e-01 -2.05897351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88119381700002 meters Centerline goodness : 0.940794 Centerline is valid? [False, False] Translation: X:19.10, Y:-0.34, Z:-2.06 [[ 9.99198082e-01 -3.75490482e-02 -1.39018603e-02 1.90959831e+01] [ 3.74145288e-02 9.99251646e-01 -9.81328252e-03 -3.42954925e-01] [ 1.42599362e-02 9.28528152e-03 9.99855208e-01 -2.06073399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91119381700003 meters Centerline goodness : 0.939868 Centerline is valid? [False, False] Translation: X:19.11, Y:-0.35, Z:-2.06 [[ 9.98721056e-01 -4.95509452e-02 -1.00476485e-02 1.91065746e+01] [ 4.94621376e-02 9.98736322e-01 -8.90263134e-03 -3.50839338e-01] [ 1.04760853e-02 8.39426721e-03 9.99909890e-01 -2.06284529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94119381700003 meters Centerline goodness : 0.942552 Centerline is valid? [False, False] Translation: X:19.11, Y:-0.35, Z:-2.06 [[ 9.98496386e-01 -5.38776662e-02 -1.01075986e-02 1.91071800e+01] [ 5.37535507e-02 9.98480023e-01 -1.21737339e-02 -3.53912040e-01] [ 1.07481277e-02 1.16121100e-02 9.99874810e-01 -2.06274706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97119381700003 meters Centerline goodness : 0.944182 Centerline is valid? [False, False] Translation: X:19.12, Y:-0.36, Z:-2.07 [[ 9.98256692e-01 -5.88549257e-02 -4.43552316e-03 1.91185744e+01] [ 5.88237238e-02 9.98244785e-01 -6.86429685e-03 -3.58400123e-01] [ 4.83173554e-03 6.59141628e-03 9.99966603e-01 -2.06609272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00119381700003 meters Centerline goodness : 0.945977 Centerline is valid? [False, False] Translation: X:19.12, Y:-0.36, Z:-2.07 [[ 9.98009042e-01 -6.29272806e-02 -4.25549756e-03 1.91184006e+01] [ 6.28810173e-02 9.97968405e-01 -1.02488796e-02 -3.60511428e-01] [ 4.89178624e-03 9.96088447e-03 9.99938424e-01 -2.06551524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03119381700003 meters Centerline goodness : 0.945758 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.36, Z:-2.07 [[ 9.97899528e-01 -6.47798898e-02 -3.12378066e-04 1.91351997e+01] [ 6.47741462e-02 9.97856141e-01 -9.35049817e-03 -3.63423652e-01] [ 9.17432612e-04 9.31062369e-03 9.99956234e-01 -2.06533754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06119381700003 meters Centerline goodness : 0.950040 Centerline is valid? [False, True] Translation: X:19.14, Y:-0.36, Z:-2.06 [[ 9.97590429e-01 -6.93781990e-02 -4.82162490e-05 1.91350412e+01] [ 6.93714170e-02 9.97502158e-01 -1.33060827e-02 -3.64407099e-01] [ 9.71247867e-04 1.32706759e-02 9.99911469e-01 -2.06479789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09119381700003 meters Centerline goodness : 0.948664 Centerline is valid? [True, False] Translation: X:19.14, Y:-0.37, Z:-2.07 [[ 9.97557522e-01 -6.98489839e-02 -3.29787311e-04 1.91359995e+01] [ 6.98384739e-02 9.97470068e-01 -1.32684200e-02 -3.65308928e-01] [ 1.25573863e-03 1.32129804e-02 9.99911916e-01 -2.06522346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12119381700003 meters Centerline goodness : 0.945666 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.36, Z:-2.07 [[ 9.97493588e-01 -7.07552439e-02 -4.87525719e-04 1.91371507e+01] [ 7.07412651e-02 9.97394118e-01 -1.41649538e-02 -3.63336619e-01] [ 1.48850004e-03 1.40949624e-02 9.99899553e-01 -2.06622719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15119381700003 meters Centerline goodness : 0.947297 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.36, Z:-2.07 [[ 9.97544014e-01 -7.00357307e-02 -9.67449937e-04 1.91398262e+01] [ 7.00164255e-02 9.97455001e-01 -1.34618404e-02 -3.61382375e-01] [ 1.90779761e-03 1.33610410e-02 9.99908917e-01 -2.06848083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18119381700004 meters Centerline goodness : 0.944931 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.36, Z:-2.07 [[ 9.97640129e-01 -6.86401166e-02 -1.64564783e-03 1.91425996e+01] [ 6.86155185e-02 9.97570773e-01 -1.20192913e-02 -3.58834442e-01] [ 2.46665573e-03 1.18780104e-02 9.99926412e-01 -2.07059941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21119381700004 meters Centerline goodness : 0.943489 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.36, Z:-2.07 [[ 9.97775219e-01 -6.66258370e-02 -2.36860446e-03 1.91450854e+01] [ 6.65990533e-02 9.97729687e-01 -1.00018641e-02 -3.55943259e-01] [ 3.02960956e-03 9.82186536e-03 9.99947175e-01 -2.07241213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.241193817 meters Centerline goodness : 0.940843 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.35, Z:-2.08 [[ 9.97818933e-01 -6.59390654e-02 -3.06857675e-03 1.91486664e+01] [ 6.59033740e-02 9.97770154e-01 -1.05577012e-02 -3.47525372e-01] [ 3.75789925e-03 1.03324446e-02 9.99939558e-01 -2.07572677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.271193817 meters Centerline goodness : 0.937641 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.34, Z:-2.08 [[ 9.97902243e-01 -6.46238345e-02 -3.85657144e-03 1.91519765e+01] [ 6.45848701e-02 9.97867067e-01 -9.49271983e-03 -3.44111602e-01] [ 4.46180159e-03 9.22373025e-03 9.99947506e-01 -2.07830113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.301193817 meters Centerline goodness : 0.936184 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.34, Z:-2.08 [[ 9.97935512e-01 -6.40646628e-02 -4.52021524e-03 1.91552477e+01] [ 6.40203068e-02 9.97904735e-01 -9.35632977e-03 -3.40264990e-01] [ 5.11015430e-03 9.04762818e-03 9.99946012e-01 -2.08094950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.331193817 meters Centerline goodness : 0.935469 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.34, Z:-2.08 [[ 9.97935224e-01 -6.40074906e-02 -5.32256885e-03 1.91589479e+01] [ 6.39526643e-02 9.97903810e-01 -9.90167191e-03 -3.35218120e-01] [ 5.94519291e-03 9.54083472e-03 9.99936812e-01 -2.08374800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters Centerline goodness : 0.933815 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.33, Z:-2.09 [[ 9.98110630e-01 -6.13381189e-02 -3.57835088e-03 1.91746827e+01] [ 6.12803601e-02 9.98015544e-01 -1.44807456e-02 -3.29531093e-01] [ 4.45947149e-03 1.42341035e-02 9.99888746e-01 -2.08791563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39119381700002 meters Centerline goodness : 0.930526 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.32, Z:-2.09 [[ 9.98174129e-01 -6.02903045e-02 -3.67244711e-03 1.91957237e+01] [ 6.02141196e-02 9.98019978e-01 -1.81764256e-02 -3.16621151e-01] [ 4.76103782e-03 1.79221046e-02 9.99828051e-01 -2.08974759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters Centerline goodness : 0.931053 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.31, Z:-2.09 [[ 9.98368893e-01 -5.69384416e-02 -4.19132622e-03 1.91964059e+01] [ 5.68671411e-02 9.98261123e-01 -1.55196414e-02 -3.12660281e-01] [ 5.06770221e-03 1.52559784e-02 9.99870778e-01 -2.08984616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45119381700002 meters Centerline goodness : 0.932899 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.31, Z:-2.09 [[ 9.98744930e-01 -4.98775786e-02 -4.55989604e-03 1.91961580e+01] [ 4.98376245e-02 9.98721232e-01 -8.49185073e-03 -3.10825891e-01] [ 4.97761795e-03 8.25393848e-03 9.99953547e-01 -2.08952423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters Centerline goodness : 0.937446 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.30, Z:-2.09 [[ 9.99259872e-01 -3.83615289e-02 -2.84645156e-03 1.92021870e+01] [ 3.83322521e-02 9.99217857e-01 -9.71150654e-03 -3.00745793e-01] [ 3.21677347e-03 9.59520788e-03 9.99948791e-01 -2.08703813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51119381700002 meters Centerline goodness : 0.938791 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.30, Z:-2.09 [[ 9.99518972e-01 -3.08592527e-02 -3.08735712e-03 1.92013468e+01] [ 3.08506744e-02 9.99520115e-01 -2.78858200e-03 -2.97148080e-01] [ 3.17192910e-03 2.69199357e-03 9.99991346e-01 -2.08599268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54119381700002 meters Centerline goodness : 0.942437 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.29, Z:-2.08 [[ 9.99721012e-01 -2.34128122e-02 -3.12054904e-03 1.92002081e+01] [ 2.34248909e-02 9.99718024e-01 3.89202940e-03 -2.92947407e-01] [ 3.02854577e-03 -3.96404210e-03 9.99987557e-01 -2.08486313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57119381700002 meters Centerline goodness : 0.940872 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.29, Z:-2.08 [[ 9.99868743e-01 -1.58656769e-02 -3.28275400e-03 1.91993693e+01] [ 1.59015977e-02 9.99810586e-01 1.12219147e-02 -2.89985583e-01] [ 3.10408893e-03 -1.12726428e-02 9.99931644e-01 -2.08350021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60119381700002 meters Centerline goodness : 0.945372 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99931721e-01 -1.13371877e-02 -2.83215213e-03 1.91974731e+01] [ 1.13737747e-02 9.99847461e-01 1.32548548e-02 -2.84122480e-01] [ 2.68144734e-03 -1.32861620e-02 9.99908140e-01 -2.08229986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63119381700002 meters Centerline goodness : 0.945001 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99964644e-01 -7.87467752e-03 -2.94968534e-03 1.91974912e+01] [ 7.92287928e-03 9.99829111e-01 1.67025682e-02 -2.83213501e-01] [ 2.81765393e-03 -1.67253477e-02 9.99856151e-01 -2.08208054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66119381700003 meters Centerline goodness : 0.948005 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99979325e-01 -5.84764189e-03 -2.67473740e-03 1.91959413e+01] [ 5.89698992e-03 9.99805315e-01 1.88297221e-02 -2.81494324e-01] [ 2.56410720e-03 -1.88451057e-02 9.99819127e-01 -2.08088392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69119381700003 meters Centerline goodness : 0.947425 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99985497e-01 -4.20330349e-03 -3.36731756e-03 1.91978490e+01] [ 4.27251650e-03 9.99774156e-01 2.08178576e-02 -2.79378135e-01] [ 3.27905330e-03 -2.08319425e-02 9.99777614e-01 -2.08163677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72119381700003 meters Centerline goodness : 0.943868 Centerline is valid? [False, False] Translation: X:19.19, Y:-0.28, Z:-2.08 [[ 9.99930317e-01 -7.94981521e-03 -8.72704289e-03 1.91949289e+01] [ 8.22581042e-03 9.99452139e-01 3.20586727e-02 -2.78077631e-01] [ 8.46740116e-03 -3.21282258e-02 9.99447888e-01 -2.07978219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75119381700003 meters Centerline goodness : 0.944508 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99919860e-01 -8.97849762e-03 -8.92526735e-03 1.91954854e+01] [ 9.25496457e-03 9.99463017e-01 3.14328470e-02 -2.77701005e-01] [ 8.63825489e-03 -3.15129310e-02 9.99466015e-01 -2.07995189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78119381700003 meters Centerline goodness : 0.943354 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.28, Z:-2.08 [[ 9.99906116e-01 -1.00967848e-02 -9.26358632e-03 1.91965129e+01] [ 1.03787956e-02 9.99468051e-01 3.09175508e-02 -2.77994418e-01] [ 8.94649071e-03 -3.10107930e-02 9.99479010e-01 -2.08051702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81119381700003 meters Centerline goodness : 0.939239 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.28, Z:-2.08 [[ 9.99808898e-01 -1.32482609e-02 -1.43753825e-02 1.91819433e+01] [ 1.36509650e-02 9.99506636e-01 2.82866606e-02 -2.78893679e-01] [ 1.39935412e-02 -2.84774928e-02 9.99496480e-01 -2.08180754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84119381700003 meters Centerline goodness : 0.939022 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.28, Z:-2.08 [[ 9.99787366e-01 -1.42540959e-02 -1.49011086e-02 1.91829797e+01] [ 1.46661272e-02 9.99502634e-01 2.79175342e-02 -2.79277282e-01] [ 1.44957581e-02 -2.81301396e-02 9.99499159e-01 -2.08192658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87119381700003 meters Centerline goodness : 0.937757 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99740585e-01 -1.46345570e-02 -1.74525993e-02 1.91646661e+01] [ 1.51455064e-02 9.99449654e-01 2.95127660e-02 -2.80444129e-01] [ 1.70110881e-02 -2.97694384e-02 9.99412029e-01 -2.08114278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90119381700003 meters Centerline goodness : 0.937132 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.28, Z:-2.08 [[ 9.99727072e-01 -1.60205015e-02 -1.70036791e-02 1.91444380e+01] [ 1.64923954e-02 9.99472283e-01 2.79849422e-02 -2.80252288e-01] [ 1.65463731e-02 -2.82577357e-02 9.99463715e-01 -2.08128036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93119381700004 meters Centerline goodness : 0.936657 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99708719e-01 -1.67224267e-02 -1.74022237e-02 1.91452141e+01] [ 1.72037181e-02 9.99463089e-01 2.78848686e-02 -2.81048341e-01] [ 1.69265776e-02 -2.81761292e-02 9.99459652e-01 -2.08132779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96119381700004 meters Centerline goodness : 0.937871 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99613963e-01 -2.13281542e-02 -1.78054706e-02 1.91466690e+01] [ 2.17460160e-02 9.99484611e-01 2.36140517e-02 -2.81224612e-01] [ 1.72926497e-02 -2.39921338e-02 9.99562575e-01 -2.08191453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.991193817 meters Centerline goodness : 0.937954 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99520053e-01 -2.51919871e-02 -1.80285214e-02 1.91475334e+01] [ 2.55419650e-02 9.99484464e-01 1.94528707e-02 -2.80059426e-01] [ 1.75291706e-02 -1.99040182e-02 9.99648217e-01 -2.08223421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters Centerline goodness : 0.936716 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99418829e-01 -2.89335168e-02 -1.80237468e-02 1.91478796e+01] [ 2.92113303e-02 9.99455451e-01 1.53459997e-02 -2.78823960e-01] [ 1.75699183e-02 -1.58635786e-02 9.99719783e-01 -2.08242760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.051193817 meters Centerline goodness : 0.934511 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99304040e-01 -3.23820287e-02 -1.85159264e-02 1.91499245e+01] [ 3.26056948e-02 9.99397352e-01 1.19080618e-02 -2.78829629e-01] [ 1.81191606e-02 -1.25034989e-02 9.99757650e-01 -2.08346119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters Centerline goodness : 0.935215 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99186379e-01 -3.54811813e-02 -1.91746235e-02 1.91520225e+01] [ 3.56502985e-02 9.99327742e-01 8.55108869e-03 -2.78008626e-01] [ 1.88583305e-02 -9.22771240e-03 9.99779582e-01 -2.08415187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11119381700001 meters Centerline goodness : 0.936982 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.28, Z:-2.08 [[ 9.99176478e-01 -3.57045621e-02 -1.92756501e-02 1.91517597e+01] [ 3.58793706e-02 9.99317379e-01 8.80041390e-03 -2.78945093e-01] [ 1.89482772e-02 -9.48476476e-03 9.99775476e-01 -2.08348991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters Centerline goodness : 0.938942 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99208273e-01 -3.68279320e-02 -1.50509648e-02 1.91608407e+01] [ 3.67910681e-02 9.99319281e-01 -2.71895552e-03 -2.76890395e-01] [ 1.51408528e-02 2.16306178e-03 9.99883031e-01 -2.08480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17119381700002 meters Centerline goodness : 0.938942 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99208273e-01 -3.68279320e-02 -1.50509648e-02 1.91608407e+01] [ 3.67910681e-02 9.99319281e-01 -2.71895552e-03 -2.76890395e-01] [ 1.51408528e-02 2.16306178e-03 9.99883031e-01 -2.08480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters Centerline goodness : 0.938895 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99191473e-01 -3.71976532e-02 -1.52556477e-02 1.91609249e+01] [ 3.71607116e-02 9.99305660e-01 -2.69796823e-03 -2.77239860e-01] [ 1.53454132e-02 2.12887613e-03 9.99879986e-01 -2.08435565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23119381700002 meters Centerline goodness : 0.940296 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99113286e-01 -3.94138994e-02 -1.48049421e-02 1.91585450e+01] [ 3.93540176e-02 9.99216015e-01 -4.31461450e-03 -2.76714093e-01] [ 1.49633911e-02 3.72815471e-03 9.99881092e-01 -2.08233951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26119381700002 meters Centerline goodness : 0.941673 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99088637e-01 -4.00148185e-02 -1.48562899e-02 1.91586704e+01] [ 3.99511677e-02 9.99191242e-01 -4.55689323e-03 -2.76637474e-01] [ 1.50266180e-02 3.95921411e-03 9.99879255e-01 -2.08228522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29119381700002 meters Centerline goodness : 0.944778 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99060743e-01 -4.06719782e-02 -1.49473262e-02 1.91589559e+01] [ 4.06033928e-02 9.99163504e-01 -4.86377767e-03 -2.76500762e-01] [ 1.51326423e-02 4.25229718e-03 9.99876453e-01 -2.08238887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32119381700002 meters Centerline goodness : 0.941910 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99040974e-01 -4.11343199e-02 -1.50033646e-02 1.91591106e+01] [ 4.10643574e-02 9.99144282e-01 -4.94188448e-03 -2.77033965e-01] [ 1.51938070e-02 4.32104155e-03 9.99875231e-01 -2.08242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35119381700002 meters Centerline goodness : 0.944103 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99006517e-01 -4.19887639e-02 -1.49306115e-02 1.91592019e+01] [ 4.19132492e-02 9.99107008e-01 -5.33529653e-03 -2.77507041e-01] [ 1.51413011e-02 4.70420556e-03 9.99874298e-01 -2.08263032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38119381700002 meters Centerline goodness : 0.942498 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99126334e-01 -3.89955574e-02 -1.50304724e-02 1.91595452e+01] [ 3.89753231e-02 9.99238833e-01 -1.63691458e-03 -2.78139286e-01] [ 1.50828641e-02 1.04966695e-03 9.99885696e-01 -2.08316593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41119381700003 meters Centerline goodness : 0.943616 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.28, Z:-2.08 [[ 9.99241092e-01 -3.58879530e-02 -1.51424629e-02 1.91598974e+01] [ 3.59207294e-02 9.99352840e-01 1.89805114e-03 -2.77792753e-01] [ 1.50645462e-02 -2.44053901e-03 9.99883545e-01 -2.08368884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44119381700003 meters Centerline goodness : 0.937337 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.27, Z:-2.09 [[ 9.99307347e-01 -3.36543410e-02 -1.58811958e-02 1.91635291e+01] [ 3.37178277e-02 9.99424369e-01 3.74684971e-03 -2.74235904e-01] [ 1.57459563e-02 -4.27973386e-03 9.99866866e-01 -2.08664095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47119381700003 meters Centerline goodness : 0.939653 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.27, Z:-2.09 [[ 9.99337733e-01 -3.25772944e-02 -1.62115983e-02 1.91657060e+01] [ 3.26544459e-02 9.99456493e-01 4.51722997e-03 -2.73050849e-01] [ 1.60556280e-02 -5.04361912e-03 9.99858379e-01 -2.08853142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50119381700003 meters Centerline goodness : 0.937282 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.27, Z:-2.09 [[ 9.99438933e-01 -2.92750497e-02 -1.62723790e-02 1.91658809e+01] [ 2.94066126e-02 9.99536270e-01 7.90539253e-03 -2.72541883e-01] [ 1.60334023e-02 -8.37947262e-03 9.99836344e-01 -2.08889244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53119381700003 meters Centerline goodness : 0.940998 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.27, Z:-2.09 [[ 9.99541409e-01 -2.55704231e-02 -1.62211255e-02 1.91654684e+01] [ 2.57448478e-02 9.99611955e-01 1.06367996e-02 -2.68400582e-01] [ 1.59428435e-02 -1.10495321e-02 9.99811849e-01 -2.08872819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56119381700003 meters Centerline goodness : 0.939555 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.27, Z:-2.09 [[ 9.99620957e-01 -2.21122961e-02 -1.64008869e-02 1.91651311e+01] [ 2.23429806e-02 9.99652082e-01 1.40180733e-02 -2.67218771e-01] [ 1.60852090e-02 -1.43792046e-02 9.99767225e-01 -2.08811602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59119381700003 meters Centerline goodness : 0.942525 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.27, Z:-2.09 [[ 9.99692509e-01 -1.84847264e-02 -1.65288534e-02 1.91648635e+01] [ 1.87755815e-02 9.99668482e-01 1.76182710e-02 -2.66559576e-01] [ 1.61977049e-02 -1.79231924e-02 9.99708154e-01 -2.08766730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62119381700003 meters Centerline goodness : 0.940896 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.26, Z:-2.09 [[ 9.99700237e-01 -1.79971816e-02 -1.65993015e-02 1.91649610e+01] [ 1.82839377e-02 9.99683356e-01 1.72883126e-02 -2.63946436e-01] [ 1.62829045e-02 -1.75866308e-02 9.99712747e-01 -2.08761288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65119381700003 meters Centerline goodness : 0.943674 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.26, Z:-2.09 [[ 9.99695759e-01 -1.78776262e-02 -1.69935503e-02 1.91660109e+01] [ 1.81628547e-02 9.99694207e-01 1.67810398e-02 -2.61528841e-01] [ 1.66883486e-02 -1.70845857e-02 9.99714767e-01 -2.08795884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68119381700004 meters Centerline goodness : 0.941797 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.26, Z:-2.09 [[ 9.99700985e-01 -1.74670303e-02 -1.71126481e-02 1.91667234e+01] [ 1.77441232e-02 9.99711692e-01 1.61765185e-02 -2.57792939e-01] [ 1.68251586e-02 -1.64753304e-02 9.99722700e-01 -2.08854248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71119381700004 meters Centerline goodness : 0.941302 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.26, Z:-2.09 [[ 9.99694687e-01 -1.76286238e-02 -1.73137315e-02 1.91674438e+01] [ 1.79005131e-02 9.99716873e-01 1.56762968e-02 -2.56408973e-01] [ 1.70324780e-02 -1.59814353e-02 9.99727207e-01 -2.08896282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters Centerline goodness : 0.938506 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.25, Z:-2.09 [[ 9.99681449e-01 -1.80915875e-02 -1.75981298e-02 1.91686001e+01] [ 1.83494908e-02 9.99724946e-01 1.46057724e-02 -2.53612617e-01] [ 1.73290478e-02 -1.49240365e-02 9.99738454e-01 -2.08974606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.771193817 meters Centerline goodness : 0.940360 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.25, Z:-2.09 [[ 9.99673090e-01 -1.84149331e-02 -1.77370539e-02 1.91688040e+01] [ 1.86622166e-02 9.99729518e-01 1.38784935e-02 -2.51299380e-01] [ 1.74766848e-02 -1.42049693e-02 9.99746360e-01 -2.08965440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters Centerline goodness : 0.940898 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.25, Z:-2.09 [[ 9.99663897e-01 -1.88621961e-02 -1.77851264e-02 1.91688288e+01] [ 1.90936383e-02 9.99734031e-01 1.29344907e-02 -2.48501102e-01] [ 1.75364232e-02 -1.32697261e-02 9.99758165e-01 -2.08951501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.831193817 meters Centerline goodness : 0.938503 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.25, Z:-2.09 [[ 9.99654325e-01 -1.92102750e-02 -1.79498141e-02 1.91690980e+01] [ 1.94297138e-02 9.99737619e-01 1.21317623e-02 -2.46050556e-01] [ 1.77120499e-02 -1.24763284e-02 9.99765285e-01 -2.08942502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters Centerline goodness : 0.937760 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.24, Z:-2.09 [[ 9.99635475e-01 -2.02713755e-02 -1.78322406e-02 1.91681959e+01] [ 2.04550548e-02 9.99738955e-01 1.01790119e-02 -2.41191451e-01] [ 1.76212430e-02 -1.05400608e-02 9.99789177e-01 -2.08850830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89119381700002 meters Centerline goodness : 0.940296 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.24, Z:-2.09 [[ 9.99622877e-01 -2.08168562e-02 -1.79098431e-02 1.91678072e+01] [ 2.09868706e-02 9.99735957e-01 9.35777446e-03 -2.39101882e-01] [ 1.77103147e-02 -9.73011699e-03 9.99795814e-01 -2.08776421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters Centerline goodness : 0.943260 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.24, Z:-2.09 [[ 9.99610156e-01 -2.14642242e-02 -1.78556199e-02 1.91674212e+01] [ 2.16194466e-02 9.99729746e-01 8.54604646e-03 -2.37253126e-01] [ 1.76673601e-02 -8.92874346e-03 9.99804052e-01 -2.08737470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95119381700002 meters Centerline goodness : 0.939157 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.24, Z:-2.09 [[ 9.99595016e-01 -2.21812839e-02 -1.78268061e-02 1.91671789e+01] [ 2.23213644e-02 9.99721213e-01 7.69765259e-03 -2.35352356e-01] [ 1.76510924e-02 -8.09245380e-03 9.99811458e-01 -2.08709992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters Centerline goodness : 0.943565 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.23, Z:-2.09 [[ 9.99558927e-01 -2.39514867e-02 -1.75578227e-02 1.91652615e+01] [ 2.40479510e-02 9.99696738e-01 5.30367239e-03 -2.29664542e-01] [ 1.74254673e-02 -5.72356275e-03 9.99831783e-01 -2.08534808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01119381700002 meters Centerline goodness : 0.946497 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.23, Z:-2.08 [[ 9.99606430e-01 -2.20376575e-02 -1.73587858e-02 1.91633636e+01] [ 2.21700603e-02 9.99726289e-01 7.47225479e-03 -2.27991359e-01] [ 1.71893635e-02 -7.85415926e-03 9.99821403e-01 -2.08374192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04119381700002 meters Centerline goodness : 0.945683 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.23, Z:-2.08 [[ 9.99638174e-01 -2.07074515e-02 -1.71675120e-02 1.91616268e+01] [ 2.08616252e-02 9.99743197e-01 8.85062211e-03 -2.25963130e-01] [ 1.69798295e-02 -9.20556192e-03 9.99813454e-01 -2.08233478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07119381700002 meters Centerline goodness : 0.942844 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.22, Z:-2.08 [[ 9.99620822e-01 -2.14842790e-02 -1.72231968e-02 1.91628300e+01] [ 2.16091909e-02 9.99741286e-01 7.09952095e-03 -2.19832796e-01] [ 1.70662129e-02 -7.46900831e-03 9.99826464e-01 -2.08364953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10119381700002 meters Centerline goodness : 0.943383 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.22, Z:-2.09 [[ 9.99620118e-01 -2.12431152e-02 -1.75598681e-02 1.91647920e+01] [ 2.13662179e-02 9.99748230e-01 6.85280769e-03 -2.16602337e-01] [ 1.74098720e-02 -7.22539240e-03 9.99822329e-01 -2.08519288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13119381700002 meters Centerline goodness : 0.941303 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.21, Z:-2.09 [[ 9.99666731e-01 -1.87734255e-02 -1.77196247e-02 1.91658637e+01] [ 1.89355682e-02 9.99779950e-01 9.02745612e-03 -2.13547165e-01] [ 1.75462492e-02 -9.35997871e-03 9.99802240e-01 -2.08630494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16119381700003 meters Centerline goodness : 0.939216 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.21, Z:-2.09 [[ 9.99713465e-01 -1.58705083e-02 -1.79196987e-02 1.91665226e+01] [ 1.60776388e-02 9.99804903e-01 1.14745179e-02 -2.10268269e-01] [ 1.77340962e-02 -1.17593365e-02 9.99773584e-01 -2.08683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19119381700003 meters Centerline goodness : 0.938462 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.21, Z:-2.09 [[ 9.99754983e-01 -1.29376711e-02 -1.79608196e-02 1.91666734e+01] [ 1.31876229e-02 9.99816859e-01 1.38685204e-02 -2.06458000e-01] [ 1.77781039e-02 -1.41019829e-02 9.99742503e-01 -2.08711965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22119381700003 meters Centerline goodness : 0.940219 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.20, Z:-2.09 [[ 9.99787140e-01 -1.00478365e-02 -1.80198834e-02 1.91665279e+01] [ 1.03385974e-02 9.99816683e-01 1.61156512e-02 -2.02520098e-01] [ 1.78546526e-02 -1.62985211e-02 9.99707742e-01 -2.08690532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25119381700003 meters Centerline goodness : 0.939324 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.19, Z:-2.09 [[ 9.99802767e-01 -8.07131259e-03 -1.81460988e-02 1.91666515e+01] [ 8.36235411e-03 9.99836693e-01 1.60205392e-02 -1.92563527e-01] [ 1.80138287e-02 -1.61691236e-02 9.99706988e-01 -2.08656737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28119381700003 meters Centerline goodness : 0.938925 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.19, Z:-2.09 [[ 9.99793773e-01 -8.59694954e-03 -1.83984949e-02 1.91673078e+01] [ 8.86167841e-03 9.99857681e-01 1.43557861e-02 -1.86909101e-01] [ 1.82724605e-02 -1.45158670e-02 9.99727666e-01 -2.08662681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31119381700003 meters Centerline goodness : 0.940286 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.18, Z:-2.09 [[ 9.99784703e-01 -9.21511270e-03 -1.85911226e-02 1.91677484e+01] [ 9.45144338e-03 9.99875133e-01 1.26644568e-02 -1.81587878e-01] [ 1.84720968e-02 -1.28374431e-02 9.99746959e-01 -2.08660927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34119381700003 meters Centerline goodness : 0.939382 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.18, Z:-2.09 [[ 9.99775960e-01 -9.98618956e-03 -1.86629696e-02 1.91679829e+01] [ 1.01930247e-02 9.99887318e-01 1.10205802e-02 -1.76566216e-01] [ 1.85508130e-02 -1.12083433e-02 9.99765093e-01 -2.08662887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37119381700003 meters Centerline goodness : 0.937389 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.17, Z:-2.09 [[ 9.99755032e-01 -1.20285812e-02 -1.85792495e-02 1.91678265e+01] [ 1.21700823e-02 9.99897650e-01 7.52188436e-03 -1.66928106e-01] [ 1.84868703e-02 -7.74615273e-03 9.99799096e-01 -2.08639839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40119381700003 meters Centerline goodness : 0.938833 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.16, Z:-2.09 [[ 9.99741650e-01 -1.29562376e-02 -1.86753638e-02 1.91679122e+01] [ 1.30720273e-02 9.99896003e-01 6.09144584e-03 -1.62951417e-01] [ 1.85944994e-02 -6.33399698e-03 9.99807044e-01 -2.08618102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43119381700004 meters Centerline goodness : 0.939118 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.16, Z:-2.09 [[ 9.99727406e-01 -1.38655977e-02 -1.87845410e-02 1.91679870e+01] [ 1.39571666e-02 9.99891300e-01 4.75238689e-03 -1.59283200e-01] [ 1.87166045e-02 -5.01327039e-03 9.99812260e-01 -2.08590729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46119381700004 meters Centerline goodness : 0.939545 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.15, Z:-2.08 [[ 9.99698373e-01 -1.59622624e-02 -1.86646617e-02 1.91669513e+01] [ 1.59981593e-02 9.99870445e-01 1.77551475e-03 -1.52002289e-01] [ 1.86339023e-02 -2.07357943e-03 9.99824224e-01 -2.08482491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.491193817 meters Centerline goodness : 0.941150 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.15, Z:-2.08 [[ 9.99685362e-01 -1.65954150e-02 -1.88087681e-02 1.91672522e+01] [ 1.66108479e-02 9.99861809e-01 6.64574361e-04 -1.48540260e-01] [ 1.87951400e-02 -9.76794846e-04 9.99822879e-01 -2.08473152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters Centerline goodness : 0.936813 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.15, Z:-2.08 [[ 9.99720516e-01 -1.46624618e-02 -1.85445722e-02 1.91657529e+01] [ 1.47151744e-02 9.99888056e-01 2.70922482e-03 -1.46165601e-01] [ 1.85027723e-02 -2.98135425e-03 9.99824364e-01 -2.08376514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.551193817 meters Centerline goodness : 0.939526 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.14, Z:-2.08 [[ 9.99758172e-01 -1.23309899e-02 -1.82083796e-02 1.91645536e+01] [ 1.24249403e-02 9.99910027e-01 5.05564490e-03 -1.43872675e-01] [ 1.81444003e-02 -5.28066033e-03 9.99821432e-01 -2.08326197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters Centerline goodness : 0.936335 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.14, Z:-2.08 [[ 9.99782001e-01 -1.01093189e-02 -1.82688989e-02 1.91648322e+01] [ 1.02306290e-02 9.99926154e-01 6.55903455e-03 -1.38194517e-01] [ 1.82012424e-02 -6.74450701e-03 9.99811595e-01 -2.08354659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61119381700001 meters Centerline goodness : 0.936407 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.13, Z:-2.08 [[ 9.99774037e-01 -1.04128624e-02 -1.85323220e-02 1.91659312e+01] [ 1.05157200e-02 9.99929794e-01 5.46140230e-03 -1.34544134e-01] [ 1.84741521e-02 -5.65504893e-03 9.99813346e-01 -2.08411038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters Centerline goodness : 0.930401 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.13, Z:-2.08 [[ 9.99768213e-01 -1.05301480e-02 -1.87786052e-02 1.91668643e+01] [ 1.06161979e-02 9.99933572e-01 4.48855027e-03 -1.30675576e-01] [ 1.87300926e-02 -4.68686728e-03 9.99813591e-01 -2.08452903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67119381700002 meters Centerline goodness : 0.934214 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.12, Z:-2.08 [[ 9.99789944e-01 -7.98810235e-03 -1.88747776e-02 1.91669044e+01] [ 8.09290985e-03 9.99952220e-01 5.48293633e-03 -1.22514990e-01] [ 1.88300775e-02 -5.63453648e-03 9.99806821e-01 -2.08419396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters Centerline goodness : 0.935955 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.12, Z:-2.08 [[ 9.99808542e-01 -5.13809052e-03 -1.88806841e-02 1.91664263e+01] [ 5.28966949e-03 9.99954112e-01 7.98710438e-03 -1.19716327e-01] [ 1.88387792e-02 -8.08544776e-03 9.99789841e-01 -2.08372426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73119381700002 meters Centerline goodness : 0.933222 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.12, Z:-2.08 [[ 9.99820503e-01 -2.49423928e-03 -1.87813823e-02 1.91655499e+01] [ 2.68720195e-03 9.99943796e-01 1.02559286e-02 -1.16766935e-01] [ 1.87547460e-02 -1.03045570e-02 9.99771012e-01 -2.08296661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76119381700002 meters Centerline goodness : 0.934241 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.11, Z:-2.08 [[ 9.99816158e-01 -2.67425986e-03 -1.89867782e-02 1.91657266e+01] [ 2.82581362e-03 9.99964328e-01 7.95973130e-03 -1.09253375e-01] [ 1.89648145e-02 -8.01192106e-03 9.99788050e-01 -2.08186466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79119381700002 meters Centerline goodness : 0.934732 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.11, Z:-2.08 [[ 9.99824397e-01 -9.80723387e-05 -1.87393958e-02 1.91642455e+01] [ 2.88644673e-04 9.99948271e-01 1.01671752e-02 -1.06670856e-01] [ 1.87374293e-02 -1.01707989e-02 9.99772706e-01 -2.08069680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82119381700002 meters Centerline goodness : 0.937610 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.10, Z:-2.08 [[ 9.99822041e-01 -2.16046756e-04 -1.88636924e-02 1.91643210e+01] [ 3.87799946e-04 9.99958503e-01 9.10177818e-03 -1.02530747e-01] [ 1.88609432e-02 -9.10747378e-03 9.99780635e-01 -2.08022691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85119381700002 meters Centerline goodness : 0.940375 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.10, Z:-2.08 [[ 9.99825187e-01 2.19060007e-03 -1.85686976e-02 1.91625211e+01] [-1.98574141e-03 9.99937044e-01 1.10437403e-02 -9.91813851e-02] [ 1.85917210e-02 -1.10049371e-02 9.99766592e-01 -2.07873267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88119381700002 meters Centerline goodness : 0.939768 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.09, Z:-2.08 [[ 9.99824053e-01 1.69611233e-03 -1.86811520e-02 1.91624630e+01] [-1.51676518e-03 9.99952668e-01 9.61042124e-03 -9.46094410e-02] [ 1.86965682e-02 -9.58039540e-03 9.99779303e-01 -2.07810685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91119381700003 meters Centerline goodness : 0.937999 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.09, Z:-2.08 [[ 9.99826624e-01 3.50225190e-03 -1.82881492e-02 1.91608782e+01] [-3.30599577e-03 9.99936746e-01 1.07505565e-02 -8.92506198e-02] [ 1.83246435e-02 -1.06882320e-02 9.99774959e-01 -2.07712098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94119381700003 meters Centerline goodness : 0.938490 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.09, Z:-2.08 [[ 9.99829988e-01 2.72378326e-03 -1.82366757e-02 1.91607156e+01] [-2.54833372e-03 9.99950316e-01 9.63703347e-03 -8.70193960e-02] [ 1.82620188e-02 -9.58892192e-03 9.99787253e-01 -2.07701247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97119381700003 meters Centerline goodness : 0.938266 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.08, Z:-2.08 [[ 9.99831389e-01 1.95964912e-03 -1.82579767e-02 1.91606384e+01] [-1.80444901e-03 9.99962136e-01 8.51300030e-03 -8.47813450e-02] [ 1.82739679e-02 -8.47861932e-03 9.99797067e-01 -2.07681306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00119381700003 meters Centerline goodness : 0.936944 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.08, Z:-2.08 [[ 9.99832442e-01 3.47727134e-04 -1.83021117e-02 1.91607070e+01] [-2.36379738e-04 9.99981454e-01 6.08566685e-03 -7.90822113e-02] [ 1.83038884e-02 -6.08032089e-03 9.99813981e-01 -2.07671920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03119381700003 meters Centerline goodness : 0.936685 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.08, Z:-2.08 [[ 9.99829672e-01 -2.24623672e-04 -1.84547314e-02 1.91615235e+01] [ 3.19447576e-04 9.99986763e-01 5.13540206e-03 -7.61927570e-02] [ 1.84533336e-02 -5.14042268e-03 9.99816508e-01 -2.07725796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06119381700003 meters Centerline goodness : 0.936685 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.08, Z:-2.08 [[ 9.99829672e-01 -2.24623672e-04 -1.84547314e-02 1.91615235e+01] [ 3.19447576e-04 9.99986763e-01 5.13540206e-03 -7.61927570e-02] [ 1.84533336e-02 -5.14042268e-03 9.99816508e-01 -2.07725796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09119381700003 meters Centerline goodness : 0.931467 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.07, Z:-2.08 [[ 9.99831909e-01 1.90270639e-03 -1.82354982e-02 1.91606783e+01] [-1.76826756e-03 9.99971162e-01 7.38566035e-03 -7.42859472e-02] [ 1.82490251e-02 -7.35217365e-03 9.99806441e-01 -2.07699366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12119381700003 meters Centerline goodness : 0.929852 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.07, Z:-2.08 [[ 9.99828681e-01 1.14947814e-03 -1.84739456e-02 1.91616259e+01] [-1.03444416e-03 9.99980026e-01 6.23517254e-03 -7.11056673e-02] [ 1.84807438e-02 -6.21499407e-03 9.99809900e-01 -2.07753965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15119381700003 meters Centerline goodness : 0.930065 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.07, Z:-2.08 [[ 9.99827453e-01 4.16951079e-04 -1.85712245e-02 1.91620799e+01] [-3.24298669e-04 9.99987488e-01 4.99176289e-03 -6.77967852e-02] [ 1.85730735e-02 -4.98487895e-03 9.99815079e-01 -2.07780314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18119381700004 meters Centerline goodness : 0.923345 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.06, Z:-2.08 [[ 9.99826600e-01 -1.12503694e-03 -1.85877354e-02 1.91626317e+01] [ 1.17199748e-03 9.99996149e-01 2.51572595e-03 -6.08016984e-02] [ 1.85848335e-02 -2.53707450e-03 9.99824068e-01 -2.07819195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21119381700004 meters Centerline goodness : 0.923480 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.06, Z:-2.08 [[ 9.99834830e-01 8.93430569e-04 -1.81525527e-02 1.91609477e+01] [-8.14909540e-04 9.99990282e-01 4.33255575e-03 -5.75508976e-02] [ 1.81562471e-02 -4.31704745e-03 9.99825842e-01 -2.07727846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters Centerline goodness : 0.926626 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.05, Z:-2.08 [[ 9.99835346e-01 3.08996957e-03 -1.78811024e-02 1.91596324e+01] [-2.97953832e-03 9.99976346e-01 6.19921234e-03 -5.40361609e-02] [ 1.78998349e-02 -6.14491418e-03 9.99820902e-01 -2.07636274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.271193817 meters Centerline goodness : 0.927169 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.05, Z:-2.07 [[ 9.99831481e-01 5.35754791e-03 -1.75586496e-02 1.91577947e+01] [-5.21597741e-03 9.99953602e-01 8.09862448e-03 -5.09758406e-02] [ 1.76012236e-02 -8.00567419e-03 9.99813036e-01 -2.07488911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.301193817 meters Centerline goodness : 0.934664 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.04, Z:-2.07 [[ 9.99836832e-01 6.73709028e-03 -1.67607226e-02 1.91539744e+01] [-6.60562738e-03 9.99947083e-01 7.88654616e-03 -4.30270013e-02] [ 1.68129680e-02 -7.77454423e-03 9.99828426e-01 -2.07143241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.331193817 meters Centerline goodness : 0.937110 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.04, Z:-2.07 [[ 9.99827123e-01 8.77678687e-03 -1.63918264e-02 1.91518347e+01] [-8.62083991e-03 9.99917138e-01 9.56025488e-03 -3.95906682e-02] [ 1.64743764e-02 -9.41729082e-03 9.99819939e-01 -2.06966530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters Centerline goodness : 0.940143 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.04, Z:-2.07 [[ 9.99809397e-01 1.12007019e-02 -1.59910364e-02 1.91502073e+01] [-1.10160577e-02 9.99872168e-01 1.15884942e-02 -3.65704114e-02] [ 1.61187915e-02 -1.14101272e-02 9.99804978e-01 -2.06857949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39119381700002 meters Centerline goodness : 0.940515 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.03, Z:-2.07 [[ 9.99770340e-01 1.42763598e-02 -1.59828766e-02 1.91505253e+01] [-1.40638547e-02 9.99812240e-01 1.33301678e-02 -2.96294665e-02] [ 1.61701820e-02 -1.31023255e-02 9.99783404e-01 -2.06855643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42119381700002 meters Centerline goodness : 0.937637 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.03, Z:-2.07 [[ 9.99697243e-01 1.82740590e-02 -1.64767055e-02 1.91528215e+01] [-1.79996800e-02 9.99699352e-01 1.66498380e-02 -2.66326683e-02] [ 1.67760119e-02 -1.63482217e-02 9.99725613e-01 -2.07010032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45119381700002 meters Centerline goodness : 0.935419 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.02, Z:-2.07 [[ 9.99614978e-01 2.21920338e-02 -1.66556126e-02 1.91539298e+01] [-2.18599939e-02 9.99563771e-01 1.98597124e-02 -2.37624203e-02] [ 1.70890743e-02 -1.94879744e-02 9.99664035e-01 -2.07081549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48119381700002 meters Centerline goodness : 0.932881 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.02, Z:-2.07 [[ 9.99584092e-01 2.21458378e-02 -1.84717394e-02 1.91752232e+01] [-2.17258320e-02 9.99507664e-01 2.26366651e-02 -2.04860853e-02] [ 1.89639530e-02 -2.22259364e-02 9.99573097e-01 -2.07136220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51119381700002 meters Centerline goodness : 0.932540 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.01, Z:-2.07 [[ 9.99293126e-01 3.27480935e-02 -1.84610774e-02 1.91725279e+01] [-3.24919913e-02 9.99373856e-01 1.40059488e-02 -1.15274420e-02] [ 1.89081862e-02 -1.33962111e-02 9.99731475e-01 -2.07065644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54119381700002 meters Centerline goodness : 0.931932 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.01, Z:-2.07 [[ 9.99140958e-01 3.70703310e-02 -1.85239249e-02 1.91732446e+01] [-3.67513517e-02 9.99175142e-01 1.72734741e-02 -8.41724255e-03] [ 1.91489787e-02 -1.65778562e-02 9.99679194e-01 -2.07073570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57119381700002 meters Centerline goodness : 0.932988 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.00, Z:-2.07 [[ 9.98592644e-01 4.98379217e-02 -1.81359409e-02 1.91741696e+01] [-4.93097813e-02 9.98377170e-01 2.84880900e-02 -4.16784687e-03] [ 1.95262965e-02 -2.75537178e-02 9.99429596e-01 -2.07113561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60119381700002 meters Centerline goodness : 0.931803 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.00, Z:-2.07 [[ 9.98359394e-01 5.43129124e-02 -1.81281119e-02 1.91751086e+01] [-5.37125296e-02 9.98040102e-01 3.21079326e-02 -1.80471270e-03] [ 1.98364580e-02 -3.10815493e-02 9.99319995e-01 -2.07151512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63119381700002 meters Centerline goodness : 0.933395 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.00, Z:-2.07 [[ 9.98109483e-01 5.87343699e-02 -1.81034433e-02 1.91758504e+01] [-5.80577802e-02 9.97668521e-01 3.58722333e-02 -2.93279979e-04] [ 2.01681685e-02 -3.47533705e-02 9.99192398e-01 -2.07177298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66119381700003 meters Centerline goodness : 0.933547 Centerline is valid? [False, False] Translation: X:19.18, Y:0.00, Z:-2.07 [[ 9.98011933e-01 6.03235859e-02 -1.82550617e-02 1.91774089e+01] [-5.96329489e-02 9.97561288e-01 3.62682704e-02 2.05545989e-03] [ 2.03983750e-02 -3.51075635e-02 9.99175343e-01 -2.07239891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69119381700003 meters Centerline goodness : 0.938725 Centerline is valid? [False, False] Translation: X:19.18, Y:0.00, Z:-2.07 [[ 9.97959623e-01 6.11292644e-02 -1.84337455e-02 1.91780642e+01] [-6.04339194e-02 9.97516479e-01 3.61748004e-02 3.70087530e-03] [ 2.05993039e-02 -3.49869667e-02 9.99175450e-01 -2.07216469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72119381700003 meters Centerline goodness : 0.937005 Centerline is valid? [False, False] Translation: X:19.18, Y:0.00, Z:-2.07 [[ 9.97916603e-01 6.17613772e-02 -1.86543541e-02 1.91787816e+01] [-6.10539424e-02 9.97471589e-01 3.63709331e-02 3.89054531e-03] [ 2.08535071e-02 -3.51562361e-02 9.99164236e-01 -2.07221573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75119381700003 meters Centerline goodness : 0.939029 Centerline is valid? [False, False] Translation: X:19.18, Y:0.00, Z:-2.07 [[ 9.97838919e-01 6.29078728e-02 -1.89760503e-02 1.91801527e+01] [-6.21601862e-02 9.97353621e-01 3.77076262e-02 5.27650484e-04] [ 2.12979390e-02 -3.64465821e-02 9.99108625e-01 -2.07299549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78119381700003 meters Centerline goodness : 0.939640 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.00, Z:-2.07 [[ 9.98019042e-01 5.98192954e-02 -1.94844267e-02 1.91810150e+01] [-5.91269770e-02 9.97659080e-01 3.43563740e-02 -2.89671321e-04] [ 2.14939893e-02 -3.31362602e-02 9.99219694e-01 -2.07302052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81119381700003 meters Centerline goodness : 0.937388 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.00, Z:-2.07 [[ 9.98176363e-01 5.69002861e-02 -2.01570119e-02 1.91823823e+01] [-5.62523796e-02 9.97923613e-01 3.13708915e-02 -1.74100637e-03] [ 2.19001708e-02 -3.01798025e-02 9.99304539e-01 -2.07323650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84119381700003 meters Centerline goodness : 0.940593 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.01, Z:-2.07 [[ 9.98344475e-01 5.37337836e-02 -2.05180196e-02 1.91821551e+01] [-5.31237749e-02 9.98160908e-01 2.92004333e-02 -7.78038106e-03] [ 2.20493348e-02 -2.80620966e-02 9.99362970e-01 -2.07266045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87119381700003 meters Centerline goodness : 0.940655 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.01, Z:-2.07 [[ 9.98504158e-01 5.04520529e-02 -2.10721946e-02 1.91828629e+01] [-4.98890213e-02 9.98404705e-01 2.64410889e-02 -1.09859594e-02] [ 2.23725855e-02 -2.53502660e-02 9.99428252e-01 -2.07257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90119381700003 meters Centerline goodness : 0.942035 Centerline is valid? [False, False] Translation: X:19.18, Y:-0.01, Z:-2.07 [[ 9.98669226e-01 4.69052885e-02 -2.14399337e-02 1.91827692e+01] [-4.64000294e-02 9.98646810e-01 2.34858618e-02 -1.45245483e-02] [ 2.25125325e-02 -2.24597939e-02 9.99494244e-01 -2.07200885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93119381700004 meters Centerline goodness : 0.941627 Centerline is valid? [False, False] Translation: X:19.20, Y:-0.02, Z:-2.07 [[ 9.98945062e-01 4.23739960e-02 -1.76976503e-02 1.91979757e+01] [-4.18747103e-02 9.98739116e-01 2.76891105e-02 -2.10025338e-02] [ 1.88486339e-02 -2.69188162e-02 9.99459907e-01 -2.07455132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96119381700004 meters Centerline goodness : 0.938451 Centerline is valid? [False, False] Translation: X:19.22, Y:-0.03, Z:-2.08 [[ 9.99265266e-01 3.49079907e-02 -1.58227904e-02 1.92158617e+01] [-3.44360406e-02 9.98980885e-01 2.91779221e-02 -3.20757555e-02] [ 1.68252078e-02 -2.86116099e-02 9.99448992e-01 -2.07723757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.991193817 meters Centerline goodness : 0.938928 Centerline is valid? [False, False] Translation: X:19.22, Y:-0.04, Z:-2.08 [[ 9.99374901e-01 3.14129244e-02 -1.62183957e-02 1.92165448e+01] [-3.09789874e-02 9.99172713e-01 2.63475205e-02 -3.57361537e-02] [ 1.70326311e-02 -2.58286212e-02 9.99521271e-01 -2.07741584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.021193817 meters Centerline goodness : 0.934926 Centerline is valid? [False, False] Translation: X:19.23, Y:-0.04, Z:-2.08 [[ 9.99568615e-01 2.66153595e-02 -1.24180204e-02 1.92316881e+01] [-2.62388397e-02 9.99218640e-01 2.95572670e-02 -4.13704323e-02] [ 1.31949948e-02 -2.92186820e-02 9.99485948e-01 -2.07911360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.051193817 meters Centerline goodness : 0.938116 Centerline is valid? [False, False] Translation: X:19.25, Y:-0.05, Z:-2.08 [[ 9.99796028e-01 1.83452073e-02 -8.44723916e-03 1.92466341e+01] [-1.80902591e-02 9.99406120e-01 2.93283121e-02 -5.05980642e-02] [ 8.98025648e-03 -2.91695172e-02 9.99534139e-01 -2.07978713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters Centerline goodness : 0.939795 Centerline is valid? [False, False] Translation: X:19.26, Y:-0.06, Z:-2.08 [[ 9.99902536e-01 1.31050417e-02 -4.81424431e-03 1.92622560e+01] [-1.29455855e-02 9.99411030e-01 3.17805709e-02 -5.59991151e-02] [ 5.22789458e-03 -3.17151502e-02 9.99483276e-01 -2.08151617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11119381700001 meters Centerline goodness : 0.941660 Centerline is valid? [False, False] Translation: X:19.28, Y:-0.06, Z:-2.08 [[ 9.99969113e-01 7.75069036e-03 -1.30345027e-03 1.92781665e+01] [-7.70228360e-03 9.99400461e-01 3.37548900e-02 -6.14517751e-02] [ 1.56429250e-03 -3.37438079e-02 9.99429291e-01 -2.08300240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters Centerline goodness : 0.938764 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.09 [[ 9.99999616e-01 5.99933661e-04 6.38813968e-04 1.93096864e+01] [-6.21299865e-04 9.99422010e-01 3.39891137e-02 -7.18451104e-02] [-6.18053527e-04 -3.39894976e-02 9.99421999e-01 -2.08537374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17119381700002 meters Centerline goodness : 0.939296 Centerline is valid? [False, False] Translation: X:19.31, Y:-0.07, Z:-2.09 [[ 9.99996648e-01 -2.58828954e-03 6.28643288e-05 1.93114150e+01] [ 2.58505516e-03 9.99507003e-01 3.12900834e-02 -7.48775971e-02] [-1.43821133e-04 -3.12898161e-02 9.99510343e-01 -2.08599136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20119381700002 meters Centerline goodness : 0.937340 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.08, Z:-2.09 [[ 9.99976392e-01 -6.55682182e-03 2.05535849e-03 1.93296871e+01] [ 6.48330438e-03 9.99402900e-01 3.39383271e-02 -7.91043813e-02] [-2.27665880e-03 -3.39242003e-02 9.99421816e-01 -2.08799224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23119381700002 meters Centerline goodness : 0.937862 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.08, Z:-2.09 [[ 9.99953831e-01 -9.48964447e-03 1.51096777e-03 1.93313361e+01] [ 9.43799234e-03 9.99470277e-01 3.11462577e-02 -8.12816430e-02] [-1.80573429e-03 -3.11305592e-02 9.99513696e-01 -2.08825288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26119381700002 meters Centerline goodness : 0.941133 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.09, Z:-2.09 [[ 9.99927697e-01 -1.12213528e-02 4.32227485e-03 1.93497039e+01] [ 1.10490733e-02 9.99216318e-01 3.80087895e-02 -9.09249745e-02] [-4.74539760e-03 -3.79582842e-02 9.99268057e-01 -2.09199398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29119381700002 meters Centerline goodness : 0.939593 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.09, Z:-2.09 [[ 9.99892389e-01 -1.41365713e-02 3.92022192e-03 1.93508802e+01] [ 1.39906347e-02 9.99287882e-01 3.50427106e-02 -9.27711553e-02] [-4.41281403e-03 -3.49840932e-02 9.99378127e-01 -2.09208799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32119381700002 meters Centerline goodness : 0.942337 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.09, Z:-2.09 [[ 9.99856123e-01 -1.66436037e-02 3.27464911e-03 1.93528372e+01] [ 1.65290933e-02 9.99340191e-01 3.23414737e-02 -9.47392939e-02] [-3.81076714e-03 -3.22826935e-02 9.99471513e-01 -2.09259835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35119381700002 meters Centerline goodness : 0.940240 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.10, Z:-2.09 [[ 9.99872097e-01 -1.57342385e-02 2.86757098e-03 1.93539060e+01] [ 1.56283513e-02 9.99305927e-01 3.38144759e-02 -9.87257360e-02] [-3.39762570e-03 -3.37653355e-02 9.99424013e-01 -2.09264450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38119381700002 meters Centerline goodness : 0.940177 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99882210e-01 -1.51573958e-02 2.41241626e-03 1.93551671e+01] [ 1.50654353e-02 9.99293933e-01 3.44189939e-02 -9.95960492e-02] [-2.93241524e-03 -3.43785956e-02 9.99404579e-01 -2.09301818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41119381700003 meters Centerline goodness : 0.939482 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99901395e-01 -1.39466936e-02 1.64031755e-03 1.93573517e+01] [ 1.38797134e-02 9.99273581e-01 3.54917352e-02 -1.00739820e-01] [-2.13411835e-03 -3.54654684e-02 9.99368624e-01 -2.09381047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44119381700003 meters Centerline goodness : 0.936495 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.10 [[ 9.99919665e-01 -1.26341850e-02 1.02013866e-03 1.93596392e+01] [ 1.25882772e-02 9.99247859e-01 3.66776618e-02 -1.02004380e-01] [-1.48276373e-03 -3.66618735e-02 9.99326628e-01 -2.09509600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47119381700003 meters Centerline goodness : 0.933777 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.10 [[ 9.99937830e-01 -1.11479194e-02 2.43627174e-04 1.93622994e+01] [ 1.11306131e-02 9.99215880e-01 3.79965072e-02 -1.03125778e-01] [-6.67018141e-04 -3.79914333e-02 9.99277842e-01 -2.09644642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50119381700003 meters Centerline goodness : 0.934071 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.10, Z:-2.09 [[ 9.99965913e-01 -7.50421408e-03 3.44388058e-03 1.93656954e+01] [ 7.39496242e-03 9.99501002e-01 3.07092969e-02 -1.02911807e-01] [-3.67261123e-03 -3.06827827e-02 9.99522425e-01 -2.09467492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53119381700003 meters Centerline goodness : 0.937397 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99999469e-01 9.34551120e-04 -4.34921474e-04 1.93614775e+01] [-9.25066842e-04 9.99772302e-01 2.13187304e-02 -1.02125204e-01] [ 4.54745887e-04 -2.13183167e-02 9.99772635e-01 -2.08978363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56119381700003 meters Centerline goodness : 0.937278 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99997469e-01 2.05046802e-03 -9.25529122e-04 1.93627605e+01] [-2.02963497e-03 9.99756453e-01 2.19753226e-02 -1.02003237e-01] [ 9.70363408e-04 -2.19733885e-02 9.99758085e-01 -2.08995337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59119381700003 meters Centerline goodness : 0.939941 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99995262e-01 2.76303799e-03 -1.35704380e-03 1.93637926e+01] [-2.73195943e-03 9.99745512e-01 2.23930471e-02 -1.02217520e-01] [ 1.41857129e-03 -2.23892336e-02 9.99748323e-01 -2.09002241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62119381700003 meters Centerline goodness : 0.938476 Centerline is valid? [False, False] Translation: X:19.36, Y:-0.10, Z:-2.09 [[ 9.99992766e-01 3.39733662e-03 -1.71061674e-03 1.93647689e+01] [-3.35722910e-03 9.99731501e-01 2.29271809e-02 -1.03059955e-01] [ 1.78804880e-03 -2.29212721e-02 9.99735674e-01 -2.09028839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65119381700003 meters Centerline goodness : 0.941130 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99989010e-01 4.26647152e-03 -1.94336762e-03 1.93655507e+01] [-4.21861093e-03 9.99703067e-01 2.39996271e-02 -1.06134516e-01] [ 2.04518429e-03 -2.39911650e-02 9.99710079e-01 -2.09058481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68119381700004 meters Centerline goodness : 0.942179 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99996497e-01 1.04526760e-03 -2.43184258e-03 1.93664398e+01] [-9.95685442e-04 9.99793410e-01 2.03013577e-02 -1.06178197e-01] [ 2.45256054e-03 -2.02988652e-02 9.99790949e-01 -2.09029044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71119381700004 meters Centerline goodness : 0.942946 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99993781e-01 -1.58857799e-03 -3.14884704e-03 1.93687602e+01] [ 1.64347359e-03 9.99845367e-01 1.75083206e-02 -1.06963751e-01] [ 3.12054679e-03 -1.75133868e-02 9.99841759e-01 -2.09121495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters Centerline goodness : 0.941814 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99984964e-01 -4.01675679e-03 -3.73320138e-03 1.93710837e+01] [ 4.07253526e-03 9.99878363e-01 1.50556622e-02 -1.08056587e-01] [ 3.67227235e-03 -1.50706394e-02 9.99879688e-01 -2.09238769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.771193817 meters Centerline goodness : 0.942146 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99966152e-01 -7.05990336e-03 -4.22534845e-03 1.93725789e+01] [ 7.11332841e-03 9.99893217e-01 1.27653731e-02 -1.11880762e-01] [ 4.13477495e-03 -1.27949973e-02 9.99909592e-01 -2.09288439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters Centerline goodness : 0.940059 Centerline is valid? [False, False] Translation: X:19.37, Y:-0.11, Z:-2.09 [[ 9.99941193e-01 -9.73282922e-03 -4.78363461e-03 1.93745881e+01] [ 9.78172388e-03 9.99899043e-01 1.03063933e-02 -1.13922763e-01] [ 4.68284130e-03 -1.03525794e-02 9.99935445e-01 -2.09378175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.831193817 meters Centerline goodness : 0.940308 Centerline is valid? [False, False] Translation: X:19.39, Y:-0.12, Z:-2.10 [[ 9.99917989e-01 -1.28066476e-02 -7.38957256e-05 1.93880633e+01] [ 1.28059720e-02 9.99763973e-01 1.75500778e-02 -1.19288923e-01] [-1.50879378e-04 -1.75495848e-02 9.99845983e-01 -2.09849057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters Centerline goodness : 0.938974 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.13, Z:-2.10 [[ 9.99852336e-01 -1.70096588e-02 2.44488262e-03 1.94056818e+01] [ 1.69489841e-02 9.99591770e-01 2.30005418e-02 -1.28951936e-01] [-2.83511592e-03 -2.29557072e-02 9.99732463e-01 -2.10219357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89119381700002 meters Centerline goodness : 0.939450 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.13, Z:-2.10 [[ 9.99794593e-01 -2.01632387e-02 2.05341950e-03 1.94071223e+01] [ 2.01176281e-02 9.99592977e-01 2.02277416e-02 -1.31327147e-01] [-2.46044049e-03 -2.01822768e-02 9.99793290e-01 -2.10267209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters Centerline goodness : 0.941197 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.13, Z:-2.10 [[ 9.99723786e-01 -2.34325224e-02 1.80798073e-03 1.94081565e+01] [ 2.33979145e-02 9.99577550e-01 1.72411760e-02 -1.33139952e-01] [-2.21122119e-03 -1.71941108e-02 9.99849725e-01 -2.10289357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95119381700002 meters Centerline goodness : 0.940950 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.13, Z:-2.10 [[ 9.99653141e-01 -2.62941850e-02 1.48805544e-03 1.94097994e+01] [ 2.62697532e-02 9.99548734e-01 1.45680605e-02 -1.34908366e-01] [-1.87043921e-03 -1.45239165e-02 9.99892773e-01 -2.10361921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters Centerline goodness : 0.940950 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.13, Z:-2.10 [[ 9.99653293e-01 -2.62878808e-02 1.49687210e-03 1.94097883e+01] [ 2.62633163e-02 9.99548862e-01 1.45708696e-02 -1.34909801e-01] [-1.87923409e-03 -1.45265050e-02 9.99892719e-01 -2.10361926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01119381700002 meters Centerline goodness : 0.942919 Centerline is valid? [False, False] Translation: X:19.42, Y:-0.14, Z:-2.11 [[ 9.99583016e-01 -2.82923630e-02 5.77375827e-03 1.94227996e+01] [ 2.81424965e-02 9.99301953e-01 2.45684098e-02 -1.43612414e-01] [-6.46482628e-03 -2.43956772e-02 9.99681478e-01 -2.10802349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04119381700002 meters Centerline goodness : 0.940142 Centerline is valid? [False, False] Translation: X:19.42, Y:-0.15, Z:-2.11 [[ 9.99595080e-01 -2.78671391e-02 5.75306186e-03 1.94233203e+01] [ 2.77104905e-02 9.99285142e-01 2.57164026e-02 -1.46445317e-01] [-6.46559181e-03 -2.55465693e-02 9.99652724e-01 -2.10829504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07119381700002 meters Centerline goodness : 0.942914 Centerline is valid? [False, False] Translation: X:19.42, Y:-0.15, Z:-2.11 [[ 9.99607162e-01 -2.74856699e-02 5.48267085e-03 1.94242384e+01] [ 2.73304373e-02 9.99271906e-01 2.66215003e-02 -1.48726654e-01] [-6.21038872e-03 -2.64611985e-02 9.99630550e-01 -2.10876211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10119381700002 meters Centerline goodness : 0.939538 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99625533e-01 -2.68916349e-02 5.06293888e-03 1.94254140e+01] [ 2.67399614e-02 9.99251356e-01 2.79589422e-02 -1.51339555e-01] [-5.81101020e-03 -2.78130897e-02 9.99596251e-01 -2.10914135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13119381700002 meters Centerline goodness : 0.939945 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99638176e-01 -2.64859042e-02 4.69180146e-03 1.94265594e+01] [ 2.63410356e-02 9.99242834e-01 2.86340378e-02 -1.52512426e-01] [-5.44664737e-03 -2.85000904e-02 9.99578951e-01 -2.10961835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16119381700003 meters Centerline goodness : 0.938472 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99647907e-01 -2.61767477e-02 4.34055700e-03 1.94279563e+01] [ 2.60389994e-02 9.99233624e-01 2.92255758e-02 -1.53593081e-01] [-5.10226102e-03 -2.91022620e-02 9.99563417e-01 -2.11035166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19119381700003 meters Centerline goodness : 0.938336 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99655094e-01 -2.59633165e-02 3.94949999e-03 1.94291919e+01] [ 2.58337580e-02 9.99218357e-01 2.99214218e-02 -1.55514555e-01] [-4.72327224e-03 -2.98090713e-02 9.99544451e-01 -2.11098175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22119381700003 meters Centerline goodness : 0.937543 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99661206e-01 -2.57365363e-02 3.88639966e-03 1.94291884e+01] [ 2.56049691e-02 9.99198284e-01 3.07762146e-02 -1.58095226e-01] [-4.67535703e-03 -3.06662767e-02 9.99518744e-01 -2.11049257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25119381700003 meters Centerline goodness : 0.942051 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99660188e-01 -2.58268910e-02 3.53284863e-03 1.94295251e+01] [ 2.57069533e-02 9.99201542e-01 3.05848323e-02 -1.57346417e-01] [-4.31993893e-03 -3.04836204e-02 9.99525931e-01 -2.10986643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28119381700003 meters Centerline goodness : 0.943485 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99712158e-01 -2.37280177e-02 3.54714605e-03 1.94279847e+01] [ 2.35962619e-02 9.99161751e-01 3.34516237e-02 -1.57541387e-01] [-4.33791338e-03 -3.33582956e-02 9.99434043e-01 -2.10801346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31119381700003 meters Centerline goodness : 0.945054 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99693178e-01 -2.45187099e-02 3.51877948e-03 1.94265804e+01] [ 2.43895854e-02 9.99158967e-01 3.29622142e-02 -1.57099044e-01] [-4.32401104e-03 -3.28662791e-02 9.99450404e-01 -2.10581654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34119381700003 meters Centerline goodness : 0.945243 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99683818e-01 -2.49262974e-02 3.30811345e-03 1.94267599e+01] [ 2.48034573e-02 9.99145404e-01 3.30643416e-02 -1.57986315e-01] [-4.12945796e-03 -3.29718346e-02 9.99447750e-01 -2.10544850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37119381700003 meters Centerline goodness : 0.944118 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99676637e-01 -2.52190336e-02 3.25899983e-03 1.94269733e+01] [ 2.50969042e-02 9.99131989e-01 3.32477529e-02 -1.59188026e-01] [-4.09464718e-03 -3.31552110e-02 9.99441827e-01 -2.10559860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40119381700003 meters Centerline goodness : 0.945271 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.11 [[ 9.99661972e-01 -2.58261272e-02 2.99226029e-03 1.94273352e+01] [ 2.57144411e-02 9.99132868e-01 3.27456745e-02 -1.59059879e-01] [-3.83535956e-03 -3.26576613e-02 9.99459237e-01 -2.10536098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43119381700004 meters Centerline goodness : 0.943601 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.10 [[ 9.99673390e-01 -2.53786032e-02 3.00659542e-03 1.94271978e+01] [ 2.52677463e-02 9.99153292e-01 3.24690632e-02 -1.57311061e-01] [-3.82806918e-03 -3.23824886e-02 9.99468219e-01 -2.10496997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46119381700004 meters Centerline goodness : 0.946654 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.16, Z:-2.10 [[ 9.99689799e-01 -2.47422434e-02 2.85095320e-03 1.94275259e+01] [ 2.46373801e-02 9.99174553e-01 3.22988092e-02 -1.55329551e-01] [-3.64774488e-03 -3.22185500e-02 9.99474191e-01 -2.10479141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.491193817 meters Centerline goodness : 0.947006 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.10 [[ 9.99707207e-01 -2.40395229e-02 2.75695619e-03 1.94277149e+01] [ 2.39383089e-02 9.99193905e-01 3.22257136e-02 -1.53399075e-01] [-3.52942460e-03 -3.21502812e-02 9.99476814e-01 -2.10459845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters Centerline goodness : 0.947141 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.10 [[ 9.99797044e-01 -1.99784367e-02 2.59470266e-03 1.94279965e+01] [ 1.98713421e-02 9.99145262e-01 3.62474172e-02 -1.53314192e-01] [-3.31665160e-03 -3.61885003e-02 9.99339478e-01 -2.10475555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.551193817 meters Centerline goodness : 0.947296 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99891000e-01 -1.17322624e-02 8.96341963e-03 1.94284515e+01] [ 1.14712308e-02 9.99524015e-01 2.86383534e-02 -1.50095967e-01] [-9.29514585e-03 -2.85324103e-02 9.99549650e-01 -2.10537168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters Centerline goodness : 0.947737 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99917695e-01 -9.61066929e-03 8.49926052e-03 1.94307599e+01] [ 9.35259956e-03 9.99509159e-01 2.98993275e-02 -1.48672394e-01] [-8.78244128e-03 -2.98173765e-02 9.99516780e-01 -2.10686245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61119381700001 meters Centerline goodness : 0.946243 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.10 [[ 9.99986858e-01 -3.79764530e-03 3.44410087e-03 1.94285342e+01] [ 3.73080530e-03 9.99808507e-01 1.92101822e-02 -1.45573091e-01] [-3.51639480e-03 -1.91970804e-02 9.99809535e-01 -2.10491832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters Centerline goodness : 0.940333 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.14, Z:-2.11 [[ 9.99968085e-01 7.92150928e-03 -1.03851063e-03 1.94296983e+01] [-7.90702966e-03 9.99880619e-01 1.32750630e-02 -1.43524478e-01] [ 1.14354519e-03 -1.32664278e-02 9.99911343e-01 -2.10523083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67119381700002 meters Centerline goodness : 0.939065 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.14, Z:-2.11 [[ 9.99921574e-01 1.24579197e-02 -1.28270252e-03 1.94307057e+01] [-1.24334979e-02 9.99768633e-01 1.75524600e-02 -1.43632318e-01] [ 1.50107288e-03 -1.75351350e-02 9.99845121e-01 -2.10576294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70119381700002 meters Centerline goodness : 0.939361 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.14, Z:-2.11 [[ 9.99903020e-01 1.38433382e-02 -1.52099754e-03 1.94317049e+01] [-1.38140303e-02 9.99745534e-01 1.78336728e-02 -1.41861142e-01] [ 1.76748806e-03 -1.78109321e-02 9.99839811e-01 -2.10606947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73119381700002 meters Centerline goodness : 0.937801 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.14, Z:-2.11 [[ 9.99881238e-01 1.53134628e-02 -1.73420188e-03 1.94327056e+01] [-1.52790771e-02 9.99714770e-01 1.83556032e-02 -1.40992294e-01] [ 2.01479508e-03 -1.83269262e-02 9.99830018e-01 -2.10648594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76119381700002 meters Centerline goodness : 0.934005 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.14, Z:-2.11 [[ 9.99770238e-01 2.13632548e-02 -1.75555645e-03 1.94340953e+01] [-2.13142858e-02 9.99477008e-01 2.43189611e-02 -1.44553082e-01] [ 2.27417047e-03 -2.42759551e-02 9.99702709e-01 -2.10780149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79119381700002 meters Centerline goodness : 0.935352 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.15, Z:-2.11 [[ 9.99820444e-01 1.88416218e-02 -2.01833801e-03 1.94348371e+01] [-1.87945906e-02 9.99598109e-01 2.12222371e-02 -1.45518065e-01] [ 2.41738823e-03 -2.11804927e-02 9.99772746e-01 -2.10796595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82119381700002 meters Centerline goodness : 0.932619 Centerline is valid? [False, False] Translation: X:19.44, Y:-0.15, Z:-2.11 [[ 9.99870910e-01 1.58865873e-02 -2.40426111e-03 1.94359884e+01] [-1.58400275e-02 9.99707379e-01 1.82824887e-02 -1.47905277e-01] [ 2.69400393e-03 -1.82420450e-02 9.99829971e-01 -2.10850129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85119381700002 meters Centerline goodness : 0.930408 Centerline is valid? [False, False] Translation: X:19.44, Y:-0.15, Z:-2.11 [[ 9.99916298e-01 1.26551677e-02 -2.69125572e-03 1.94364933e+01] [-1.26119644e-02 9.99800230e-01 1.55060678e-02 -1.51472309e-01] [ 2.88694997e-03 -1.54708279e-02 9.99876152e-01 -2.10848176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88119381700002 meters Centerline goodness : 0.934018 Centerline is valid? [False, False] Translation: X:19.45, Y:-0.16, Z:-2.11 [[ 9.99974378e-01 6.84519322e-03 2.09465089e-03 1.94513958e+01] [-6.88268419e-03 9.99806135e-01 1.84477797e-02 -1.63365570e-01] [-1.96796619e-03 -1.84617238e-02 9.99827631e-01 -2.11156483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91119381700003 meters Centerline goodness : 0.930978 Centerline is valid? [False, False] Translation: X:19.45, Y:-0.17, Z:-2.11 [[ 9.99992108e-01 3.49721645e-03 1.88506731e-03 1.94517873e+01] [-3.52735055e-03 9.99862116e-01 1.62267261e-02 -1.68976100e-01] [-1.82805901e-03 -1.62332474e-02 9.99866561e-01 -2.11146407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94119381700003 meters Centerline goodness : 0.932578 Centerline is valid? [False, False] Translation: X:19.45, Y:-0.17, Z:-2.11 [[ 9.99997436e-01 -1.85432700e-03 1.29969126e-03 1.94537838e+01] [ 1.83934140e-03 9.99932892e-01 1.14379997e-02 -1.74188579e-01] [-1.32081383e-03 -1.14355798e-02 9.99933739e-01 -2.11229913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97119381700003 meters Centerline goodness : 0.928302 Centerline is valid? [False, False] Translation: X:19.48, Y:-0.19, Z:-2.11 [[ 9.99938683e-01 -1.10620090e-02 -5.12288001e-04 1.94770141e+01] [ 1.10690654e-02 9.99797074e-01 1.68311174e-02 -1.92845957e-01] [ 3.25998072e-04 -1.68357560e-02 9.99858215e-01 -2.11411557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00119381700003 meters Centerline goodness : 0.926465 Centerline is valid? [False, False] Translation: X:19.50, Y:-0.20, Z:-2.12 [[ 9.99869298e-01 -1.60745954e-02 1.73050675e-03 1.94952249e+01] [ 1.60380545e-02 9.99683425e-01 1.93863466e-02 -2.02892433e-01] [-2.04158659e-03 -1.93560588e-02 9.99810570e-01 -2.11659046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03119381700003 meters Centerline goodness : 0.926165 Centerline is valid? [False, False] Translation: X:19.52, Y:-0.21, Z:-2.12 [[ 9.99705963e-01 -2.37786789e-02 4.74996357e-03 1.95198797e+01] [ 2.36228875e-02 9.99254674e-01 3.05295945e-02 -2.12394877e-01] [-5.47237672e-03 -3.04084098e-02 9.99522577e-01 -2.11798341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06119381700003 meters Centerline goodness : 0.930086 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.22, Z:-2.12 [[ 9.99587601e-01 -2.74386394e-02 8.47053042e-03 1.95360738e+01] [ 2.71227757e-02 9.99005501e-01 3.53887449e-02 -2.21632872e-01] [-9.43312550e-03 -3.51444063e-02 9.99337724e-01 -2.11986395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09119381700003 meters Centerline goodness : 0.929599 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.25, Z:-2.11 [[ 9.99267253e-01 -3.76785926e-02 6.72915242e-03 1.95540874e+01] [ 3.69684667e-02 9.95668891e-01 8.53041143e-02 -2.47564134e-01] [-9.91414670e-03 -8.49928415e-02 9.96332237e-01 -2.11445588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12119381700003 meters Centerline goodness : 0.931534 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.11 [[ 9.99075476e-01 -4.28424508e-02 3.56630172e-03 1.95619468e+01] [ 4.24645964e-02 9.96386779e-01 7.35536877e-02 -2.50057857e-01] [-6.70463613e-03 -7.33342439e-02 9.97284882e-01 -2.11055165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15119381700003 meters Centerline goodness : 0.933672 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.11 [[ 9.98799132e-01 -4.88548395e-02 3.67416618e-03 1.95627116e+01] [ 4.84936601e-02 9.96517020e-01 6.78394677e-02 -2.53501963e-01] [-6.97565544e-03 -6.75798277e-02 9.97689484e-01 -2.11039812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18119381700004 meters Centerline goodness : 0.931312 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.11 [[ 9.98384750e-01 -5.66066844e-02 4.85541048e-03 1.95613930e+01] [ 5.62077574e-02 9.96565192e-01 6.08153510e-02 -2.58681090e-01] [-8.28128845e-03 -6.04442073e-02 9.98137224e-01 -2.10958737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21119381700004 meters Centerline goodness : 0.930710 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.98237954e-01 -5.93301056e-02 9.61976713e-04 1.95699122e+01] [ 5.91994128e-02 9.96884223e-01 5.21275018e-02 -2.57915969e-01] [-4.05170959e-03 -5.19787023e-02 9.98639974e-01 -2.10691615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters Centerline goodness : 0.929931 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.98016843e-01 -6.29331549e-02 1.34154356e-03 1.95696459e+01] [ 6.27958283e-02 9.96865091e-01 4.81318378e-02 -2.57537971e-01] [-4.36642635e-03 -4.79521414e-02 9.98840091e-01 -2.10689565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.271193817 meters Centerline goodness : 0.926701 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.97790572e-01 -6.63053524e-02 4.19224620e-03 1.95655454e+01] [ 6.60784035e-02 9.96970118e-01 4.10393500e-02 -2.58460487e-01] [-6.90067275e-03 -4.06716595e-02 9.99148736e-01 -2.10851317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters Centerline goodness : 0.925661 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.97560642e-01 -6.96967258e-02 3.89003891e-03 1.95671732e+01] [ 6.95025567e-02 9.96875827e-01 3.75230510e-02 -2.59038865e-01] [-6.49311956e-03 -3.71611512e-02 9.99288191e-01 -2.10927220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.331193817 meters Centerline goodness : 0.926880 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.97285639e-01 -7.35171801e-02 4.07170913e-03 1.95675475e+01] [ 7.33405287e-02 9.96744356e-01 3.34941227e-02 -2.58911640e-01] [-6.52084655e-03 -3.31045863e-02 9.99430620e-01 -2.10946272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters Centerline goodness : 0.926109 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.97003936e-01 -7.72359911e-02 4.21341301e-03 1.95680558e+01] [ 7.70792255e-02 9.96588862e-01 2.94861363e-02 -2.58055392e-01] [-6.47643143e-03 -2.90730273e-02 9.99556309e-01 -2.10968793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39119381700002 meters Centerline goodness : 0.928257 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.26, Z:-2.11 [[ 9.96691323e-01 -8.11708811e-02 4.20652802e-03 1.95684613e+01] [ 8.10414959e-02 9.96397487e-01 2.49864574e-02 -2.55953878e-01] [-6.21954672e-03 -2.45628820e-02 9.99678939e-01 -2.10952579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters Centerline goodness : 0.925826 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96389851e-01 -8.47730811e-02 4.55957776e-03 1.95681434e+01] [ 8.46612851e-02 9.96193202e-01 2.07742699e-02 -2.54296200e-01] [-6.30331924e-03 -2.03132519e-02 9.99773794e-01 -2.10918092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45119381700002 meters Centerline goodness : 0.925656 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96140173e-01 -8.76746635e-02 4.23199741e-03 1.95702783e+01] [ 8.75875762e-02 9.96001042e-01 1.76164870e-02 -2.53799551e-01] [-5.75959340e-03 -1.71778200e-02 9.99835861e-01 -2.11032647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters Centerline goodness : 0.924088 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96154798e-01 -8.75124759e-02 4.14555055e-03 1.95705621e+01] [ 8.74268761e-02 9.96015097e-01 1.76201167e-02 -2.53215246e-01] [-5.67101097e-03 -1.71899312e-02 9.99836160e-01 -2.11051514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51119381700002 meters Centerline goodness : 0.928425 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96175959e-01 -8.72686684e-02 4.19967448e-03 1.95707809e+01] [ 8.71836102e-02 9.96040842e-01 1.73683394e-02 -2.51706520e-01] [-5.69875916e-03 -1.69357794e-02 9.99840339e-01 -2.11100189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54119381700002 meters Centerline goodness : 0.919016 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96523920e-01 -8.32052612e-02 4.11836682e-03 1.95708388e+01] [ 8.31059621e-02 9.96335533e-01 2.02213908e-02 -2.48024655e-01] [-5.78580131e-03 -1.98088388e-02 9.99787045e-01 -2.11193897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57119381700002 meters Centerline goodness : 0.922660 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.11 [[ 9.96837559e-01 -7.93801158e-02 3.69834319e-03 1.95709900e+01] [ 7.92703315e-02 9.96568581e-01 2.38175945e-02 -2.46353168e-01] [-5.57629604e-03 -2.34491039e-02 9.99709480e-01 -2.11201612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60119381700002 meters Centerline goodness : 0.922691 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.11 [[ 9.97120127e-01 -7.57623150e-02 3.39461266e-03 1.95706878e+01] [ 7.56440034e-02 9.96770591e-01 2.69513030e-02 -2.44341550e-01] [-5.42554318e-03 -2.66169046e-02 9.99630984e-01 -2.11179854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63119381700002 meters Centerline goodness : 0.927723 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.11 [[ 9.97631110e-01 -6.87013166e-02 3.50668990e-03 1.95675180e+01] [ 6.85491046e-02 9.97103143e-01 3.29596954e-02 -2.40707063e-01] [-5.76090598e-03 -3.26412370e-02 9.99450530e-01 -2.10932146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66119381700003 meters Centerline goodness : 0.928633 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.11 [[ 9.97883449e-01 -6.49456512e-02 3.26875258e-03 1.95667172e+01] [ 6.47845905e-02 9.97237539e-01 3.63351996e-02 -2.39056956e-01] [-5.61953598e-03 -3.60465295e-02 9.99334313e-01 -2.10847151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69119381700003 meters Centerline goodness : 0.929556 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.23, Z:-2.11 [[ 9.97922881e-01 -6.43248583e-02 3.49805234e-03 1.95655818e+01] [ 6.41633138e-02 9.97323335e-01 3.50604493e-02 -2.34548834e-01] [-5.74394767e-03 -3.47631780e-02 9.99379071e-01 -2.10808930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72119381700003 meters Centerline goodness : 0.930472 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.11 [[ 9.97943795e-01 -6.39877313e-02 3.70844725e-03 1.95645272e+01] [ 6.38267006e-02 9.97389492e-01 3.37691221e-02 -2.30386019e-01] [-5.85957583e-03 -3.34629879e-02 9.99422780e-01 -2.10774331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75119381700003 meters Centerline goodness : 0.932093 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98227426e-01 -5.95139542e-02 -3.07866044e-04 1.95553254e+01] [ 5.95030448e-02 9.97915145e-01 2.49950395e-02 -2.23304799e-01] [-1.18032945e-03 -2.49690529e-02 9.99687528e-01 -2.10635246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78119381700003 meters Centerline goodness : 0.928548 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98207704e-01 -5.98430892e-02 -4.28710649e-04 1.95558387e+01] [ 5.98366211e-02 9.97931436e-01 2.35038009e-02 -2.20233058e-01] [-9.78716219e-04 -2.34873277e-02 9.99723656e-01 -2.10729050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81119381700003 meters Centerline goodness : 0.930303 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98192867e-01 -6.00896273e-02 -4.86184069e-04 1.95559203e+01] [ 6.00853595e-02 9.97940093e-01 2.24793230e-02 -2.17739868e-01] [-8.65591562e-04 -2.24679124e-02 9.99747190e-01 -2.10762920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84119381700003 meters Centerline goodness : 0.931343 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98189307e-01 -6.01471910e-02 -6.49834766e-04 1.95562619e+01] [ 6.01471509e-02 9.97954760e-01 2.16475801e-02 -2.15891058e-01] [-6.53535439e-04 -2.16474687e-02 9.99765452e-01 -2.10798959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87119381700003 meters Centerline goodness : 0.931343 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98189307e-01 -6.01471910e-02 -6.49834766e-04 1.95562619e+01] [ 6.01471509e-02 9.97954760e-01 2.16475801e-02 -2.15891058e-01] [-6.53535439e-04 -2.16474687e-02 9.99765452e-01 -2.10798959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90119381700003 meters Centerline goodness : 0.929353 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98223032e-01 -5.95872364e-02 -3.74633878e-04 1.95556692e+01] [ 5.95821187e-02 9.98006460e-01 2.08104993e-02 -2.13191880e-01] [-8.66153112e-04 -2.07958412e-02 9.99783368e-01 -2.10839048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93119381700004 meters Centerline goodness : 0.928396 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98243795e-01 -5.92362557e-02 -6.26252373e-04 1.95563305e+01] [ 5.92365900e-02 9.98031904e-01 2.05753437e-02 -2.11994759e-01] [-5.93786471e-04 -2.05763062e-02 9.99788109e-01 -2.10893246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96119381700004 meters Centerline goodness : 0.928529 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98257521e-01 -5.90040308e-02 -6.67846461e-04 1.95563632e+01] [ 5.90054255e-02 9.98051487e-01 2.02876375e-02 -2.10841123e-01] [-5.30507234e-04 -2.02916933e-02 9.99793962e-01 -2.10914472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.991193817 meters Centerline goodness : 0.928672 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98273080e-01 -5.87417437e-02 -5.15135032e-04 1.95561115e+01] [ 5.87402678e-02 9.98072355e-01 2.00288537e-02 -2.10092716e-01] [-6.62387755e-04 -2.00245246e-02 9.99799270e-01 -2.10939077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.021193817 meters Centerline goodness : 0.926483 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98388910e-01 -5.67413857e-02 2.14998010e-05 1.95551298e+01] [ 5.67281356e-02 9.98163814e-01 2.12348504e-02 -2.10872968e-01] [-1.22635516e-03 -2.11994195e-02 9.99774515e-01 -2.10964511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.051193817 meters Centerline goodness : 0.927617 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98468301e-01 -5.53257218e-02 -3.40702297e-04 1.95565315e+01] [ 5.53194908e-02 9.98218097e-01 2.23693003e-02 -2.11964631e-01] [-8.97502486e-04 -2.23538847e-02 9.99749718e-01 -2.11076733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.081193817 meters Centerline goodness : 0.925232 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98503466e-01 -5.46878750e-02 -2.55962832e-04 1.95567838e+01] [ 5.46795007e-02 9.98243914e-01 2.27868540e-02 -2.13023549e-01] [-9.90651282e-04 -2.27667486e-02 9.99740313e-01 -2.11137883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11119381700001 meters Centerline goodness : 0.924122 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.21, Z:-2.11 [[ 9.98537854e-01 -5.40566980e-02 -1.68742198e-04 1.95568846e+01] [ 5.40456760e-02 9.98260745e-01 2.35488784e-02 -2.14785055e-01] [-1.10452590e-03 -2.35235663e-02 9.99722672e-01 -2.11161021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters Centerline goodness : 0.924648 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.22, Z:-2.11 [[ 9.98627040e-01 -5.23835294e-02 -2.30465917e-05 1.95570275e+01] [ 5.23659756e-02 9.98280816e-01 2.63290329e-02 -2.20904474e-01] [-1.35620070e-03 -2.62940911e-02 9.99653331e-01 -2.11146882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17119381700002 meters Centerline goodness : 0.923807 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.11 [[ 9.98678870e-01 -5.13856117e-02 -1.83371324e-04 1.95574721e+01] [ 5.13698807e-02 9.98271217e-01 2.85606696e-02 -2.25051657e-01] [-1.28455316e-03 -2.85323570e-02 9.99592044e-01 -2.11098185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters Centerline goodness : 0.926208 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.11 [[ 9.98566871e-01 -5.35170555e-02 3.60299332e-04 1.95563648e+01] [ 5.34864451e-02 9.98182613e-01 2.77609493e-02 -2.31236199e-01] [-1.84532879e-03 -2.77018932e-02 9.99614526e-01 -2.10951164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23119381700002 meters Centerline goodness : 0.923967 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.11 [[ 9.98443579e-01 -5.57705257e-02 2.61537157e-04 1.95576028e+01] [ 5.57452354e-02 9.98111777e-01 2.57943733e-02 -2.34206835e-01] [-1.69960908e-03 -2.57396469e-02 9.99667236e-01 -2.11010364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26119381700002 meters Centerline goodness : 0.921931 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.11 [[ 9.98330841e-01 -5.77539848e-02 9.77607512e-05 1.95591298e+01] [ 5.77344429e-02 9.98034305e-01 2.43774513e-02 -2.37851753e-01] [-1.50546354e-03 -2.43311173e-02 9.99702821e-01 -2.11079690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29119381700002 meters Centerline goodness : 0.921444 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.11 [[ 9.98329652e-01 -5.77737734e-02 -3.10334522e-04 1.95602119e+01] [ 5.77619207e-02 9.97983481e-01 2.63160096e-02 -2.43334931e-01] [-1.21066645e-03 -2.62899782e-02 9.99653626e-01 -2.11031344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32119381700002 meters Centerline goodness : 0.922343 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.11 [[ 9.98145483e-01 -6.08722661e-02 -4.02349066e-04 1.95610240e+01] [ 6.08642896e-02 9.97855520e-01 2.40811042e-02 -2.47132204e-01] [-1.06438515e-03 -2.40609341e-02 9.99709927e-01 -2.11008718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35119381700002 meters Centerline goodness : 0.915014 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.11 [[ 9.97762106e-01 -6.68599151e-02 -7.29447443e-04 1.95633240e+01] [ 6.68606916e-02 9.97548169e-01 2.06712028e-02 -2.55790171e-01] [-6.54415903e-04 -2.06737142e-02 9.99786062e-01 -2.10997637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38119381700002 meters Centerline goodness : 0.920314 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.26, Z:-2.11 [[ 9.97561110e-01 -6.97744717e-02 -1.83163221e-03 1.95775283e+01] [ 6.97801926e-02 9.97557027e-01 3.27134642e-03 -2.56126075e-01] [ 1.59890111e-03 -3.39117961e-03 9.99992972e-01 -2.10721790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41119381700003 meters Centerline goodness : 0.920570 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.08 [[ 9.96519532e-01 -8.11871321e-02 -1.89069334e-02 1.95980774e+01] [ 8.26058830e-02 9.92204849e-01 9.33049114e-02 -2.78363194e-01] [ 1.11843928e-02 -9.45419906e-02 9.95458046e-01 -2.08150321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44119381700003 meters Centerline goodness : 0.914922 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.28, Z:-2.08 [[ 9.95908112e-01 -8.81655981e-02 -1.98458902e-02 1.96058585e+01] [ 8.94557211e-02 9.92936307e-01 7.79433379e-02 -2.79153965e-01] [ 1.28337839e-02 -7.93997309e-02 9.96760240e-01 -2.07739872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47119381700003 meters Centerline goodness : 0.923987 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.28, Z:-2.07 [[ 9.94516543e-01 -1.03088480e-01 -1.75957521e-02 1.96145174e+01] [ 1.03903016e-01 9.93103003e-01 5.43193298e-02 -2.84195829e-01] [ 1.18746971e-02 -5.58497238e-02 9.98368569e-01 -2.07353048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50119381700003 meters Centerline goodness : 0.924298 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.29, Z:-2.07 [[ 9.93647461e-01 -1.11244309e-01 -1.70125367e-02 1.96150035e+01] [ 1.11932690e-01 9.92601536e-01 4.70453319e-02 -2.87213224e-01] [ 1.16531446e-02 -4.86507336e-02 9.98747871e-01 -2.07299020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53119381700003 meters Centerline goodness : 0.923101 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.29, Z:-2.07 [[ 9.92136623e-01 -1.24145257e-01 -1.59020797e-02 1.96158941e+01] [ 1.24653075e-01 9.91532506e-01 3.63991933e-02 -2.93663515e-01] [ 1.12486417e-02 -3.80952159e-02 9.99210800e-01 -2.07264679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56119381700003 meters Centerline goodness : 0.918316 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.30, Z:-2.07 [[ 9.91338620e-01 -1.30483241e-01 -1.48951100e-02 1.96148150e+01] [ 1.30886401e-01 9.90931112e-01 3.04020052e-02 -2.95567022e-01] [ 1.07930757e-02 -3.20882493e-02 9.99426763e-01 -2.07159238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59119381700003 meters Centerline goodness : 0.915829 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.30, Z:-2.07 [[ 9.90752789e-01 -1.34885073e-01 -1.46604005e-02 1.96160335e+01] [ 1.35239022e-01 9.90454032e-01 2.66686776e-02 -2.97516264e-01] [ 1.09232462e-02 -2.84047250e-02 9.99536820e-01 -2.07204007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62119381700003 meters Centerline goodness : 0.913831 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.30, Z:-2.07 [[ 9.90185830e-01 -1.39019635e-01 -1.43374786e-02 1.96170402e+01] [ 1.39320992e-01 9.89985880e-01 2.27512571e-02 -2.98208901e-01] [ 1.10310299e-02 -2.45254841e-02 9.99638343e-01 -2.07256205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65119381700003 meters Centerline goodness : 0.915272 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.30, Z:-2.07 [[ 9.89594802e-01 -1.43217416e-01 -1.38166676e-02 1.96178982e+01] [ 1.43461880e-01 9.89478965e-01 1.87100492e-02 -2.98662235e-01] [ 1.09916971e-02 -2.04975325e-02 9.99729480e-01 -2.07338984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68119381700004 meters Centerline goodness : 0.915841 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.30, Z:-2.07 [[ 9.89541301e-01 -1.43583926e-01 -1.38445105e-02 1.96183576e+01] [ 1.43824430e-01 9.89433936e-01 1.83035680e-02 -2.98003206e-01] [ 1.10701303e-02 -2.01033153e-02 9.99736620e-01 -2.07387020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71119381700004 meters Centerline goodness : 0.919394 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.30, Z:-2.07 [[ 9.89474317e-01 -1.44033590e-01 -1.39607145e-02 1.96189038e+01] [ 1.44267716e-01 9.89383369e-01 1.75321107e-02 -2.96119353e-01] [ 1.12872859e-02 -1.93616537e-02 9.99748830e-01 -2.07430794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters Centerline goodness : 0.918528 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.29, Z:-2.07 [[ 9.89403713e-01 -1.44505212e-01 -1.40902904e-02 1.96193934e+01] [ 1.44730148e-01 9.89333300e-01 1.65168394e-02 -2.93209603e-01] [ 1.15532241e-02 -1.83811121e-02 9.99764301e-01 -2.07475959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.771193817 meters Centerline goodness : 0.914558 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.29, Z:-2.08 [[ 9.89335918e-01 -1.44970693e-01 -1.40690726e-02 1.96197997e+01] [ 1.45176046e-01 9.89294066e-01 1.48716663e-02 -2.86846594e-01] [ 1.17624942e-02 -1.67555660e-02 9.99790425e-01 -2.07585478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters Centerline goodness : 0.913424 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.28, Z:-2.08 [[ 9.89286725e-01 -1.45298658e-01 -1.41448242e-02 1.96202232e+01] [ 1.45491174e-01 9.89264838e-01 1.36893401e-02 -2.82965701e-01] [ 1.20039345e-02 -1.56006295e-02 9.99806244e-01 -2.07645513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.831193817 meters Centerline goodness : 0.912999 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.28, Z:-2.08 [[ 9.89225431e-01 -1.45708338e-01 -1.42171221e-02 1.96206221e+01] [ 1.45886392e-01 9.89223530e-01 1.24084240e-02 -2.78824753e-01] [ 1.22559009e-02 -1.43488132e-02 9.99821936e-01 -2.07708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters Centerline goodness : 0.913612 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.27, Z:-2.08 [[ 9.89076129e-01 -1.46720112e-01 -1.41992728e-02 1.96214439e+01] [ 1.46869081e-01 9.89104547e-01 1.00830799e-02 -2.70048341e-01] [ 1.25651747e-02 -1.20583678e-02 9.99848345e-01 -2.07878792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89119381700002 meters Centerline goodness : 0.914319 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.27, Z:-2.08 [[ 9.88954206e-01 -1.47512128e-01 -1.44827956e-02 1.96224649e+01] [ 1.47645050e-01 9.89003220e-01 8.57732253e-03 -2.66096661e-01] [ 1.30582724e-02 -1.06208923e-02 9.99858329e-01 -2.07956026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters Centerline goodness : 0.913774 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.26, Z:-2.08 [[ 9.88793242e-01 -1.48568801e-01 -1.46709105e-02 1.96239953e+01] [ 1.48681231e-01 9.88861176e-01 6.88960005e-03 -2.62399647e-01] [ 1.34839142e-02 -8.99367900e-03 9.99868640e-01 -2.08104811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95119381700002 meters Centerline goodness : 0.913425 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.26, Z:-2.08 [[ 9.88668489e-01 -1.49383663e-01 -1.48033900e-02 1.96248531e+01] [ 1.49480071e-01 9.88748715e-01 5.62918658e-03 -2.59431320e-01] [ 1.37959243e-02 -7.77821117e-03 9.99874578e-01 -2.08187315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters Centerline goodness : 0.916195 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.25, Z:-2.08 [[ 9.88445483e-01 -1.50883362e-01 -1.44823637e-02 1.96240811e+01] [ 1.50943585e-01 9.88537350e-01 3.15317975e-03 -2.52731250e-01] [ 1.38405951e-02 -5.30276618e-03 9.99890153e-01 -2.08197441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01119381700002 meters Centerline goodness : 0.917194 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.25, Z:-2.08 [[ 9.88323331e-01 -1.51675682e-01 -1.45423852e-02 1.96242397e+01] [ 1.51714654e-01 9.88423025e-01 1.60881617e-03 -2.48373524e-01] [ 1.41300101e-02 -3.79632350e-03 9.99892960e-01 -2.08221427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04119381700002 meters Centerline goodness : 0.920177 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.25, Z:-2.08 [[ 9.88696944e-01 -1.49208339e-01 -1.46705015e-02 1.96229971e+01] [ 1.49280124e-01 9.88787175e-01 3.92015047e-03 -2.45468655e-01] [ 1.39210846e-02 -6.06585507e-03 9.99884698e-01 -2.08169237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07119381700002 meters Centerline goodness : 0.916268 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.24, Z:-2.08 [[ 9.89105714e-01 -1.46432735e-01 -1.50777919e-02 1.96226439e+01] [ 1.46542847e-01 9.89183156e-01 6.47127752e-03 -2.42692951e-01] [ 1.39670910e-02 -8.61032014e-03 9.99865382e-01 -2.08162286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10119381700002 meters Centerline goodness : 0.919286 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.23, Z:-2.08 [[ 9.89800116e-01 -1.41647045e-01 -1.52264311e-02 1.96191608e+01] [ 1.41805099e-01 9.89845575e-01 9.85151999e-03 -2.34287090e-01] [ 1.36763767e-02 -1.19102212e-02 9.99835538e-01 -2.07954685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13119381700002 meters Centerline goodness : 0.923542 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.23, Z:-2.08 [[ 9.90207040e-01 -1.38752959e-01 -1.54154089e-02 1.96172404e+01] [ 1.38938447e-01 9.90232019e-01 1.16899882e-02 -2.29216128e-01] [ 1.36428110e-02 -1.37173016e-02 9.99812837e-01 -2.07813715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16119381700003 meters Centerline goodness : 0.925246 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.08 [[ 9.91062647e-01 -1.32758176e-01 -1.30420778e-02 1.95947606e+01] [ 1.32950850e-01 9.91005759e-01 1.52203100e-02 -2.26715155e-01] [ 1.09041536e-02 -1.68182360e-02 9.99799103e-01 -2.07682614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19119381700003 meters Centerline goodness : 0.925099 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.22, Z:-2.07 [[ 9.91652891e-01 -1.28259990e-01 -1.31878526e-02 1.95916762e+01] [ 1.28494403e-01 9.91531971e-01 1.88026139e-02 -2.22066506e-01] [ 1.06645544e-02 -2.03402316e-02 9.99736236e-01 -2.07465901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22119381700003 meters Centerline goodness : 0.928326 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.21, Z:-2.07 [[ 9.92801038e-01 -1.18835692e-01 -1.49725633e-02 1.95721876e+01] [ 1.19162405e-01 9.92602826e-01 2.32368469e-02 -2.13095975e-01] [ 1.21004418e-02 -2.48537323e-02 9.99617863e-01 -2.07186668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25119381700003 meters Centerline goodness : 0.926580 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.21, Z:-2.07 [[ 9.92818154e-01 -1.18697899e-01 -1.49305925e-02 1.95720241e+01] [ 1.18996595e-01 9.92672065e-01 2.10233549e-02 -2.05855061e-01] [ 1.23257541e-02 -2.26490581e-02 9.99667493e-01 -2.07268645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28119381700003 meters Centerline goodness : 0.926272 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.20, Z:-2.07 [[ 9.93489218e-01 -1.12591948e-01 -1.73846685e-02 1.95620506e+01] [ 1.12861205e-01 9.93491876e-01 1.53701180e-02 -2.01399822e-01] [ 1.55409754e-02 -1.72321012e-02 9.99730730e-01 -2.07127568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31119381700003 meters Centerline goodness : 0.924909 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.19, Z:-2.07 [[ 9.94040496e-01 -1.06347723e-01 -2.39510918e-02 1.95503158e+01] [ 1.06686798e-01 9.94203038e-01 1.33508739e-02 -1.91895237e-01] [ 2.23924132e-02 -1.58265746e-02 9.99623979e-01 -2.06819830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34119381700003 meters Centerline goodness : 0.923126 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.19, Z:-2.07 [[ 9.94345490e-01 -1.03309945e-01 -2.45784819e-02 1.95507537e+01] [ 1.03702612e-01 9.94491066e-01 1.52737981e-02 -1.87737624e-01] [ 2.28651454e-02 -1.77362850e-02 9.99581217e-01 -2.06875179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37119381700003 meters Centerline goodness : 0.929574 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.18, Z:-2.07 [[ 9.94653841e-01 -1.00166451e-01 -2.51081265e-02 1.95508696e+01] [ 1.00612420e-01 9.94777463e-01 1.71738069e-02 -1.83192866e-01] [ 2.32567591e-02 -1.96081824e-02 9.99537214e-01 -2.06917239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40119381700003 meters Centerline goodness : 0.926393 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.17, Z:-2.07 [[ 9.95506782e-01 -8.99014309e-02 -2.97318076e-02 1.95469752e+01] [ 9.02102831e-02 9.95880132e-01 9.21234676e-03 -1.72562960e-01] [ 2.87811133e-02 -1.18530685e-02 9.99515459e-01 -2.06833044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43119381700004 meters Centerline goodness : 0.928041 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.17, Z:-2.06 [[ 9.95937192e-01 -8.05636683e-02 -4.02318943e-02 1.95414278e+01] [ 8.11091110e-02 9.96631636e-01 1.21117753e-02 -1.71056284e-01] [ 3.91206096e-02 -1.53257406e-02 9.99116960e-01 -2.06460268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46119381700004 meters Centerline goodness : 0.923559 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.17, Z:-2.07 [[ 9.96248039e-01 -7.62246660e-02 -4.09834757e-02 1.95429455e+01] [ 7.68786605e-02 9.96933213e-01 1.46232988e-02 -1.67011026e-01] [ 3.97431320e-02 -1.77191875e-02 9.99052808e-01 -2.06633548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49119381700004 meters Centerline goodness : 0.920584 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.16, Z:-2.06 [[ 9.96864925e-01 -6.45383723e-02 -4.57724749e-02 1.95356467e+01] [ 6.49037821e-02 9.97870090e-01 6.54088465e-03 -1.59116007e-01] [ 4.52528455e-02 -9.49118522e-03 9.98930477e-01 -2.06310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters Centerline goodness : 0.922208 Centerline is valid? [False, False] Translation: X:19.53, Y:-0.16, Z:-2.06 [[ 9.97004775e-01 -6.27477021e-02 -4.52128860e-02 1.95346393e+01] [ 6.30613994e-02 9.97994249e-01 5.54422510e-03 -1.56014367e-01] [ 4.47743128e-02 -8.37880676e-03 9.98961990e-01 -2.06412220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.551193817 meters Centerline goodness : 0.925801 Centerline is valid? [False, False] Translation: X:19.53, Y:-0.15, Z:-2.06 [[ 9.97134417e-01 -6.10167230e-02 -4.47204022e-02 1.95334936e+01] [ 6.13164550e-02 9.98103982e-01 5.36026806e-03 -1.54608702e-01] [ 4.43085456e-02 -8.08700430e-03 9.98985162e-01 -2.06447218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.581193817 meters Centerline goodness : 0.923018 Centerline is valid? [False, False] Translation: X:19.53, Y:-0.16, Z:-2.06 [[ 9.97525772e-01 -5.47254821e-02 -4.41299841e-02 1.95318415e+01] [ 5.52378328e-02 9.98418282e-01 1.04745105e-02 -1.56127043e-01] [ 4.34869603e-02 -1.28862389e-02 9.98970885e-01 -2.06461436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61119381700001 meters Centerline goodness : 0.924770 Centerline is valid? [False, False] Translation: X:19.53, Y:-0.16, Z:-2.06 [[ 9.97582120e-01 -5.37772325e-02 -4.40218509e-02 1.95315189e+01] [ 5.43094411e-02 9.98463745e-01 1.09834196e-02 -1.56610176e-01] [ 4.33635642e-02 -1.33476652e-02 9.98970190e-01 -2.06455290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64119381700002 meters Centerline goodness : 0.923538 Centerline is valid? [False, False] Translation: X:19.53, Y:-0.16, Z:-2.06 [[ 9.97601478e-01 -5.31199520e-02 -4.43797537e-02 1.95323992e+01] [ 5.36905089e-02 9.98488327e-01 1.17638986e-02 -1.58180744e-01] [ 4.36877683e-02 -1.41184541e-02 9.98945468e-01 -2.06475901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67119381700002 meters Centerline goodness : 0.921497 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.16, Z:-2.07 [[ 9.97502323e-01 -5.45511365e-02 -4.48696960e-02 1.95351161e+01] [ 5.50588158e-02 9.98431454e-01 1.01566545e-02 -1.60142298e-01] [ 4.42452588e-02 -1.26017588e-02 9.98941216e-01 -2.06618932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70119381700002 meters Centerline goodness : 0.924162 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.16, Z:-2.07 [[ 9.97370179e-01 -5.65163798e-02 -4.53720799e-02 1.95375954e+01] [ 5.69482020e-02 9.98342792e-01 8.28081840e-03 -1.63053721e-01] [ 4.48288870e-02 -1.08428997e-02 9.98935835e-01 -2.06732374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73119381700002 meters Centerline goodness : 0.923430 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.17, Z:-2.07 [[ 9.97231082e-01 -5.86206656e-02 -4.57579148e-02 1.95392615e+01] [ 5.90280501e-02 9.98227378e-01 7.60202715e-03 -1.71626469e-01] [ 4.52311674e-02 -1.02819782e-02 9.98923632e-01 -2.06761657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76119381700002 meters Centerline goodness : 0.922319 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.18, Z:-2.07 [[ 9.97246265e-01 -5.81980039e-02 -4.59660653e-02 1.95403361e+01] [ 5.86810170e-02 9.98234129e-01 9.22835959e-03 -1.77187668e-01] [ 4.53478230e-02 -1.19002826e-02 9.98900375e-01 -2.06818798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79119381700002 meters Centerline goodness : 0.922319 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.18, Z:-2.07 [[ 9.97246265e-01 -5.81980039e-02 -4.59660653e-02 1.95403361e+01] [ 5.86810170e-02 9.98234129e-01 9.22835959e-03 -1.77187668e-01] [ 4.53478230e-02 -1.19002826e-02 9.98900375e-01 -2.06818798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82119381700002 meters Centerline goodness : 0.920988 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.18, Z:-2.07 [[ 9.97194469e-01 -5.82680668e-02 -4.69896132e-02 1.95433088e+01] [ 5.88801833e-02 9.98195924e-01 1.17482638e-02 -1.83077330e-01] [ 4.62202917e-02 -1.44820607e-02 9.98826288e-01 -2.06846537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85119381700002 meters Centerline goodness : 0.917349 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.19, Z:-2.07 [[ 9.96827529e-01 -6.25495784e-02 -4.92181586e-02 1.95480698e+01] [ 6.32897491e-02 9.97902181e-01 1.36251238e-02 -1.94343351e-01] [ 4.82626621e-02 -1.66969034e-02 9.98695113e-01 -2.06805555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88119381700002 meters Centerline goodness : 0.918168 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.20, Z:-2.07 [[ 9.96560017e-01 -6.63574525e-02 -4.96469673e-02 1.95491664e+01] [ 6.70402909e-02 9.97675487e-01 1.22156444e-02 -1.99743272e-01] [ 4.87209632e-02 -1.55019699e-02 9.98692123e-01 -2.06673330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91119381700003 meters Centerline goodness : 0.920700 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.21, Z:-2.07 [[ 9.96287770e-01 -7.01136260e-02 -4.99475529e-02 1.95499747e+01] [ 7.07513819e-02 9.97432054e-01 1.11148285e-02 -2.05848755e-01] [ 4.90399893e-02 -1.46074261e-02 9.98689993e-01 -2.06522054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94119381700003 meters Centerline goodness : 0.921728 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.21, Z:-2.06 [[ 9.96008513e-01 -7.38886481e-02 -5.00750333e-02 1.95505683e+01] [ 7.44736737e-02 9.97173668e-01 9.91709366e-03 -2.12589927e-01] [ 4.92007440e-02 -1.36067814e-02 9.98696221e-01 -2.06384424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97119381700003 meters Centerline goodness : 0.925446 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.22, Z:-2.06 [[ 9.95717015e-01 -7.75098332e-02 -5.03969470e-02 1.95511679e+01] [ 7.80829918e-02 9.96901576e-01 9.50233481e-03 -2.19627127e-01] [ 4.95042715e-02 -1.33967808e-02 9.98684061e-01 -2.06172526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00119381700003 meters Centerline goodness : 0.927049 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.23, Z:-2.06 [[ 9.95109477e-01 -8.49837760e-02 -5.03476579e-02 1.95521973e+01] [ 8.54024466e-02 9.96327124e-01 6.21961072e-03 -2.30023838e-01] [ 4.96341712e-02 -1.04890067e-02 9.98712386e-01 -2.06006954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03119381700003 meters Centerline goodness : 0.925521 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.23, Z:-2.06 [[ 9.94809894e-01 -8.83547222e-02 -5.04650224e-02 1.95534881e+01] [ 8.86672487e-02 9.96053336e-01 3.98375863e-03 -2.33521617e-01] [ 4.99138700e-02 -8.43767720e-03 9.98717884e-01 -2.06014367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06119381700003 meters Centerline goodness : 0.923343 Centerline is valid? [False, False] Translation: X:19.55, Y:-0.24, Z:-2.06 [[ 9.94780929e-01 -8.84422499e-02 -5.08809527e-02 1.95548230e+01] [ 8.88453272e-02 9.96029061e-01 5.71109578e-03 -2.38655211e-01] [ 5.01738054e-02 -1.02018241e-02 9.98688396e-01 -2.06011299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09119381700003 meters Centerline goodness : 0.921808 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.06 [[ 9.94521106e-01 -9.11130311e-02 -5.12463291e-02 1.95572610e+01] [ 9.14237873e-02 9.95805023e-01 3.74801378e-03 -2.41677286e-01] [ 5.06898590e-02 -8.41261230e-03 9.98679011e-01 -2.06119458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12119381700003 meters Centerline goodness : 0.920446 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94229065e-01 -9.40457558e-02 -5.16135772e-02 1.95591135e+01] [ 9.42923835e-02 9.95541753e-01 2.35890925e-03 -2.46830595e-01] [ 5.11616257e-02 -7.21206335e-03 9.98664345e-01 -2.06130719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15119381700003 meters Centerline goodness : 0.920589 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94221149e-01 -9.38743460e-02 -5.20760372e-02 1.95602549e+01] [ 9.41852475e-02 9.95548384e-01 3.54311695e-03 -2.49889479e-01] [ 5.15116069e-02 -8.42743626e-03 9.98636837e-01 -2.06130842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18119381700004 meters Centerline goodness : 0.920302 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94223355e-01 -9.36003853e-02 -5.25251235e-02 1.95611896e+01] [ 9.39801207e-02 9.95562496e-01 4.80146928e-03 -2.52870018e-01] [ 5.18426237e-02 -9.71005034e-03 9.98608060e-01 -2.06115217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21119381700004 meters Centerline goodness : 0.922997 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.93903741e-01 -9.69999852e-02 -5.24056991e-02 1.95612172e+01] [ 9.72388871e-02 9.95259016e-01 2.02237099e-03 -2.55395019e-01] [ 5.19610746e-02 -7.10591395e-03 9.98623829e-01 -2.06039743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24119381700004 meters Centerline goodness : 0.923589 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.93888144e-01 -9.70816673e-02 -5.25500474e-02 1.95610173e+01] [ 9.73374974e-02 9.95248716e-01 2.32501956e-03 -2.56256678e-01] [ 5.20746504e-02 -7.42589948e-03 9.98615585e-01 -2.05972475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.271193817 meters Centerline goodness : 0.921502 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.93887361e-01 -9.70490553e-02 -5.26250301e-02 1.95605484e+01] [ 9.73133772e-02 9.95250706e-01 2.47781190e-03 -2.56327224e-01] [ 5.21346290e-02 -7.58378534e-03 9.98611269e-01 -2.05897639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters Centerline goodness : 0.923760 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.94120376e-01 -9.44109694e-02 -5.30211870e-02 1.95605129e+01] [ 9.48596803e-02 9.95472539e-01 6.00540532e-03 -2.57846557e-01] [ 5.22141595e-02 -1.09996686e-02 9.98575330e-01 -2.05865508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.331193817 meters Centerline goodness : 0.922257 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.94112462e-01 -9.44465943e-02 -5.31060541e-02 1.95607795e+01] [ 9.48894266e-02 9.95470486e-01 5.87436475e-03 -2.57366595e-01] [ 5.23106957e-02 -1.08789822e-02 9.98571599e-01 -2.05877916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters Centerline goodness : 0.922989 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.26, Z:-2.06 [[ 9.94096921e-01 -9.44862766e-02 -5.33259391e-02 1.95616994e+01] [ 9.49120161e-02 9.95470455e-01 5.50287772e-03 -2.56058308e-01] [ 5.25644505e-02 -1.05316662e-02 9.98561997e-01 -2.05944325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39119381700002 meters Centerline goodness : 0.921121 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94087104e-01 -9.45993615e-02 -5.33084522e-02 1.95622480e+01] [ 9.49763704e-02 9.95469000e-01 4.57813244e-03 -2.52580731e-01] [ 5.26338232e-02 -9.61410572e-03 9.98567599e-01 -2.06030152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters Centerline goodness : 0.924331 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94341925e-01 -9.16114273e-02 -5.37725021e-02 1.95628466e+01] [ 9.21590038e-02 9.95713845e-01 7.78827099e-03 -2.52399954e-01] [ 5.28285302e-02 -1.26998246e-02 9.98522839e-01 -2.06066645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45119381700002 meters Centerline goodness : 0.923713 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94624086e-01 -8.82495233e-02 -5.41751651e-02 1.95632233e+01] [ 8.89737544e-02 9.95972112e-01 1.11005682e-02 -2.51582615e-01] [ 5.29773338e-02 -1.58610604e-02 9.98469744e-01 -2.06095583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters Centerline goodness : 0.921680 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.94946347e-01 -8.42395721e-02 -5.46393754e-02 1.95634692e+01] [ 8.51644673e-02 9.96256661e-01 1.48215601e-02 -2.50241973e-01] [ 5.31862798e-02 -1.93999904e-02 9.98396144e-01 -2.06107191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51119381700002 meters Centerline goodness : 0.924331 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 9.95238906e-01 -8.03528910e-02 -5.51627859e-02 1.95637749e+01] [ 8.14558967e-02 9.96513608e-01 1.80434725e-02 -2.48281304e-01] [ 5.35206216e-02 -2.24509000e-02 9.98314329e-01 -2.06115249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54119381700002 meters Centerline goodness : 0.927846 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.25, Z:-2.06 [[ 0.99585793 -0.07193762 -0.05560534 19.5622869 ] [ 0.07342415 0.9969832 0.02516717 -0.24549802] [ 0.05362712 -0.0291457 0.99813559 -2.05989916] [ 0. 0. 0. 1. ]] SLAMing on 167.57119381700002 meters Centerline goodness : 0.930469 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.06 [[ 0.9959501 -0.07087212 -0.05532206 19.56124568] [ 0.07232233 0.99707629 0.02466497 -0.24278684] [ 0.05341226 -0.0285661 0.99816387 -2.05968671] [ 0. 0. 0. 1. ]] SLAMing on 167.60119381700002 meters Centerline goodness : 0.934603 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.06 [[ 0.99604557 -0.069757 -0.05501987 19.56019677] [ 0.07116808 0.99717276 0.02411611 -0.23963782] [ 0.05318204 -0.02793641 0.99819398 -2.05960233] [ 0. 0. 0. 1. ]] SLAMing on 167.63119381700002 meters Centerline goodness : 0.932809 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.24, Z:-2.06 [[ 0.9962984 -0.06575327 -0.05537153 19.56000216] [ 0.06735299 0.99734916 0.02753598 -0.23794258] [ 0.05341417 -0.03116349 0.99808605 -2.05937991] [ 0. 0. 0. 1. ]] SLAMing on 167.66119381700003 meters Centerline goodness : 0.932378 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.06 [[ 0.99635116 -0.06494065 -0.05538122 19.56017164] [ 0.0664975 0.99742805 0.0267463 -0.23454538] [ 0.05350186 -0.03033142 0.99810699 -2.06021961] [ 0. 0. 0. 1. ]] SLAMing on 167.69119381700003 meters Centerline goodness : 0.933805 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.06 [[ 0.99637515 -0.06464463 -0.05529581 19.56035271] [ 0.06612872 0.99748668 0.0254423 -0.23108075] [ 0.05351212 -0.02900672 0.99814581 -2.06130051] [ 0. 0. 0. 1. ]] SLAMing on 167.72119381700003 meters Centerline goodness : 0.934292 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.06 [[ 0.9963573 -0.06468167 -0.05557348 19.56107845] [ 0.0661947 0.99747238 0.02582859 -0.23222833] [ 0.05376237 -0.02941318 0.99812047 -2.06135892] [ 0. 0. 0. 1. ]] SLAMing on 167.75119381700003 meters Centerline goodness : 0.932712 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.06 [[ 9.95936547e-01 -7.11457104e-02 -5.52148717e-02 1.95628644e+01] [ 7.23161730e-02 9.97191203e-01 1.94955269e-02 -2.34272149e-01] [ 5.36727612e-02 -2.34092360e-02 9.98284149e-01 -2.06304225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78119381700003 meters Centerline goodness : 0.935151 Centerline is valid? [False, False] Translation: X:19.56, Y:-0.23, Z:-2.06 [[ 9.95635621e-01 -7.52486784e-02 -5.52027755e-02 1.95640965e+01] [ 7.62221481e-02 9.96966567e-01 1.57432160e-02 -2.34970049e-01] [ 5.38506654e-02 -1.98821808e-02 9.98351043e-01 -2.06380881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81119381700003 meters Centerline goodness : 0.933867 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 9.95387723e-01 -7.83883623e-02 -5.53041276e-02 1.95660119e+01] [ 7.92177042e-02 9.96773048e-01 1.29632883e-02 -2.36074638e-01] [ 5.41094929e-02 -1.72845640e-02 9.98385400e-01 -2.06506375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84119381700003 meters Centerline goodness : 0.932851 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 9.95155537e-01 -8.11089653e-02 -5.55589132e-02 1.95683789e+01] [ 8.18126542e-02 9.96592343e-01 1.05067222e-02 -2.36840179e-01] [ 5.45173981e-02 -1.50012450e-02 9.98400128e-01 -2.06655325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87119381700003 meters Centerline goodness : 0.931640 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 9.95062482e-01 -8.17859308e-02 -5.62291630e-02 1.95701664e+01] [ 8.25740556e-02 9.96514657e-01 1.18348895e-02 -2.40493781e-01] [ 5.50652576e-02 -1.64195246e-02 9.98347743e-01 -2.06657848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90119381700003 meters Centerline goodness : 0.928943 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 9.95026522e-01 -8.18722471e-02 -5.67376050e-02 1.95714591e+01] [ 8.27030287e-02 9.96496484e-01 1.24485439e-02 -2.41993810e-01] [ 5.55196336e-02 -1.70790031e-02 9.98311513e-01 -2.06673100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93119381700004 meters Centerline goodness : 0.927322 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 9.94990335e-01 -8.20316317e-02 -5.71405621e-02 1.95726125e+01] [ 8.28938456e-02 9.96475117e-01 1.28821866e-02 -2.43735911e-01] [ 5.58824015e-02 -1.75542521e-02 9.98283029e-01 -2.06695805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96119381700004 meters Centerline goodness : 0.929656 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.07 [[ 9.94954051e-01 -8.21837751e-02 -5.75522723e-02 1.95739565e+01] [ 8.30875237e-02 9.96450995e-01 1.34862425e-02 -2.46099342e-01] [ 5.62396687e-02 -1.82000674e-02 9.98251400e-01 -2.06735414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99119381700004 meters Centerline goodness : 0.930921 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.07 [[ 9.94613972e-01 -8.62535369e-02 -5.74749853e-02 1.95744541e+01] [ 8.69523292e-02 9.96164607e-01 9.76565368e-03 -2.46845132e-01] [ 5.64122239e-02 -1.47106394e-02 9.98299183e-01 -2.06725245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.021193817 meters Centerline goodness : 0.932940 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.25, Z:-2.07 [[ 9.94586783e-01 -8.64503294e-02 -5.76495513e-02 1.95745826e+01] [ 8.71716186e-02 9.96141989e-01 1.01117307e-02 -2.47994245e-01] [ 5.65529763e-02 -1.50823984e-02 9.98285672e-01 -2.06682399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.051193817 meters Centerline goodness : 0.932388 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.94519385e-01 -8.70475410e-02 -5.79130327e-02 1.95750265e+01] [ 8.77691091e-02 9.96090349e-01 1.00299498e-02 -2.48773119e-01] [ 5.68135305e-02 -1.50579547e-02 9.98271246e-01 -2.06657393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.081193817 meters Centerline goodness : 0.932454 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.94066840e-01 -9.20752097e-02 -5.79074618e-02 1.95757866e+01] [ 9.25560450e-02 9.95691325e-01 5.67124815e-03 -2.49277652e-01] [ 5.71357760e-02 -1.09972854e-02 9.98305846e-01 -2.06647930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11119381700001 meters Centerline goodness : 0.933748 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.94014211e-01 -9.25852452e-02 -5.79975971e-02 1.95759481e+01] [ 9.30802885e-02 9.95641201e-01 5.88722249e-03 -2.50840805e-01] [ 5.71997273e-02 -1.12504159e-02 9.98299364e-01 -2.06629961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters Centerline goodness : 0.934936 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.93706310e-01 -9.56178176e-02 -5.83524006e-02 1.95782301e+01] [ 9.59484829e-02 9.95382120e-01 2.88500454e-03 -2.50358136e-01] [ 5.78070784e-02 -8.46567153e-03 9.98291878e-01 -2.06735147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17119381700002 meters Centerline goodness : 0.933902 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.93620282e-01 -9.63917930e-02 -5.85436453e-02 1.95784058e+01] [ 9.66942977e-02 9.95311354e-01 2.34985790e-03 -2.49150058e-01] [ 5.80426478e-02 -7.99570313e-03 9.98282084e-01 -2.06711950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters Centerline goodness : 0.935151 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.93910657e-01 -9.30276814e-02 -5.90546930e-02 1.95783180e+01] [ 9.35603044e-02 9.95593599e-01 6.31312248e-03 -2.49989249e-01] [ 5.82071791e-02 -1.17998548e-02 9.98234786e-01 -2.06659690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23119381700002 meters Centerline goodness : 0.935946 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.93890134e-01 -9.30548643e-02 -5.93564937e-02 1.95785207e+01] [ 9.35741107e-02 9.95594098e-01 6.02312711e-03 -2.48704094e-01] [ 5.85344935e-02 -1.15405577e-02 9.98218678e-01 -2.06616653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26119381700002 meters Centerline goodness : 0.939119 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.07 [[ 9.94319711e-01 -8.83043647e-02 -5.94192777e-02 1.95771097e+01] [ 8.90633335e-02 9.95973293e-01 1.02431250e-02 -2.48269322e-01] [ 5.82755010e-02 -1.54770200e-02 9.98180559e-01 -2.06509423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29119381700002 meters Centerline goodness : 0.940834 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.06 [[ 9.94658846e-01 -8.42758404e-02 -5.95933055e-02 1.95763220e+01] [ 8.52405827e-02 9.96264385e-01 1.38317763e-02 -2.47385387e-01] [ 5.82050032e-02 -1.88376667e-02 9.98126906e-01 -2.06458460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32119381700002 meters Centerline goodness : 0.941065 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.25, Z:-2.06 [[ 9.94977958e-01 -8.01863582e-02 -5.99083570e-02 1.95758130e+01] [ 8.13453685e-02 9.96538226e-01 1.71608356e-02 -2.45281129e-01] [ 5.83249029e-02 -2.19479206e-02 9.98056358e-01 -2.06413868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35119381700002 meters Centerline goodness : 0.944712 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.24, Z:-2.06 [[ 0.99531497 -0.07560358 -0.06026783 19.57548356] [ 0.07696912 0.99681931 0.02066452 -0.24257716] [ 0.05851383 -0.02520647 0.99796832 -2.06390334] [ 0. 0. 0. 1. ]] SLAMing on 168.38119381700002 meters Centerline goodness : 0.943127 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.06 [[ 0.99596377 -0.06654423 -0.06023314 19.57391127] [ 0.06829402 0.99728695 0.02747126 -0.23842558] [ 0.05824167 -0.03147394 0.99780624 -2.0639044 ] [ 0. 0. 0. 1. ]] SLAMing on 168.41119381700003 meters Centerline goodness : 0.941390 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.24, Z:-2.07 [[ 0.99607877 -0.06500709 -0.06000973 19.57387061] [ 0.06672638 0.99740313 0.02710325 -0.23565924] [ 0.05809199 -0.0310012 0.99782977 -2.0650129 ] [ 0. 0. 0. 1. ]] SLAMing on 168.44119381700003 meters Centerline goodness : 0.941350 Centerline is valid? [False, False] Translation: X:19.58, Y:-0.23, Z:-2.06 [[ 0.99608798 -0.06209934 -0.0628682 19.58148991] [ 0.06352992 0.99775862 0.02101608 -0.23108138] [ 0.0614222 -0.02492788 0.99780054 -2.06274106] [ 0. 0. 0. 1. ]] SLAMing on 168.47119381700003 meters Centerline goodness : 0.936552 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.06 [[ 0.99628995 -0.05719356 -0.06430584 19.58505727] [ 0.0590014 0.99790416 0.02657314 -0.23131666] [ 0.06265125 -0.03026869 0.99757638 -2.06394434] [ 0. 0. 0. 1. ]] SLAMing on 168.50119381700003 meters Centerline goodness : 0.933674 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.07 [[ 0.99649496 -0.05253863 -0.06509604 19.58986833] [ 0.05455646 0.99807136 0.02961685 -0.23054497] [ 0.06341447 -0.03306445 0.9974394 -2.06861269] [ 0. 0. 0. 1. ]] SLAMing on 168.53119381700003 meters Centerline goodness : 0.931884 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.07 [[ 0.99653258 -0.05201827 -0.06493781 19.59020545] [ 0.05401473 0.99810795 0.02937563 -0.2298881 ] [ 0.06328688 -0.03278137 0.99745684 -2.06972562] [ 0. 0. 0. 1. ]] SLAMing on 168.56119381700003 meters Centerline goodness : 0.931847 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.07 [[ 0.99649378 -0.05122916 -0.06614916 19.5923871 ] [ 0.05326071 0.99815007 0.02932118 -0.22926058] [ 0.06452469 -0.03274152 0.99737884 -2.06991969] [ 0. 0. 0. 1. ]] SLAMing on 168.59119381700003 meters Centerline goodness : 0.932572 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.07 [[ 0.99651168 -0.05086916 -0.06615732 19.59257055] [ 0.05290534 0.99816671 0.02939804 -0.22902877] [ 0.06454058 -0.03279556 0.99737604 -2.07020739] [ 0. 0. 0. 1. ]] SLAMing on 168.62119381700003 meters Centerline goodness : 0.933816 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.23, Z:-2.07 [[ 0.99661812 -0.04881992 -0.06609792 19.5924317 ] [ 0.0510187 0.99818504 0.0319956 -0.2328276 ] [ 0.06441593 -0.03525963 0.99730003 -2.06970217] [ 0. 0. 0. 1. ]] SLAMing on 168.65119381700003 meters Centerline goodness : 0.933559 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.24, Z:-2.07 [[ 0.99665671 -0.04813498 -0.06601837 19.5927421 ] [ 0.05039164 0.99818574 0.03295315 -0.23535809] [ 0.0643124 -0.03616975 0.99727412 -2.07002799] [ 0. 0. 0. 1. ]] SLAMing on 168.68119381700004 meters Centerline goodness : 0.933559 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.24, Z:-2.07 [[ 0.99665671 -0.04813498 -0.06601837 19.5927421 ] [ 0.05039164 0.99818574 0.03295315 -0.23535809] [ 0.0643124 -0.03616975 0.99727412 -2.07002799] [ 0. 0. 0. 1. ]] SLAMing on 168.71119381700004 meters Centerline goodness : 0.931205 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.23, Z:-2.07 [[ 9.96914971e-01 -4.93181363e-02 -6.10594967e-02 1.95974074e+01] [ 5.05477520e-02 9.98545456e-01 1.87589133e-02 -2.33478419e-01] [ 6.00455284e-02 -2.17874618e-02 9.97957835e-01 -2.07087683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74119381700004 meters Centerline goodness : 0.934737 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.24, Z:-2.07 [[ 9.96814178e-01 -5.19672645e-02 -6.05053478e-02 1.95968190e+01] [ 5.31119813e-02 9.98435801e-01 1.74662015e-02 -2.39218588e-01] [ 5.95030347e-02 -2.06241162e-02 9.98015047e-01 -2.07028399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.771193817 meters Centerline goodness : 0.932785 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.24, Z:-2.07 [[ 9.96620911e-01 -5.57973209e-02 -6.02778407e-02 1.95964863e+01] [ 5.67648827e-02 9.98282868e-01 1.44590380e-02 -2.41574075e-01] [ 5.93675601e-02 -1.78318442e-02 9.98076910e-01 -2.06953970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters Centerline goodness : 0.929064 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.25, Z:-2.07 [[ 9.96545043e-01 -5.64194535e-02 -6.09493440e-02 1.95975787e+01] [ 5.75677139e-02 9.98192575e-01 1.72494126e-02 -2.47771449e-01] [ 5.98659802e-02 -2.06985310e-02 9.97991801e-01 -2.06779458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.831193817 meters Centerline goodness : 0.935369 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.26, Z:-2.07 [[ 9.95828491e-01 -6.81468179e-02 -6.06764200e-02 1.95980193e+01] [ 6.88403550e-02 9.97583294e-01 9.41155939e-03 -2.57650881e-01] [ 5.98884151e-02 -1.35492853e-02 9.98113117e-01 -2.06580868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters Centerline goodness : 0.934012 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.26, Z:-2.06 [[ 9.95487307e-01 -7.27472589e-02 -6.09332248e-02 1.95990564e+01] [ 7.33373192e-02 9.97278985e-01 7.50096425e-03 -2.63346007e-01] [ 6.02217500e-02 -1.19357941e-02 9.98113660e-01 -2.06486259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89119381700002 meters Centerline goodness : 0.932700 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.27, Z:-2.06 [[ 9.95131474e-01 -7.71853978e-02 -6.12842830e-02 1.96001940e+01] [ 7.76610566e-02 9.96965117e-01 5.41431617e-03 -2.68145178e-01] [ 6.06803863e-02 -1.01473586e-02 9.98105667e-01 -2.06393262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters Centerline goodness : 0.936969 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.27, Z:-2.06 [[ 9.94763398e-01 -8.18817432e-02 -6.11650358e-02 1.96006652e+01] [ 8.21676984e-02 9.96616154e-01 2.17037247e-03 -2.71293637e-01] [ 6.07803489e-02 -7.18479731e-03 9.98125307e-01 -2.06360329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95119381700002 meters Centerline goodness : 0.939018 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.27, Z:-2.06 [[ 9.94137679e-01 -8.93682297e-02 -6.08571643e-02 1.96007846e+01] [ 8.92694897e-02 9.95998032e-01 -4.34488811e-03 -2.74631374e-01] [ 6.10019108e-02 -1.11327102e-03 9.98137028e-01 -2.06267287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98119381700002 meters Centerline goodness : 0.937744 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.06 [[ 9.94175156e-01 -8.88470381e-02 -6.10078889e-02 1.96009508e+01] [ 8.88007184e-02 9.96043349e-01 -3.47550718e-03 -2.76801113e-01] [ 6.10752905e-02 -1.96228147e-03 9.98131233e-01 -2.06245531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01119381700002 meters Centerline goodness : 0.940947 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.06 [[ 9.94494701e-01 -8.49105228e-02 -6.14043372e-02 1.96012669e+01] [ 8.51329695e-02 9.96369086e-01 1.01079154e-03 -2.79956696e-01] [ 6.10955565e-02 -6.23276040e-03 9.98112461e-01 -2.06243719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04119381700002 meters Centerline goodness : 0.939812 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.06 [[ 9.94760920e-01 -8.19103929e-02 -6.11669790e-02 1.95990927e+01] [ 8.22955341e-02 9.96600726e-01 3.79983168e-03 -2.82444254e-01] [ 6.06478099e-02 -8.81369326e-03 9.98120314e-01 -2.06085068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07119381700002 meters Centerline goodness : 0.942076 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.06 [[ 9.94793287e-01 -8.13682134e-02 -6.13639172e-02 1.95994049e+01] [ 8.17893227e-02 9.96640025e-01 4.37799440e-03 -2.83240355e-01] [ 6.08015064e-02 -9.37411267e-03 9.98105858e-01 -2.06077646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10119381700002 meters Centerline goodness : 0.942053 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.28, Z:-2.06 [[ 9.94806766e-01 -8.10394254e-02 -6.15801014e-02 1.95997970e+01] [ 8.14948344e-02 9.96661640e-01 4.91597264e-03 -2.84373088e-01] [ 6.09761372e-02 -9.90890301e-03 9.98090038e-01 -2.06072444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13119381700002 meters Centerline goodness : 0.941268 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.94789793e-01 -8.09978790e-02 -6.19080893e-02 1.96008942e+01] [ 8.14856331e-02 9.96659937e-01 5.39081483e-03 -2.85768124e-01] [ 6.12646678e-02 -1.04073474e-02 9.98067296e-01 -2.06121295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16119381700003 meters Centerline goodness : 0.937137 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.94762692e-01 -8.11305071e-02 -6.21693510e-02 1.96017614e+01] [ 8.16516300e-02 9.96643563e-01 5.88388946e-03 -2.87834525e-01] [ 6.14833205e-02 -1.09293026e-02 9.98048271e-01 -2.06152072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19119381700003 meters Centerline goodness : 0.938526 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.94445085e-01 -8.49343451e-02 -6.21701671e-02 1.96041981e+01] [ 8.53013065e-02 9.96349843e-01 3.26753988e-03 -2.91586101e-01] [ 6.16657099e-02 -8.55258545e-03 9.98060215e-01 -2.06350221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22119381700003 meters Centerline goodness : 0.933405 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94407572e-01 -8.51763563e-02 -6.24385285e-02 1.96055693e+01] [ 8.55724647e-02 9.96325106e-01 3.69266499e-03 -2.93419568e-01] [ 6.18945458e-02 -9.01503281e-03 9.98041980e-01 -2.06439143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25119381700003 meters Centerline goodness : 0.931140 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94387300e-01 -8.52081754e-02 -6.27173436e-02 1.96065557e+01] [ 8.56210579e-02 9.96320061e-01 3.92041539e-03 -2.93965793e-01] [ 6.21524962e-02 -9.26833658e-03 9.98023630e-01 -2.06490479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28119381700003 meters Centerline goodness : 0.926702 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94406147e-01 -8.47577027e-02 -6.30281416e-02 1.96071862e+01] [ 8.51812642e-02 9.96357204e-01 4.05890272e-03 -2.93272731e-01] [ 6.24545197e-02 -9.40501460e-03 9.98003496e-01 -2.06496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31119381700003 meters Centerline goodness : 0.928070 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94450567e-01 -8.41390555e-02 -6.31560711e-02 1.96072974e+01] [ 8.45823391e-02 9.96406895e-01 4.37361174e-03 -2.93308044e-01] [ 6.25611531e-02 -9.69122890e-03 9.97994079e-01 -2.06477349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34119381700003 meters Centerline goodness : 0.930239 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94504549e-01 -8.34403346e-02 -6.32330084e-02 1.96070582e+01] [ 8.38995143e-02 9.96463432e-01 4.63692046e-03 -2.92991620e-01] [ 6.26224744e-02 -9.91665718e-03 9.97988019e-01 -2.06432458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37119381700003 meters Centerline goodness : 0.931927 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94550884e-01 -8.26619957e-02 -6.35258572e-02 1.96074727e+01] [ 8.31267886e-02 9.96527876e-01 4.70419509e-03 -2.91585326e-01] [ 6.29164294e-02 -9.95926188e-03 9.97969106e-01 -2.06423013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40119381700003 meters Centerline goodness : 0.933856 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94920187e-01 -7.78433528e-02 -6.38297283e-02 1.96060200e+01] [ 7.85323825e-02 9.96876559e-01 8.35408471e-03 -2.88963551e-01] [ 6.29800499e-02 -1.33243482e-02 9.97925836e-01 -2.06259233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43119381700004 meters Centerline goodness : 0.937016 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.94951109e-01 -7.71988255e-02 -6.41298016e-02 1.96058421e+01] [ 7.78841250e-02 9.96928265e-01 8.25209767e-03 -2.87105404e-01] [ 6.32957596e-02 -1.32051272e-02 9.97907446e-01 -2.06177588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46119381700004 meters Centerline goodness : 0.937381 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.95107291e-01 -7.52916497e-02 -6.39738040e-02 1.96038461e+01] [ 7.60707388e-02 9.97053991e-01 9.82756812e-03 -2.87295511e-01] [ 6.30454028e-02 -1.46460192e-02 9.97903187e-01 -2.06019487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49119381700004 meters Centerline goodness : 0.938324 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.95187082e-01 -7.42529852e-02 -6.39465876e-02 1.96037304e+01] [ 7.50846491e-02 9.97119767e-01 1.06988274e-02 -2.88946884e-01] [ 6.29679867e-02 -1.54487419e-02 9.97895971e-01 -2.06012794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters Centerline goodness : 0.938520 Centerline is valid? [False, False] Translation: X:19.60, Y:-0.29, Z:-2.06 [[ 9.95172589e-01 -7.41927293e-02 -6.42413898e-02 1.96048204e+01] [ 7.50429370e-02 9.97120499e-01 1.09210380e-02 -2.89994836e-01] [ 6.32461450e-02 -1.56891802e-02 9.97874629e-01 -2.06062598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.551193817 meters Centerline goodness : 0.937093 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.95172412e-01 -7.39689832e-02 -6.45016272e-02 1.96057751e+01] [ 7.48443719e-02 9.97131661e-01 1.12592359e-02 -2.90607551e-01] [ 6.34837804e-02 -1.60324647e-02 9.97854082e-01 -2.06114146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters Centerline goodness : 0.934733 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.95181217e-01 -7.35448387e-02 -6.48498445e-02 1.96069873e+01] [ 7.44512908e-02 9.97156361e-01 1.16703819e-02 -2.90957510e-01] [ 6.38071386e-02 -1.64422995e-02 9.97826789e-01 -2.06174972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61119381700001 meters Centerline goodness : 0.928696 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.95242496e-01 -7.24170368e-02 -6.51778078e-02 1.96081384e+01] [ 7.33951795e-02 9.97221599e-01 1.27369808e-02 -2.92136695e-01] [ 6.40743433e-02 -1.74601215e-02 9.97792375e-01 -2.06232969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64119381700002 meters Centerline goodness : 0.923495 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.29, Z:-2.06 [[ 9.95233794e-01 -7.22032826e-02 -6.55467890e-02 1.96089884e+01] [ 7.32212131e-02 9.97227576e-01 1.32595547e-02 -2.93832900e-01] [ 6.44076821e-02 -1.79957723e-02 9.97761396e-01 -2.06237961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67119381700002 meters Centerline goodness : 0.924281 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.30, Z:-2.06 [[ 9.95234075e-01 -7.20175442e-02 -6.57465587e-02 1.96098009e+01] [ 7.30908179e-02 9.97226113e-01 1.40645657e-02 -2.96735177e-01] [ 6.45512897e-02 -1.88030048e-02 9.97737229e-01 -2.06268959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70119381700002 meters Centerline goodness : 0.927877 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.30, Z:-2.06 [[ 9.94969559e-01 -7.56138490e-02 -6.57124200e-02 1.96104698e+01] [ 7.65219608e-02 9.97002602e-01 1.14105894e-02 -3.01161811e-01] [ 6.46526551e-02 -1.63816323e-02 9.97773359e-01 -2.06250654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73119381700002 meters Centerline goodness : 0.926939 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.30, Z:-2.06 [[ 9.94839069e-01 -7.76403051e-02 -6.53238774e-02 1.96087160e+01] [ 7.84362066e-02 9.96871895e-01 9.70494630e-03 -3.03129741e-01] [ 6.43660425e-02 -1.47786169e-02 9.97816920e-01 -2.06097938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76119381700002 meters Centerline goodness : 0.928297 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.30, Z:-2.06 [[ 9.94680590e-01 -7.99819723e-02 -6.49107770e-02 1.96070016e+01] [ 8.06484239e-02 9.96712802e-01 7.70852122e-03 -3.04992203e-01] [ 6.40808597e-02 -1.29024683e-02 9.97861298e-01 -2.05947066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79119381700002 meters Centerline goodness : 0.929849 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.31, Z:-2.06 [[ 9.94655712e-01 -8.01255404e-02 -6.51146139e-02 1.96074023e+01] [ 8.08357281e-02 9.96692528e-01 8.34207807e-03 -3.07956768e-01] [ 6.42308356e-02 -1.35610828e-02 9.97842922e-01 -2.05925634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82119381700002 meters Centerline goodness : 0.934645 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.31, Z:-2.06 [[ 9.94436930e-01 -8.31081787e-02 -6.47164880e-02 1.96065359e+01] [ 8.36861652e-02 9.96472451e-01 6.26737632e-03 -3.12160886e-01] [ 6.39673272e-02 -1.16483852e-02 9.97884009e-01 -2.05840016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85119381700002 meters Centerline goodness : 0.932787 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.31, Z:-2.06 [[ 9.94202899e-01 -8.55790125e-02 -6.50909272e-02 1.96092561e+01] [ 8.60177529e-02 9.96285723e-01 3.96293294e-03 -3.13096915e-01] [ 6.45100175e-02 -9.53893471e-03 9.97871468e-01 -2.05996696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88119381700002 meters Centerline goodness : 0.932384 Centerline is valid? [False, False] Translation: X:19.61, Y:-0.31, Z:-2.06 [[ 9.93965422e-01 -8.79489418e-02 -6.55570222e-02 1.96124547e+01] [ 8.82601811e-02 9.96095717e-01 1.86103574e-03 -3.14046960e-01] [ 6.51373929e-02 -7.63587983e-03 9.97847089e-01 -2.06189018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91119381700003 meters Centerline goodness : 0.930107 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.06 [[ 9.93694495e-01 -9.06252772e-02 -6.60175006e-02 1.96156297e+01] [ 9.07857165e-02 9.95870286e-01 -5.71880295e-04 -3.15009928e-01] [ 6.57966940e-02 -5.42517179e-03 9.97818301e-01 -2.06368267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94119381700003 meters Centerline goodness : 0.926379 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.06 [[ 9.93334325e-01 -9.45655780e-02 -6.59110765e-02 1.96171727e+01] [ 9.45344276e-02 9.95515090e-01 -3.59830305e-03 -3.17885633e-01] [ 6.59557469e-02 -2.65654797e-03 9.97819013e-01 -2.06472108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97119381700003 meters Centerline goodness : 0.925882 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.93105034e-01 -9.66339331e-02 -6.63647023e-02 1.96199764e+01] [ 9.65012293e-02 9.95319230e-01 -5.20992576e-03 -3.19141443e-01] [ 6.65575200e-02 -1.23027186e-03 9.97781831e-01 -2.06619595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00119381700003 meters Centerline goodness : 0.925547 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.92831370e-01 -9.90905994e-02 -6.68350440e-02 1.96228385e+01] [ 9.88117200e-02 9.95078081e-01 -7.47374670e-03 -3.20005144e-01] [ 6.72466653e-02 8.16084532e-04 9.97736047e-01 -2.06762709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03119381700003 meters Centerline goodness : 0.926199 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.92805649e-01 -9.91543568e-02 -6.71219534e-02 1.96235478e+01] [ 9.88976587e-02 9.95071960e-01 -7.14469610e-03 -3.21232012e-01] [ 6.74996015e-02 4.55090610e-04 9.97719197e-01 -2.06779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06119381700003 meters Centerline goodness : 0.926472 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.92763377e-01 -9.93676459e-02 -6.74310686e-02 1.96240805e+01] [ 9.91015811e-02 9.95050635e-01 -7.28772098e-03 -3.21229413e-01] [ 6.78214912e-02 5.52456981e-04 9.97697319e-01 -2.06760075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09119381700003 meters Centerline goodness : 0.927803 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.92769988e-01 -9.91642187e-02 -6.76328950e-02 1.96242093e+01] [ 9.89002468e-02 9.95070952e-01 -7.24849574e-03 -3.20926219e-01] [ 6.80183207e-02 5.07179023e-04 9.97683943e-01 -2.06724117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12119381700003 meters Centerline goodness : 0.931544 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:-2.07 [[ 9.92951620e-01 -9.74175403e-02 -6.75048452e-02 1.96222011e+01] [ 9.72516852e-02 9.95243229e-01 -5.74668559e-03 -3.21582912e-01] [ 6.77435681e-02 -8.58779185e-04 9.97702396e-01 -2.06546640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15119381700003 meters Centerline goodness : 0.932800 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.32, Z:-2.06 [[ 9.93560632e-01 -9.19722514e-02 -6.61692889e-02 1.96296463e+01] [ 9.14597858e-02 9.95750861e-01 -1.07392108e-02 -3.20396072e-01] [ 6.68758358e-02 4.61822810e-03 9.97750617e-01 -2.06287652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18119381700004 meters Centerline goodness : 0.933737 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.32, Z:-2.06 [[ 9.93522709e-01 -9.09549741e-02 -6.81162134e-02 1.96325483e+01] [ 9.04129536e-02 9.95843559e-01 -1.10047578e-02 -3.20147431e-01] [ 6.88340298e-02 4.77488872e-03 9.97616698e-01 -2.06181356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21119381700004 meters Centerline goodness : 0.934685 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.32, Z:-2.06 [[ 9.93535867e-01 -9.06279809e-02 -6.83597052e-02 1.96331612e+01] [ 9.00977842e-02 9.95874299e-01 -1.08060265e-02 -3.20154245e-01] [ 6.90570018e-02 4.57711697e-03 9.97602216e-01 -2.06198021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24119381700004 meters Centerline goodness : 0.934843 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.32, Z:-2.06 [[ 9.93566429e-01 -9.02485825e-02 -6.84174313e-02 1.96333979e+01] [ 8.97503098e-02 9.95910743e-01 -1.03283327e-02 -3.20892601e-01] [ 6.90697722e-02 4.12139894e-03 9.97603318e-01 -2.06217418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.271193817 meters Centerline goodness : 0.936797 Centerline is valid? [False, False] Translation: X:19.63, Y:-0.32, Z:-2.06 [[ 9.93551494e-01 -9.03001064e-02 -6.85661635e-02 1.96341248e+01] [ 8.98258418e-02 9.95907533e-01 -9.97513612e-03 -3.22473730e-01] [ 6.91863146e-02 3.75179804e-03 9.97596701e-01 -2.06254598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters Centerline goodness : 0.936709 Centerline is valid? [False, False] Translation: X:19.64, Y:-0.32, Z:-2.06 [[ 9.93525866e-01 -9.03461647e-02 -6.88761527e-02 1.96351566e+01] [ 8.99068835e-02 9.95905269e-01 -9.45765899e-03 -3.24459268e-01] [ 6.94485866e-02 3.20398860e-03 9.97580387e-01 -2.06288924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.331193817 meters Centerline goodness : 0.936547 Centerline is valid? [False, False] Translation: X:19.64, Y:-0.33, Z:-2.06 [[ 9.93256321e-01 -9.28281154e-02 -6.94609310e-02 1.96381436e+01] [ 9.22322431e-02 9.95668264e-01 -1.17440111e-02 -3.25471472e-01] [ 7.02502190e-02 5.25827575e-03 9.97515542e-01 -2.06424999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters Centerline goodness : 0.937376 Centerline is valid? [False, False] Translation: X:19.64, Y:-0.33, Z:-2.06 [[ 9.93221969e-01 -9.29676638e-02 -6.97648520e-02 1.96391272e+01] [ 9.24132788e-02 9.95658425e-01 -1.11394069e-02 -3.27809311e-01] [ 7.04975673e-02 4.61670494e-03 9.97501268e-01 -2.06452427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39119381700002 meters Centerline goodness : 0.937501 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.93182020e-01 -9.66079442e-02 -6.52409348e-02 1.96485421e+01] [ 9.65679387e-02 9.95319241e-01 -3.77378371e-03 -3.30980219e-01] [ 6.53001352e-02 -2.55212847e-03 9.97862405e-01 -2.06581943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters Centerline goodness : 0.939064 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.92986174e-01 -9.83007845e-02 -6.56918107e-02 1.96508726e+01] [ 9.81832829e-02 9.95155675e-01 -5.02256136e-03 -3.30966870e-01] [ 6.58672999e-02 -1.46250364e-03 9.97827320e-01 -2.06700616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45119381700002 meters Centerline goodness : 0.939161 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.92929935e-01 -9.87708592e-02 -6.58366311e-02 1.96516322e+01] [ 9.86408625e-02 9.95109353e-01 -5.23022761e-03 -3.31146145e-01] [ 6.60312415e-02 -1.30093252e-03 9.97816708e-01 -2.06741165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48119381700002 meters Centerline goodness : 0.938305 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.92846624e-01 -9.95160940e-02 -6.59706686e-02 1.96523892e+01] [ 9.93488465e-02 9.95035650e-01 -5.81916838e-03 -3.30743294e-01] [ 6.62222680e-02 -7.76568155e-04 9.97804594e-01 -2.06781600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51119381700002 meters Centerline goodness : 0.938147 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.92801858e-01 -9.98641279e-02 -6.61182823e-02 1.96532328e+01] [ 9.96799599e-02 9.95000933e-01 -6.08683314e-03 -3.30890633e-01] [ 6.63956088e-02 -5.47648482e-04 9.97793227e-01 -2.06833034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54119381700002 meters Centerline goodness : 0.938985 Centerline is valid? [False, False] Translation: X:19.65, Y:-0.33, Z:-2.07 [[ 9.92776234e-01 -1.00036540e-01 -6.62422808e-02 1.96540201e+01] [ 9.98490755e-02 9.94983630e-01 -6.14305953e-03 -3.31226836e-01] [ 6.65245155e-02 -5.15546986e-04 9.97784658e-01 -2.06890376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57119381700002 meters Centerline goodness : 0.938141 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92734532e-01 -1.00330146e-01 -6.64229642e-02 1.96550613e+01] [ 1.00125010e-01 9.94954162e-01 -6.41858488e-03 -3.30902874e-01] [ 6.67317822e-02 -2.78649076e-04 9.97770911e-01 -2.06964166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60119381700002 meters Centerline goodness : 0.938141 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92734532e-01 -1.00330146e-01 -6.64229642e-02 1.96550613e+01] [ 1.00125010e-01 9.94954162e-01 -6.41858488e-03 -3.30902874e-01] [ 6.67317822e-02 -2.78649076e-04 9.97770911e-01 -2.06964166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63119381700002 meters Centerline goodness : 0.937342 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92516313e-01 -1.02184170e-01 -6.68562956e-02 1.96581333e+01] [ 1.01873826e-01 9.94764806e-01 -8.04385153e-03 -3.29191738e-01] [ 6.73282442e-02 1.17274727e-03 9.97730190e-01 -2.07180483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66119381700003 meters Centerline goodness : 0.936546 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92464618e-01 -1.02555920e-01 -6.70541956e-02 1.96590152e+01] [ 1.02227161e-01 9.94726245e-01 -8.32498232e-03 -3.28389930e-01] [ 6.75543444e-02 1.40749038e-03 9.97714603e-01 -2.07237630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69119381700003 meters Centerline goodness : 0.936394 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92388532e-01 -1.03069966e-01 -6.73912715e-02 1.96601757e+01] [ 1.02721642e-01 9.94672765e-01 -8.62290830e-03 -3.27932038e-01] [ 6.79210252e-02 1.63473325e-03 9.97689361e-01 -2.07287894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72119381700003 meters Centerline goodness : 0.936046 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.33, Z:-2.07 [[ 9.92166668e-01 -1.04823219e-01 -6.79514260e-02 1.96625298e+01] [ 1.04388677e-01 9.94487060e-01 -9.92428571e-03 -3.27354561e-01] [ 6.86171095e-02 2.75318601e-03 9.97639270e-01 -2.07390606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75119381700003 meters Centerline goodness : 0.934610 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.33, Z:-2.08 [[ 9.92056227e-01 -1.08823213e-01 -6.31027042e-02 1.96735990e+01] [ 1.08798111e-01 9.94056434e-01 -3.84407852e-03 -3.28274569e-01] [ 6.31459741e-02 -3.05191298e-03 9.97999635e-01 -2.07648522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78119381700003 meters Centerline goodness : 0.939026 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.33, Z:-2.08 [[ 9.91452452e-01 -1.14627270e-01 -6.23107136e-02 1.96722747e+01] [ 1.14305495e-01 9.93407409e-01 -8.71626226e-03 -3.28073523e-01] [ 6.28990459e-02 1.51930265e-03 9.98018738e-01 -2.07530070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81119381700003 meters Centerline goodness : 0.939498 Centerline is valid? [False, False] Translation: X:19.68, Y:-0.33, Z:-2.08 [[ 9.91425876e-01 -1.17401145e-01 -5.73733741e-02 1.96791336e+01] [ 1.17554466e-01 9.93066185e-01 -7.07088648e-04 -3.27622512e-01] [ 5.70585708e-02 -6.04347036e-03 9.98352541e-01 -2.07531242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84119381700003 meters Centerline goodness : 0.941040 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.32, Z:-2.08 [[ 9.91799902e-01 -1.17494901e-01 -5.02782502e-02 1.96883104e+01] [ 1.17199481e-01 9.93069455e-01 -8.79432278e-03 -3.23063015e-01] [ 5.09630826e-02 2.82962364e-03 9.98696529e-01 -2.07727137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87119381700003 meters Centerline goodness : 0.943221 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.32, Z:-2.08 [[ 9.92333951e-01 -1.15881863e-01 -4.29502515e-02 1.96992434e+01] [ 1.15408923e-01 9.93228480e-01 -1.33404144e-02 -3.18526158e-01] [ 4.42053251e-02 8.28130390e-03 9.98988143e-01 -2.07985177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90119381700003 meters Centerline goodness : 0.941375 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.31, Z:-2.08 [[ 9.93026534e-01 -1.12266568e-01 -3.59794488e-02 1.97087065e+01] [ 1.11687166e-01 9.93585158e-01 -1.77344770e-02 -3.09312189e-01] [ 3.77396351e-02 1.35923636e-02 9.99195160e-01 -2.08238298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93119381700004 meters Centerline goodness : 0.940348 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.31, Z:-2.08 [[ 9.93323644e-01 -1.09456542e-01 -3.64335618e-02 1.97097104e+01] [ 1.08950230e-01 9.93924638e-01 -1.56096421e-02 -3.05687388e-01] [ 3.79207922e-02 1.15359817e-02 9.99214159e-01 -2.08336882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96119381700004 meters Centerline goodness : 0.936844 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.30, Z:-2.09 [[ 9.93866024e-01 -1.04191402e-01 -3.70739500e-02 1.97116465e+01] [ 1.03808622e-01 9.94523571e-01 -1.21093891e-02 -2.97513593e-01] [ 3.81326114e-02 8.18651476e-03 9.99239153e-01 -2.08584540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99119381700004 meters Centerline goodness : 0.938440 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.29, Z:-2.09 [[ 9.94120844e-01 -1.01518935e-01 -3.76517444e-02 1.97136754e+01] [ 1.01195018e-01 9.94812079e-01 -1.04161662e-02 -2.92446005e-01] [ 3.85138482e-02 6.54475902e-03 9.99236633e-01 -2.08777780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters Centerline goodness : 0.935037 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.29, Z:-2.09 [[ 9.94390362e-01 -9.86316064e-02 -3.82049095e-02 1.97155366e+01] [ 9.83722414e-02 9.95112400e-01 -8.61475222e-03 -2.86859847e-01] [ 3.88678660e-02 4.80812399e-03 9.99232791e-01 -2.08961128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.051193817 meters Centerline goodness : 0.933300 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.28, Z:-2.09 [[ 9.94670539e-01 -9.55886053e-02 -3.86437144e-02 1.97167887e+01] [ 9.54041674e-02 9.95416784e-01 -6.59324576e-03 -2.81398500e-01] [ 3.90968411e-02 2.87133592e-03 9.99231301e-01 -2.09099513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.081193817 meters Centerline goodness : 0.930925 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.27, Z:-2.09 [[ 9.95173834e-01 -9.00908376e-02 -3.88932091e-02 1.97173634e+01] [ 9.00597812e-02 9.95933088e-01 -2.55336080e-03 -2.72209998e-01] [ 3.89650682e-02 -9.61676042e-04 9.99240111e-01 -2.09273637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11119381700001 meters Centerline goodness : 0.929851 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.27, Z:-2.09 [[ 9.95447894e-01 -8.68759959e-02 -3.91925014e-02 1.97174081e+01] [ 8.69550500e-02 9.96212187e-01 3.13723632e-04 -2.69621658e-01] [ 3.90167925e-02 -3.72028145e-03 9.99231630e-01 -2.09293131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14119381700002 meters Centerline goodness : 0.927054 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.27, Z:-2.09 [[ 9.95680997e-01 -8.40755746e-02 -3.93782904e-02 1.97171260e+01] [ 8.42579500e-02 9.96439484e-01 2.99193945e-03 -2.67387322e-01] [ 3.89865343e-02 -6.29695128e-03 9.99219895e-01 -2.09293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17119381700002 meters Centerline goodness : 0.927441 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.26, Z:-2.09 [[ 9.95623230e-01 -8.47033832e-02 -3.94933079e-02 1.97175431e+01] [ 8.48384083e-02 9.96393182e-01 1.75261385e-03 -2.63939694e-01] [ 3.92024104e-02 -5.09549244e-03 9.99218298e-01 -2.09318207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters Centerline goodness : 0.926726 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.26, Z:-2.09 [[ 9.95756411e-01 -8.33554965e-02 -3.90004117e-02 1.97150775e+01] [ 8.35233884e-02 9.96502179e-01 2.69267861e-03 -2.59181981e-01] [ 3.86395457e-02 -5.93869853e-03 9.99235567e-01 -2.09204799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23119381700002 meters Centerline goodness : 0.928368 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.26, Z:-2.09 [[ 9.95726222e-01 -8.36685111e-02 -3.91007833e-02 1.97152394e+01] [ 8.38025607e-02 9.96480754e-01 1.79909640e-03 -2.56128946e-01] [ 3.88126504e-02 -5.06815323e-03 9.99233652e-01 -2.09207269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26119381700002 meters Centerline goodness : 0.929199 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.26, Z:-2.09 [[ 9.95991727e-01 -8.02615593e-02 -3.94786358e-02 1.97153088e+01] [ 8.05293130e-02 9.96738484e-01 5.23687221e-03 -2.55005138e-01] [ 3.89295561e-02 -8.39506881e-03 9.99206692e-01 -2.09203179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29119381700002 meters Centerline goodness : 0.931414 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.25, Z:-2.09 [[ 9.96252224e-01 -7.67429139e-02 -3.99002690e-02 1.97160289e+01] [ 7.71156671e-02 9.96990963e-01 7.88624368e-03 -2.50525992e-01] [ 3.91749943e-02 -1.09336237e-02 9.99172546e-01 -2.09284420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32119381700002 meters Centerline goodness : 0.927312 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.25, Z:-2.09 [[ 9.96513838e-01 -7.30504583e-02 -4.02964068e-02 1.97162689e+01] [ 7.35608504e-02 9.97226369e-01 1.13300954e-02 -2.49025729e-01] [ 3.93569708e-02 -1.42548348e-02 9.99123530e-01 -2.09296047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35119381700002 meters Centerline goodness : 0.926039 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.25, Z:-2.09 [[ 9.96757934e-01 -6.92792112e-02 -4.09146892e-02 1.97170312e+01] [ 6.99339551e-02 9.97441939e-01 1.47925817e-02 -2.47360927e-01] [ 3.97852085e-02 -1.76059492e-02 9.99053136e-01 -2.09313582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38119381700002 meters Centerline goodness : 0.927950 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.24, Z:-2.09 [[ 9.96766910e-01 -6.90607709e-02 -4.10650332e-02 1.97172129e+01] [ 6.96711021e-02 9.97477030e-01 1.36202604e-02 -2.43342478e-01] [ 4.00208017e-02 -1.64372710e-02 9.99063637e-01 -2.09338177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41119381700003 meters Centerline goodness : 0.929474 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.24, Z:-2.09 [[ 9.97137523e-01 -6.32741767e-02 -4.13900841e-02 1.97149031e+01] [ 6.41080894e-02 9.97759410e-01 1.91392759e-02 -2.40015470e-01] [ 4.00863240e-02 -2.17379294e-02 9.98959733e-01 -2.09096289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44119381700003 meters Centerline goodness : 0.931370 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.24, Z:-2.09 [[ 9.97109190e-01 -6.37125763e-02 -4.14001269e-02 1.97142651e+01] [ 6.44808119e-02 9.97765622e-01 1.74925013e-02 -2.35847573e-01] [ 4.01931311e-02 -2.01114476e-02 9.98989510e-01 -2.09049485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47119381700003 meters Centerline goodness : 0.931999 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.23, Z:-2.09 [[ 9.97104523e-01 -6.37174732e-02 -4.15048637e-02 1.97138293e+01] [ 6.44386948e-02 9.97788932e-01 1.62757931e-02 -2.31374924e-01] [ 4.03760412e-02 -1.89031861e-02 9.99005728e-01 -2.09009118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50119381700003 meters Centerline goodness : 0.932355 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.23, Z:-2.09 [[ 9.97260274e-01 -6.11463772e-02 -4.16301252e-02 1.97121170e+01] [ 6.19593854e-02 9.97906714e-01 1.85263278e-02 -2.28421269e-01] [ 4.04101637e-02 -2.10549477e-02 9.98961314e-01 -2.08836510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53119381700003 meters Centerline goodness : 0.934186 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.22, Z:-2.09 [[ 9.97302338e-01 -6.09278694e-02 -4.09370369e-02 1.97097541e+01] [ 6.16249052e-02 9.97971362e-01 1.59853585e-02 -2.21506188e-01] [ 3.98800366e-02 -1.84649764e-02 9.99033847e-01 -2.08749696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56119381700003 meters Centerline goodness : 0.937113 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.22, Z:-2.09 [[ 9.97489743e-01 -5.73206732e-02 -4.15758760e-02 1.97104233e+01] [ 5.81738652e-02 9.98113859e-01 1.96093427e-02 -2.21186174e-01] [ 4.03734373e-02 -2.19787476e-02 9.98942901e-01 -2.08728337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59119381700003 meters Centerline goodness : 0.937074 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.22, Z:-2.09 [[ 9.97522744e-01 -5.67913599e-02 -4.15104319e-02 1.97105179e+01] [ 5.75959791e-02 9.98169461e-01 1.84507359e-02 -2.17829278e-01] [ 4.03866031e-02 -2.07958627e-02 9.98967694e-01 -2.08817251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62119381700003 meters Centerline goodness : 0.937126 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.22, Z:-2.09 [[ 0.99769846 -0.05330791 -0.04190527 19.71125463] [ 0.05422742 0.99830522 0.02112028 -0.21517744] [ 0.04070837 -0.02334408 0.99889833 -2.08906154] [ 0. 0. 0. 1. ]] SLAMing on 171.65119381700003 meters Centerline goodness : 0.936788 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.21, Z:-2.09 [[ 9.97720282e-01 -5.30478523e-02 -4.17152822e-02 1.97113018e+01] [ 5.38848588e-02 9.98362506e-01 1.92023093e-02 -2.10036355e-01] [ 4.06283324e-02 -2.14063555e-02 9.98944997e-01 -2.09046150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68119381700004 meters Centerline goodness : 0.931352 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.21, Z:-2.09 [[ 0.99789171 -0.04944233 -0.04204268 19.71269782] [ 0.05035124 0.99851409 0.02084141 -0.20531086] [ 0.04094976 -0.02291437 0.99889842 -2.0926893 ] [ 0. 0. 0. 1. ]] SLAMing on 171.71119381700004 meters Centerline goodness : 0.929337 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.20, Z:-2.09 [[ 0.99789233 -0.04931497 -0.04217734 19.7134729 ] [ 0.05019047 0.99854027 0.01995618 -0.20343808] [ 0.04113164 -0.02203102 0.99891082 -2.09374833] [ 0. 0. 0. 1. ]] SLAMing on 171.74119381700004 meters Centerline goodness : 0.930395 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.20, Z:-2.09 [[ 0.99789964 -0.04898579 -0.04238751 19.71391365] [ 0.04987595 0.99855105 0.02020371 -0.20317144] [ 0.04133639 -0.02227539 0.99889695 -2.09385674] [ 0. 0. 0. 1. ]] SLAMing on 171.771193817 meters Centerline goodness : 0.930434 Centerline is valid? [False, False] Translation: X:19.71, Y:-0.20, Z:-2.09 [[ 0.99789197 -0.04909291 -0.04244411 19.71423382] [ 0.04999862 0.99853791 0.0205468 -0.20463131] [ 0.04137335 -0.02262563 0.99888754 -2.09379802] [ 0. 0. 0. 1. ]] SLAMing on 171.801193817 meters Centerline goodness : 0.929801 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.09 [[ 0.99787282 -0.04920594 -0.04276218 19.71503668] [ 0.05014467 0.99851771 0.02116362 -0.20635265] [ 0.04165741 -0.0232629 0.9988611 -2.09370844] [ 0. 0. 0. 1. ]] SLAMing on 171.831193817 meters Centerline goodness : 0.931194 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.09 [[ 9.97719450e-01 -5.19343976e-02 -4.31128423e-02 1.97165787e+01] [ 5.27626241e-02 9.98439397e-01 1.82995993e-02 -2.06331353e-01] [ 4.20951816e-02 -2.05326128e-02 9.98902602e-01 -2.09431184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86119381700001 meters Centerline goodness : 0.930972 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.09 [[ 9.97687266e-01 -5.20688753e-02 -4.36915583e-02 1.97180793e+01] [ 5.29479615e-02 9.98412495e-01 1.92094592e-02 -2.07800987e-01] [ 4.26219828e-02 -2.14784117e-02 9.98860373e-01 -2.09441085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89119381700002 meters Centerline goodness : 0.926481 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.10 [[ 9.97483208e-01 -5.53757496e-02 -4.42806568e-02 1.97214095e+01] [ 5.61581671e-02 9.98283474e-01 1.66242557e-02 -2.09527553e-01] [ 4.32840673e-02 -1.90691364e-02 9.98880802e-01 -2.09636133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters Centerline goodness : 0.925501 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.10 [[ 9.97267489e-01 -5.91016164e-02 -4.43232931e-02 1.97225774e+01] [ 5.97390888e-02 9.98126783e-01 1.31972324e-02 -2.10743984e-01] [ 4.34602882e-02 -1.58090040e-02 9.98930067e-01 -2.09706749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95119381700002 meters Centerline goodness : 0.925668 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.21, Z:-2.10 [[ 9.97217338e-01 -5.96167952e-02 -4.47595686e-02 1.97241693e+01] [ 6.03147003e-02 9.98075451e-01 1.44059720e-02 -2.14617045e-01] [ 4.38145887e-02 -1.70655450e-02 9.98893913e-01 -2.09735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98119381700002 meters Centerline goodness : 0.927470 Centerline is valid? [False, False] Translation: X:19.72, Y:-0.22, Z:-2.10 [[ 9.96968378e-01 -6.36272868e-02 -4.47841767e-02 1.97248964e+01] [ 6.41720459e-02 9.97880062e-01 1.08319431e-02 -2.15655780e-01] [ 4.40000299e-02 -1.36729970e-02 9.98937959e-01 -2.09744020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01119381700002 meters Centerline goodness : 0.923339 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.22, Z:-2.10 [[ 9.96650048e-01 -6.83733136e-02 -4.48750615e-02 1.97256992e+01] [ 6.87830542e-02 9.97602316e-01 7.64919854e-03 -2.17967621e-01] [ 4.42444642e-02 -1.07102179e-02 9.98963322e-01 -2.09695379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04119381700002 meters Centerline goodness : 0.921860 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.22, Z:-2.10 [[ 9.96610554e-01 -6.87536749e-02 -4.51700819e-02 1.97265621e+01] [ 6.92035786e-02 9.97566590e-01 8.47126524e-03 -2.20288689e-01] [ 4.44777339e-02 -1.15684836e-02 9.98943392e-01 -2.09691479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07119381700002 meters Centerline goodness : 0.923780 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.22, Z:-2.10 [[ 9.96540588e-01 -6.93153466e-02 -4.58501923e-02 1.97284760e+01] [ 6.97993934e-02 9.97520088e-01 9.03982709e-03 -2.22582993e-01] [ 4.51098891e-02 -1.22088702e-02 9.98907424e-01 -2.09730391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10119381700002 meters Centerline goodness : 0.917413 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.22, Z:-2.10 [[ 9.96204478e-01 -7.38062944e-02 -4.61440063e-02 1.97297453e+01] [ 7.41445947e-02 9.97231434e-01 5.66098383e-03 -2.24664397e-01] [ 4.55984373e-02 -9.06082609e-03 9.98918757e-01 -2.09712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13119381700002 meters Centerline goodness : 0.915364 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96180636e-01 -7.39407725e-02 -4.64424603e-02 1.97305398e+01] [ 7.43091224e-02 9.97215650e-01 6.25318613e-03 -2.26252421e-01] [ 4.58507828e-02 -9.68040140e-03 9.98901394e-01 -2.09713766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16119381700003 meters Centerline goodness : 0.924188 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96166233e-01 -7.40682039e-02 -4.65482351e-02 1.97308409e+01] [ 7.44498409e-02 9.97203466e-01 6.51685192e-03 -2.27125163e-01] [ 4.59353698e-02 -9.95737652e-03 9.98894785e-01 -2.09713686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19119381700003 meters Centerline goodness : 0.922193 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96170742e-01 -7.38233711e-02 -4.68397603e-02 1.97318222e+01] [ 7.42298754e-02 9.97216610e-01 6.99700756e-03 -2.27894570e-01] [ 4.61928443e-02 -1.04471238e-02 9.98877910e-01 -2.09754705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22119381700003 meters Centerline goodness : 0.915638 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96232644e-01 -7.29389177e-02 -4.69087761e-02 1.97319569e+01] [ 7.33859901e-02 9.97272498e-01 7.87789236e-03 -2.29117303e-01] [ 4.62062274e-02 -1.12906605e-02 9.98868112e-01 -2.09749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25119381700003 meters Centerline goodness : 0.915462 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96287367e-01 -7.21080066e-02 -4.70310228e-02 1.97322553e+01] [ 7.25823817e-02 9.97326576e-01 8.45566690e-03 -2.29483093e-01] [ 4.62955677e-02 -1.18378978e-02 9.98857640e-01 -2.09756077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28119381700003 meters Centerline goodness : 0.919862 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96597211e-01 -6.73789686e-02 -4.74770754e-02 1.97322911e+01] [ 6.80947718e-02 9.97585851e-01 1.36224482e-02 -2.31154981e-01] [ 4.64445922e-02 -1.68090345e-02 9.98779433e-01 -2.09694004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31119381700003 meters Centerline goodness : 0.919352 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 9.96872067e-01 -6.30091183e-02 -4.77067404e-02 1.97318641e+01] [ 6.39184975e-02 9.97796703e-01 1.77810124e-02 -2.31160512e-01] [ 4.64812624e-02 -2.07747377e-02 9.98703110e-01 -2.09647688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34119381700003 meters Centerline goodness : 0.918047 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99739144 -0.0538018 -0.04812146 19.7315205 ] [ 0.05511399 0.99813181 0.02636944 -0.23102344] [ 0.04661283 -0.02895281 0.99849335 -2.09627789] [ 0. 0. 0. 1. ]] SLAMing on 172.37119381700003 meters Centerline goodness : 0.919048 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99749058 -0.05180382 -0.0482588 19.7322828 ] [ 0.05314711 0.99822215 0.02698005 -0.22988547] [ 0.04677533 -0.02947716 0.99847041 -2.09736678] [ 0. 0. 0. 1. ]] SLAMing on 172.40119381700003 meters Centerline goodness : 0.919555 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.23, Z:-2.10 [[ 9.97795593e-01 -4.91190679e-02 -4.46236776e-02 1.97365447e+01] [ 4.98972629e-02 9.98618131e-01 1.64952165e-02 -2.26492786e-01] [ 4.37517838e-02 -1.86854537e-02 9.98867677e-01 -2.09679120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43119381700004 meters Centerline goodness : 0.918850 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99808691 -0.04337955 -0.04405374 19.73456378] [ 0.04437563 0.99877507 0.02188984 -0.22868317] [ 0.0430502 -0.02380288 0.99878932 -2.09595121] [ 0. 0. 0. 1. ]] SLAMing on 172.46119381700004 meters Centerline goodness : 0.921976 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99812544 -0.04258075 -0.0439601 19.73444936] [ 0.04358496 0.9988043 0.02214311 -0.22861641] [ 0.04296466 -0.0240176 0.99878786 -2.09617922] [ 0. 0. 0. 1. ]] SLAMing on 172.49119381700004 meters Centerline goodness : 0.921976 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99812544 -0.04258075 -0.0439601 19.73444936] [ 0.04358496 0.9988043 0.02214311 -0.22861641] [ 0.04296466 -0.0240176 0.99878786 -2.09617922] [ 0. 0. 0. 1. ]] SLAMing on 172.521193817 meters Centerline goodness : 0.917705 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.23, Z:-2.10 [[ 0.99815521 -0.04203291 -0.04381114 19.73451849] [ 0.04303895 0.99882498 0.02227816 -0.22867285] [ 0.04282324 -0.02412265 0.9987914 -2.09671854] [ 0. 0. 0. 1. ]] SLAMing on 172.551193817 meters Centerline goodness : 0.917665 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.23, Z:-2.10 [[ 0.99818767 -0.04135202 -0.04371944 19.73535353] [ 0.04238447 0.99883758 0.02295766 -0.23028625] [ 0.04271927 -0.02476908 0.99878003 -2.09795822] [ 0. 0. 0. 1. ]] SLAMing on 172.581193817 meters Centerline goodness : 0.916708 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.23, Z:-2.10 [[ 0.99819699 -0.04087019 -0.04395904 19.73629894] [ 0.04196813 0.99882218 0.02435021 -0.23276942] [ 0.04291206 -0.02615119 0.99873654 -2.09823163] [ 0. 0. 0. 1. ]] SLAMing on 172.61119381700001 meters Centerline goodness : 0.912770 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.23, Z:-2.10 [[ 0.99805979 -0.04412589 -0.04392673 19.73703407] [ 0.04507602 0.99876534 0.02087935 -0.23363099] [ 0.04295118 -0.02281888 0.99881655 -2.09893482] [ 0. 0. 0. 1. ]] SLAMing on 172.64119381700002 meters Centerline goodness : 0.912898 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.24, Z:-2.10 [[ 9.97936144e-01 -4.66187283e-02 -4.41604725e-02 1.97391224e+01] [ 4.74626328e-02 9.98706141e-01 1.82576518e-02 -2.35270049e-01] [ 4.32521866e-02 -2.03159430e-02 9.98857603e-01 -2.10060491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67119381700002 meters Centerline goodness : 0.912260 Centerline is valid? [False, False] Translation: X:19.74, Y:-0.24, Z:-2.10 [[ 0.99794347 -0.04542787 -0.04522327 19.74292773] [ 0.04646032 0.99867682 0.02204648 -0.24272191] [ 0.0441619 -0.02410222 0.9987336 -2.10187922] [ 0. 0. 0. 1. ]] SLAMing on 172.70119381700002 meters Centerline goodness : 0.912306 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.24, Z:-2.10 [[ 0.99782898 -0.04751538 -0.04560285 19.74534723] [ 0.04845944 0.9986284 0.01982403 -0.24436157] [ 0.04459836 -0.02199088 0.99876293 -2.10358038] [ 0. 0. 0. 1. ]] SLAMing on 172.73119381700002 meters Centerline goodness : 0.912501 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.25, Z:-2.10 [[ 0.99782358 -0.04730622 -0.04593717 19.74658152] [ 0.04831105 0.99861123 0.0210154 -0.24763768] [ 0.04487921 -0.02318893 0.99872325 -2.10396061] [ 0. 0. 0. 1. ]] SLAMing on 172.76119381700002 meters Centerline goodness : 0.912743 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.25, Z:-2.11 [[ 9.97703172e-01 -4.94127335e-02 -4.63331626e-02 1.97488617e+01] [ 5.03398515e-02 9.98550248e-01 1.90604766e-02 -2.49960364e-01] [ 4.53241608e-02 -2.13491025e-02 9.98744180e-01 -2.10527747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79119381700002 meters Centerline goodness : 0.912076 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.25, Z:-2.11 [[ 0.99769017 -0.04937159 -0.04665586 19.74998601] [ 0.05037022 0.99852069 0.02047594 -0.2540469 ] [ 0.04557591 -0.02277871 0.99870114 -2.10537497] [ 0. 0. 0. 1. ]] SLAMing on 172.82119381700002 meters Centerline goodness : 0.912845 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.26, Z:-2.10 [[ 0.99762273 -0.05054128 -0.04684515 19.75063452] [ 0.05154534 0.99846067 0.02047849 -0.25867752] [ 0.04573803 -0.02284446 0.99869223 -2.10495126] [ 0. 0. 0. 1. ]] SLAMing on 172.85119381700002 meters Centerline goodness : 0.909488 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.27, Z:-2.10 [[ 9.97232570e-01 -5.76680878e-02 -4.69211370e-02 1.97518156e+01] [ 5.84586745e-02 9.98167087e-01 1.56540751e-02 -2.66277969e-01] [ 4.59323940e-02 -1.83537010e-02 9.98775929e-01 -2.10433700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88119381700002 meters Centerline goodness : 0.910791 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.27, Z:-2.10 [[ 9.97207719e-01 -5.76960357e-02 -4.74123646e-02 1.97528083e+01] [ 5.86078464e-02 9.98117514e-01 1.80706683e-02 -2.73020421e-01] [ 4.62805056e-02 -2.07989465e-02 9.98711930e-01 -2.10343916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91119381700003 meters Centerline goodness : 0.908520 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.28, Z:-2.10 [[ 0.99722137 -0.0600221 -0.04412345 19.76332526] [ 0.06129013 0.99772804 0.02796925 -0.28020331] [ 0.04234443 -0.03059587 0.99863449 -2.10402327] [ 0. 0. 0. 1. ]] SLAMing on 172.94119381700003 meters Centerline goodness : 0.907964 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.28, Z:-2.10 [[ 0.99699086 -0.06370088 -0.04417501 19.76392611] [ 0.06485877 0.99757389 0.02529178 -0.28397097] [ 0.04245673 -0.02808081 0.99870361 -2.10372037] [ 0. 0. 0. 1. ]] SLAMing on 172.97119381700003 meters Centerline goodness : 0.910809 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.29, Z:-2.10 [[ 0.99679269 -0.06674222 -0.04415662 19.7639457 ] [ 0.06783349 0.99741528 0.02369348 -0.29172724] [ 0.04246113 -0.02661279 0.99874362 -2.10267404] [ 0. 0. 0. 1. ]] SLAMing on 173.00119381700003 meters Centerline goodness : 0.911849 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.29, Z:-2.10 [[ 0.99665354 -0.06850179 -0.04460072 19.76588637] [ 0.06952916 0.99733941 0.02190424 -0.29378303] [ 0.04298158 -0.02493199 0.99876473 -2.10331365] [ 0. 0. 0. 1. ]] SLAMing on 173.03119381700003 meters Centerline goodness : 0.911293 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.30, Z:-2.10 [[ 0.99675762 -0.06675568 -0.04492135 19.76673682] [ 0.06788536 0.99740179 0.02410905 -0.29914739] [ 0.04319522 -0.02708038 0.99869957 -2.10333671] [ 0. 0. 0. 1. ]] SLAMing on 173.06119381700003 meters Centerline goodness : 0.911853 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.30, Z:-2.10 [[ 0.99682615 -0.06545003 -0.04532027 19.7681026 ] [ 0.06664728 0.99745251 0.02542896 -0.30131195] [ 0.04354049 -0.02836873 0.99864881 -2.10400506] [ 0. 0. 0. 1. ]] SLAMing on 173.09119381700003 meters Centerline goodness : 0.911654 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.30, Z:-2.10 [[ 0.99689241 -0.06414273 -0.04573002 19.76912418] [ 0.06540132 0.99750504 0.0265773 -0.30283284] [ 0.04391119 -0.02948551 0.99860023 -2.10429874] [ 0. 0. 0. 1. ]] SLAMing on 173.12119381700003 meters Centerline goodness : 0.912279 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.30, Z:-2.10 [[ 0.99695667 -0.06250114 -0.04659396 19.77079546] [ 0.06384197 0.99757091 0.0278653 -0.30446258] [ 0.04473917 -0.03075514 0.99852518 -2.10437992] [ 0. 0. 0. 1. ]] SLAMing on 173.15119381700003 meters Centerline goodness : 0.911403 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.31, Z:-2.10 [[ 0.9969719 -0.05924481 -0.05036939 19.77736511] [ 0.0606185 0.99781721 0.02619561 -0.30609598] [ 0.04870749 -0.0291696 0.99838706 -2.10092202] [ 0. 0. 0. 1. ]] SLAMing on 173.18119381700004 meters Centerline goodness : 0.912619 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.31, Z:-2.10 [[ 0.99704833 -0.05548854 -0.05306278 19.78586038] [ 0.05670391 0.99815564 0.02167891 -0.30874477] [ 0.05176199 -0.02462378 0.99835583 -2.09722836] [ 0. 0. 0. 1. ]] SLAMing on 173.21119381700004 meters Centerline goodness : 0.907373 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.31, Z:-2.10 [[ 0.99706523 -0.05510091 -0.05314895 19.78625308] [ 0.05634907 0.99816255 0.02227775 -0.31045409] [ 0.05182376 -0.02520727 0.99833806 -2.09742892] [ 0. 0. 0. 1. ]] SLAMing on 173.24119381700004 meters Centerline goodness : 0.910378 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.31, Z:-2.10 [[ 0.99706789 -0.054752 -0.05345887 19.78743753] [ 0.05604481 0.99816353 0.02299017 -0.31245735] [ 0.05210193 -0.02591885 0.99830536 -2.09804732] [ 0. 0. 0. 1. ]] SLAMing on 173.271193817 meters Centerline goodness : 0.911287 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.31, Z:-2.10 [[ 0.99693676 -0.05662795 -0.05394778 19.79057642] [ 0.0578415 0.99810056 0.02120439 -0.31403447] [ 0.05264455 -0.02425986 0.99831859 -2.10012166] [ 0. 0. 0. 1. ]] SLAMing on 173.301193817 meters Centerline goodness : 0.910811 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.32, Z:-2.10 [[ 9.96749480e-01 -5.98320027e-02 -5.39500349e-02 1.97926859e+01] [ 6.09366926e-02 9.97959490e-01 1.90676758e-02 -3.20772345e-01] [ 5.26990921e-02 -2.22932326e-02 9.98361567e-01 -2.10157065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.331193817 meters Centerline goodness : 0.910916 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.32, Z:-2.10 [[ 9.96572384e-01 -6.24249629e-02 -5.42826676e-02 1.97946364e+01] [ 6.34299751e-02 9.97841637e-01 1.69913217e-02 -3.24301500e-01] [ 5.31048233e-02 -2.03762302e-02 9.98381033e-01 -2.10243130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36119381700001 meters Centerline goodness : 0.909843 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.33, Z:-2.10 [[ 9.96391282e-01 -6.50682940e-02 -5.45025628e-02 1.97961845e+01] [ 6.59620000e-02 9.97712957e-01 1.47604402e-02 -3.27401856e-01] [ 5.34174764e-02 -1.83022720e-02 9.98404527e-01 -2.10300453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39119381700002 meters Centerline goodness : 0.910915 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.33, Z:-2.10 [[ 9.96218665e-01 -6.72998930e-02 -5.49463087e-02 1.97984814e+01] [ 6.81093167e-02 9.97593271e-01 1.29918137e-02 -3.30176959e-01] [ 5.39397202e-02 -1.66850428e-02 9.98404786e-01 -2.10407376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42119381700002 meters Centerline goodness : 0.913233 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.34, Z:-2.11 [[ 9.96077126e-01 -6.91172675e-02 -5.52554358e-02 1.98007906e+01] [ 6.99031174e-02 9.97476516e-01 1.24158846e-02 -3.36421134e-01] [ 5.42578476e-02 -1.62297059e-02 9.98395053e-01 -2.10528517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45119381700002 meters Centerline goodness : 0.913662 Centerline is valid? [False, False] Translation: X:19.80, Y:-0.34, Z:-2.11 [[ 9.95895035e-01 -7.12484535e-02 -5.58277439e-02 1.98031369e+01] [ 7.19533619e-02 9.97350417e-01 1.07172718e-02 -3.39707992e-01] [ 5.49162346e-02 -1.46902716e-02 9.98382894e-01 -2.10607500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48119381700002 meters Centerline goodness : 0.913322 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.34, Z:-2.11 [[ 9.95707062e-01 -7.33690817e-02 -5.64307120e-02 1.98054688e+01] [ 7.39910473e-02 9.97218206e-01 9.00970873e-03 -3.43499128e-01] [ 5.56126993e-02 -1.31463981e-02 9.98365865e-01 -2.10676061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51119381700002 meters Centerline goodness : 0.916259 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.35, Z:-2.11 [[ 9.95510870e-01 -7.58071137e-02 -5.66691209e-02 1.98068099e+01] [ 7.63250860e-02 9.97058208e-01 7.02936329e-03 -3.47231723e-01] [ 5.59695364e-02 -1.13230831e-02 9.98368268e-01 -2.10701313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54119381700002 meters Centerline goodness : 0.919111 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.35, Z:-2.11 [[ 9.95343707e-01 -7.77383096e-02 -5.69882400e-02 1.98086703e+01] [ 7.82199303e-02 9.96916433e-01 6.26650655e-03 -3.54868904e-01] [ 5.63253653e-02 -1.06949440e-02 9.98355183e-01 -2.10750830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57119381700002 meters Centerline goodness : 0.920972 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.36, Z:-2.11 [[ 9.95181731e-01 -7.94557563e-02 -5.74465476e-02 1.98111539e+01] [ 7.98586148e-02 9.96794894e-01 4.74775951e-03 -3.57144046e-01] [ 5.68851885e-02 -9.31248524e-03 9.98337294e-01 -2.10877558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60119381700002 meters Centerline goodness : 0.922081 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.36, Z:-2.11 [[ 9.95175869e-01 -7.93191100e-02 -5.77361966e-02 1.98119557e+01] [ 7.97741702e-02 9.96797140e-01 5.61635808e-03 -3.59997819e-01] [ 5.71057912e-02 -1.01951212e-02 9.98316076e-01 -2.10889612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63119381700002 meters Centerline goodness : 0.916561 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.36, Z:-2.11 [[ 9.94974248e-01 -8.15459974e-02 -5.81076174e-02 1.98139283e+01] [ 8.18883727e-02 9.96635251e-01 3.53149121e-03 -3.61652024e-01] [ 5.76241209e-02 -8.27208105e-03 9.98304079e-01 -2.10975469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66119381700003 meters Centerline goodness : 0.923949 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.37, Z:-2.11 [[ 9.94702699e-01 -8.48506505e-02 -5.80250533e-02 1.98140077e+01] [ 8.50863096e-02 9.96372303e-01 1.59834206e-03 -3.67531946e-01] [ 5.76789356e-02 -6.52701282e-03 9.98313848e-01 -2.10895533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69119381700003 meters Centerline goodness : 0.924189 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.37, Z:-2.11 [[ 9.94394997e-01 -8.84855300e-02 -5.78696884e-02 1.98144684e+01] [ 8.85504192e-02 9.96070645e-01 -1.44713237e-03 -3.70182082e-01] [ 5.77703481e-02 -3.68536398e-03 9.98323096e-01 -2.10895259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72119381700003 meters Centerline goodness : 0.918368 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.37, Z:-2.11 [[ 9.94058724e-01 -9.22220065e-02 -5.78131005e-02 1.98152813e+01] [ 9.21111912e-02 9.95738174e-01 -4.58441500e-03 -3.72659709e-01] [ 5.79894951e-02 -7.68055834e-04 9.98316898e-01 -2.10911221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75119381700003 meters Centerline goodness : 0.924746 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.38, Z:-2.11 [[ 9.94034713e-01 -9.23445668e-02 -5.80299120e-02 1.98163911e+01] [ 9.22863443e-02 9.95725679e-01 -3.68821327e-03 -3.76766062e-01] [ 5.81224600e-02 -1.68915641e-03 9.98308032e-01 -2.10958988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78119381700003 meters Centerline goodness : 0.916036 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.38, Z:-2.11 [[ 9.93735018e-01 -9.53689600e-02 -5.82707041e-02 1.98195498e+01] [ 9.52095559e-02 9.95441991e-01 -5.51216339e-03 -3.81650788e-01] [ 5.85307950e-02 -7.02980736e-05 9.98285601e-01 -2.11169095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81119381700003 meters Centerline goodness : 0.916537 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.38, Z:-2.11 [[ 9.93726423e-01 -9.52202525e-02 -5.86591877e-02 1.98206685e+01] [ 9.51088404e-02 9.95455809e-01 -4.69467506e-03 -3.84427569e-01] [ 5.88396573e-02 -9.13784664e-04 9.98267028e-01 -2.11193867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84119381700003 meters Centerline goodness : 0.917438 Centerline is valid? [False, False] Translation: X:19.82, Y:-0.39, Z:-2.11 [[ 9.93704205e-01 -9.52706243e-02 -5.89530499e-02 1.98216174e+01] [ 9.51885408e-02 9.95450378e-01 -4.20547845e-03 -3.86574669e-01] [ 5.90854944e-02 -1.43265318e-03 9.98251898e-01 -2.11216290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87119381700003 meters Centerline goodness : 0.917933 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.39, Z:-2.11 [[ 9.93758648e-01 -9.72843241e-02 -5.45848808e-02 1.98312153e+01] [ 9.76453916e-02 9.95213309e-01 3.98092442e-03 -3.90665335e-01] [ 5.39363183e-02 -9.28604013e-03 9.98501198e-01 -2.11333687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90119381700003 meters Centerline goodness : 0.916576 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.39, Z:-2.11 [[ 9.93632025e-01 -9.83259593e-02 -5.50218536e-02 1.98335364e+01] [ 9.86500401e-02 9.95117047e-01 3.19874358e-03 -3.91498798e-01] [ 5.44386650e-02 -8.60628213e-03 9.98480027e-01 -2.11459615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93119381700004 meters Centerline goodness : 0.921067 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.39, Z:-2.12 [[ 9.93632424e-01 -9.82648588e-02 -5.51237105e-02 1.98342349e+01] [ 9.86157549e-02 9.95118799e-01 3.67542817e-03 -3.93247766e-01] [ 5.44934752e-02 -9.08809092e-03 9.98472768e-01 -2.11505387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96119381700004 meters Centerline goodness : 0.919706 Centerline is valid? [False, False] Translation: X:19.83, Y:-0.40, Z:-2.12 [[ 9.93271046e-01 -1.01980051e-01 -5.48880531e-02 1.98347277e+01] [ 1.02174394e-01 9.94766227e-01 7.38914483e-04 -3.95905934e-01] [ 5.45254269e-02 -6.34209595e-03 9.98492241e-01 -2.11513759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99119381700004 meters Centerline goodness : 0.920972 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.11 [[ 9.93208749e-01 -1.02483491e-01 -5.50773576e-02 1.98352236e+01] [ 1.02692688e-01 9.94712653e-01 9.74112485e-04 -3.98201319e-01] [ 5.46863141e-02 -6.62353897e-03 9.98481615e-01 -2.11494050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters Centerline goodness : 0.922294 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.12 [[ 9.93023277e-01 -1.04093661e-01 -5.54010899e-02 1.98373671e+01] [ 1.04244209e-01 9.94551715e-01 -1.73333175e-04 -3.99396345e-01] [ 5.51172919e-02 -5.60311894e-03 9.98464165e-01 -2.11602344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.051193817 meters Centerline goodness : 0.926278 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.12 [[ 9.92971011e-01 -1.04479354e-01 -5.56114694e-02 1.98381057e+01] [ 1.04631435e-01 9.94511051e-01 -1.77833155e-04 -4.00237871e-01] [ 5.53248008e-02 -5.64212470e-03 9.98452469e-01 -2.11622200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters Centerline goodness : 0.926051 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.12 [[ 9.92938688e-01 -1.04651740e-01 -5.58639017e-02 1.98390342e+01] [ 1.04802294e-01 9.94493048e-01 -2.35843015e-04 -4.00062204e-01] [ 5.55809432e-02 -5.62048740e-03 9.98438365e-01 -2.11667927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11119381700001 meters Centerline goodness : 0.925783 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.12 [[ 9.92917320e-01 -1.04808013e-01 -5.59506661e-02 1.98397612e+01] [ 1.04940910e-01 9.94478298e-01 -5.65633218e-04 -3.98861471e-01] [ 5.57010061e-02 -5.30988677e-03 9.98433374e-01 -2.11735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters Centerline goodness : 0.926718 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.40, Z:-2.12 [[ 9.92945210e-01 -1.04422149e-01 -5.61767331e-02 1.98399553e+01] [ 1.04530999e-01 9.94521121e-01 -1.00536070e-03 -3.96272113e-01] [ 5.59739295e-02 -4.87394196e-03 9.98420334e-01 -2.11734933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17119381700002 meters Centerline goodness : 0.929732 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.39, Z:-2.12 [[ 9.93389286e-01 -1.00711393e-01 -5.50903071e-02 1.98481388e+01] [ 1.00409972e-01 9.94912198e-01 -8.21928432e-03 -3.94028201e-01] [ 5.56377941e-02 2.63333277e-03 9.98447546e-01 -2.11578256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters Centerline goodness : 0.930350 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.39, Z:-2.12 [[ 9.94050817e-01 -9.70437979e-02 -4.94517313e-02 1.98590011e+01] [ 9.64812900e-02 9.95241287e-01 -1.36433865e-02 -3.90667658e-01] [ 5.05404107e-02 8.79105267e-03 9.98683325e-01 -2.11847939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23119381700002 meters Centerline goodness : 0.933281 Centerline is valid? [False, False] Translation: X:19.86, Y:-0.39, Z:-2.12 [[ 9.94383415e-01 -9.33667053e-02 -4.98425704e-02 1.98592897e+01] [ 9.29690013e-02 9.95616306e-01 -1.02438756e-02 -3.89636265e-01] [ 5.05805127e-02 5.55252597e-03 9.98704552e-01 -2.11861014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26119381700002 meters Centerline goodness : 0.936371 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.38, Z:-2.12 [[ 9.95116084e-01 -8.70465467e-02 -4.65497321e-02 1.98703230e+01] [ 8.64614231e-02 9.96150505e-01 -1.44428034e-02 -3.83941771e-01] [ 4.76277353e-02 1.03475098e-02 9.98811558e-01 -2.12108552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29119381700002 meters Centerline goodness : 0.932974 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.38, Z:-2.12 [[ 9.95604340e-01 -8.37744893e-02 -4.18787981e-02 1.98828085e+01] [ 8.29785560e-02 9.96342536e-01 -2.03987860e-02 -3.80311553e-01] [ 4.34345258e-02 1.68340777e-02 9.98914439e-01 -2.12468666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32119381700002 meters Centerline goodness : 0.933224 Centerline is valid? [False, False] Translation: X:19.88, Y:-0.38, Z:-2.12 [[ 9.95875702e-01 -8.02425063e-02 -4.23406008e-02 1.98833004e+01] [ 7.95946821e-02 9.96686182e-01 -1.67731988e-02 -3.80145255e-01] [ 4.35462153e-02 1.33339345e-02 9.98962428e-01 -2.12478820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35119381700002 meters Centerline goodness : 0.936099 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.38, Z:-2.13 [[ 9.96222987e-01 -7.84929613e-02 -3.71297041e-02 1.98979946e+01] [ 7.77916546e-02 9.96769568e-01 -1.99721669e-02 -3.76428085e-01] [ 3.85774336e-02 1.70083507e-02 9.99110854e-01 -2.12662531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38119381700002 meters Centerline goodness : 0.939492 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96475205e-01 -7.50439720e-02 -3.74909117e-02 1.98978423e+01] [ 7.44617252e-02 9.97084122e-01 -1.66944475e-02 -3.74537553e-01] [ 3.86344104e-02 1.38439650e-02 9.99157509e-01 -2.12626460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41119381700003 meters Centerline goodness : 0.939492 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96475205e-01 -7.50439720e-02 -3.74909117e-02 1.98978423e+01] [ 7.44617252e-02 9.97084122e-01 -1.66944475e-02 -3.74537553e-01] [ 3.86344104e-02 1.38439650e-02 9.99157509e-01 -2.12626460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44119381700003 meters Centerline goodness : 0.937595 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96458725e-01 -7.52128811e-02 -3.75903053e-02 1.98984270e+01] [ 7.46118379e-02 9.97065234e-01 -1.71462306e-02 -3.73019430e-01] [ 3.87696040e-02 1.42808294e-02 9.99146123e-01 -2.12670621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47119381700003 meters Centerline goodness : 0.936905 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96448522e-01 -7.52445861e-02 -3.77967708e-02 1.98994091e+01] [ 7.46324478e-02 9.97060071e-01 -1.73554538e-02 -3.72006575e-01] [ 3.89915549e-02 1.44729508e-02 9.99134722e-01 -2.12743701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50119381700003 meters Centerline goodness : 0.935925 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96482372e-01 -7.44794436e-02 -3.84147664e-02 1.99023876e+01] [ 7.38948386e-02 9.97130820e-01 -1.64219305e-02 -3.72351709e-01] [ 3.95276438e-02 1.35255113e-02 9.99126932e-01 -2.12962121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53119381700003 meters Centerline goodness : 0.936139 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96469056e-01 -7.45776088e-02 -3.85694140e-02 1.99033246e+01] [ 7.39958725e-02 9.97125352e-01 -1.62985925e-02 -3.72911582e-01] [ 3.96740506e-02 1.33870656e-02 9.99122994e-01 -2.13032978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56119381700003 meters Centerline goodness : 0.933674 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96445813e-01 -7.47601987e-02 -3.88156367e-02 1.99040141e+01] [ 7.41759154e-02 9.97112232e-01 -1.62828266e-02 -3.73200714e-01] [ 3.99208535e-02 1.33457690e-02 9.99113715e-01 -2.13050292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59119381700003 meters Centerline goodness : 0.937644 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.37, Z:-2.13 [[ 9.96432693e-01 -7.48344047e-02 -3.90089750e-02 1.99044687e+01] [ 7.42541774e-02 9.97109074e-01 -1.61186995e-02 -3.73617488e-01] [ 4.01024362e-02 1.31646198e-02 9.99108847e-01 -2.13052587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62119381700003 meters Centerline goodness : 0.935726 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.37, Z:-2.13 [[ 9.96463960e-01 -7.64832114e-02 -3.47835409e-02 1.99146735e+01] [ 7.62724824e-02 9.97059941e-01 -7.34733596e-03 -3.74892420e-01] [ 3.52432231e-02 4.66832847e-03 9.99367861e-01 -2.13250090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65119381700003 meters Centerline goodness : 0.937335 Centerline is valid? [False, False] Translation: X:19.92, Y:-0.38, Z:-2.13 [[ 9.96437867e-01 -7.66951277e-02 -3.50633038e-02 1.99152929e+01] [ 7.64811284e-02 9.97043522e-01 -7.40625534e-03 -3.75237397e-01] [ 3.55276636e-02 4.69819223e-03 9.99357650e-01 -2.13246262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68119381700004 meters Centerline goodness : 0.938103 Centerline is valid? [False, False] Translation: X:19.92, Y:-0.38, Z:-2.13 [[ 9.96435883e-01 -7.66292390e-02 -3.52631681e-02 1.99157876e+01] [ 7.64203874e-02 9.97049438e-01 -7.23484246e-03 -3.75685297e-01] [ 3.57135224e-02 4.51423167e-03 9.99351873e-01 -2.13250551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71119381700004 meters Centerline goodness : 0.940565 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.37, Z:-2.14 [[ 9.96667281e-01 -7.54416619e-02 -3.10304152e-02 1.99277274e+01] [ 7.49918087e-02 9.97064984e-01 -1.54157563e-02 -3.73954977e-01] [ 3.21023307e-02 1.30373530e-02 9.99399554e-01 -2.13568270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74119381700004 meters Centerline goodness : 0.937382 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.37, Z:-2.14 [[ 9.96653728e-01 -7.55198286e-02 -3.12746069e-02 1.99284659e+01] [ 7.50646419e-02 9.97058460e-01 -1.54831262e-02 -3.73417956e-01] [ 3.23518944e-02 1.30836983e-02 9.99390900e-01 -2.13599931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.771193817 meters Centerline goodness : 0.938371 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.37, Z:-2.14 [[ 9.96788220e-01 -7.39815684e-02 -3.06589759e-02 1.99484646e+01] [ 7.35756216e-02 9.97189034e-01 -1.41653728e-02 -3.72622105e-01] [ 3.16207711e-02 1.18641235e-02 9.99429522e-01 -2.13584807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters Centerline goodness : 0.939729 Centerline is valid? [False, False] Translation: X:19.95, Y:-0.37, Z:-2.14 [[ 9.96783742e-01 -7.39990379e-02 -3.07622038e-02 1.99486406e+01] [ 7.35872417e-02 9.97186094e-01 -1.43112417e-02 -3.71766489e-01] [ 3.17346600e-02 1.20015073e-02 9.99424272e-01 -2.13577356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.831193817 meters Centerline goodness : 0.941378 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.37, Z:-2.14 [[ 9.97052368e-01 -7.27152706e-02 -2.44758197e-02 1.99599552e+01] [ 7.21966042e-02 9.97159791e-01 -2.14476518e-02 -3.69007956e-01] [ 2.59658751e-02 1.96173609e-02 9.99470326e-01 -2.13911042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters Centerline goodness : 0.941353 Centerline is valid? [False, False] Translation: X:19.97, Y:-0.37, Z:-2.14 [[ 9.97115097e-01 -7.33882550e-02 -1.93816407e-02 1.99699189e+01] [ 7.31521285e-02 9.97240892e-01 -1.26241771e-02 -3.69728448e-01] [ 2.02546310e-02 1.11699493e-02 9.99732455e-01 -2.14151923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89119381700002 meters Centerline goodness : 0.943973 Centerline is valid? [False, False] Translation: X:19.97, Y:-0.37, Z:-2.14 [[ 9.97103526e-01 -7.35053223e-02 -1.95326913e-02 1.99702660e+01] [ 7.32618940e-02 9.97229306e-01 -1.28998449e-02 -3.69121501e-01] [ 2.04267794e-02 1.14314789e-02 9.99725996e-01 -2.14149766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters Centerline goodness : 0.941052 Centerline is valid? [False, False] Translation: X:19.97, Y:-0.37, Z:-2.14 [[ 9.97063816e-01 -7.39847675e-02 -1.97484565e-02 1.99710548e+01] [ 7.37219405e-02 9.97184434e-01 -1.37215372e-02 -3.67436445e-01] [ 2.07080381e-02 1.22253537e-02 9.99710817e-01 -2.14193222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95119381700002 meters Centerline goodness : 0.940998 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.37, Z:-2.15 [[ 9.97251692e-01 -7.22726275e-02 -1.63012124e-02 1.99842800e+01] [ 7.19277485e-02 9.97192213e-01 -2.08347967e-02 -3.65569681e-01] [ 1.77612276e-02 1.96050267e-02 9.99650030e-01 -2.14575518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98119381700002 meters Centerline goodness : 0.941116 Centerline is valid? [False, False] Translation: X:19.99, Y:-0.37, Z:-2.15 [[ 9.97055133e-01 -7.57965117e-02 -1.16597573e-02 1.99946005e+01] [ 7.56314642e-02 9.97037561e-01 -1.39993952e-02 -3.65209616e-01] [ 1.26863213e-02 1.30763243e-02 9.99834020e-01 -2.14856703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01119381700002 meters Centerline goodness : 0.941117 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.37, Z:-2.15 [[ 9.97018828e-01 -7.62319387e-02 -1.19225566e-02 1.99954355e+01] [ 7.60614427e-02 9.97002664e-01 -1.41543057e-02 -3.65357440e-01] [ 1.29658309e-02 1.32052625e-02 9.99828739e-01 -2.14885543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04119381700002 meters Centerline goodness : 0.940652 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.37, Z:-2.15 [[ 9.96978579e-01 -7.67206506e-02 -1.21513574e-02 1.99962282e+01] [ 7.65445667e-02 9.96962917e-01 -1.43482148e-02 -3.65431932e-01] [ 1.32152571e-02 1.33747424e-02 9.99823221e-01 -2.14915902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07119381700002 meters Centerline goodness : 0.939388 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.36, Z:-2.15 [[ 9.96863284e-01 -7.81352261e-02 -1.25888726e-02 1.99980862e+01] [ 7.79368085e-02 9.96837039e-01 -1.55490183e-02 -3.64817678e-01] [ 1.37639805e-02 1.45191089e-02 9.99799854e-01 -2.15014740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10119381700002 meters Centerline goodness : 0.938834 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.36, Z:-2.15 [[ 9.96690736e-01 -8.02408956e-02 -1.29990629e-02 2.00003423e+01] [ 8.00128523e-02 9.96645342e-01 -1.72047996e-02 -3.63839149e-01] [ 1.43359841e-02 1.61077723e-02 9.99767483e-01 -2.15157705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13119381700002 meters Centerline goodness : 0.937829 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.36, Z:-2.15 [[ 9.96652510e-01 -8.06733509e-02 -1.32508240e-02 2.00016823e+01] [ 8.04369258e-02 9.96606069e-01 -1.74998237e-02 -3.63477815e-01] [ 1.46176210e-02 1.63753876e-02 9.99759057e-01 -2.15254259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16119381700003 meters Centerline goodness : 0.937618 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.36, Z:-2.15 [[ 9.96541478e-01 -8.19736118e-02 -1.36165199e-02 2.00037364e+01] [ 8.17100469e-02 9.96476911e-01 -1.89006121e-02 -3.61579977e-01] [ 1.51178991e-02 1.77226374e-02 9.99728642e-01 -2.15394994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19119381700003 meters Centerline goodness : 0.937497 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.36, Z:-2.15 [[ 9.96504475e-01 -8.24093858e-02 -1.36939882e-02 2.00043599e+01] [ 8.21349757e-02 9.96430023e-01 -1.95206349e-02 -3.59492572e-01] [ 1.52537845e-02 1.83276447e-02 9.99715669e-01 -2.15448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22119381700003 meters Centerline goodness : 0.937038 Centerline is valid? [False, False] Translation: X:20.02, Y:-0.36, Z:-2.16 [[ 9.96721899e-01 -8.04530911e-02 -8.52974323e-03 2.00181460e+01] [ 8.02238936e-02 9.96476518e-01 -2.44678538e-02 -3.55636110e-01] [ 1.04682033e-02 2.37033565e-02 9.99664227e-01 -2.15814057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25119381700003 meters Centerline goodness : 0.939226 Centerline is valid? [False, False] Translation: X:20.02, Y:-0.35, Z:-2.16 [[ 9.96964288e-01 -7.73210876e-02 -9.14651528e-03 2.00186239e+01] [ 7.71130970e-02 9.96795923e-01 -2.12475442e-02 -3.54105408e-01] [ 1.07600924e-02 2.04777266e-02 9.99732406e-01 -2.15784023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28119381700003 meters Centerline goodness : 0.939508 Centerline is valid? [False, False] Translation: X:20.04, Y:-0.35, Z:-2.16 [[ 9.97133719e-01 -7.53681195e-02 -6.63273110e-03 2.00364686e+01] [ 7.51909228e-02 9.96884833e-01 -2.38108147e-02 -3.46733825e-01] [ 8.40664537e-03 2.32438451e-02 9.99694479e-01 -2.15879358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31119381700003 meters Centerline goodness : 0.937915 Centerline is valid? [False, False] Translation: X:20.05, Y:-0.34, Z:-2.16 [[ 9.97357228e-01 -7.26514960e-02 -5.65420920e-04 2.00485199e+01] [ 7.26030553e-02 9.96922390e-01 -2.95726910e-02 -3.42966222e-01] [ 2.71218102e-03 2.94534858e-02 9.99562472e-01 -2.16263124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34119381700003 meters Centerline goodness : 0.938844 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.34, Z:-2.17 [[ 9.97555230e-01 -6.96600751e-02 5.57108807e-03 2.00607898e+01] [ 6.98114602e-02 9.96963048e-01 -3.45114683e-02 -3.39073586e-01] [-3.15009747e-03 3.48160215e-02 9.99388774e-01 -2.16620384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37119381700003 meters Centerline goodness : 0.943318 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.34, Z:-2.17 [[ 9.97795061e-01 -6.61632016e-02 5.23906350e-03 2.00606026e+01] [ 6.62947593e-02 9.97314550e-01 -3.11238511e-02 -3.37359134e-01] [-3.16574062e-03 3.14025473e-02 9.99501805e-01 -2.16569892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40119381700003 meters Centerline goodness : 0.941367 Centerline is valid? [False, False] Translation: X:20.08, Y:-0.33, Z:-2.17 [[ 9.98064298e-01 -6.16207682e-02 8.39874139e-03 2.00773748e+01] [ 6.18469995e-02 9.97633276e-01 -3.00465493e-02 -3.28098002e-01] [-6.52737244e-03 3.05078251e-02 9.99513215e-01 -2.16589791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43119381700004 meters Centerline goodness : 0.945869 Centerline is valid? [False, False] Translation: X:20.08, Y:-0.33, Z:-2.17 [[ 9.98291643e-01 -5.78874916e-02 7.92677273e-03 2.00777942e+01] [ 5.80800758e-02 9.97954361e-01 -2.67170056e-02 -3.25554307e-01] [-6.36397697e-03 2.71317510e-02 9.99611609e-01 -2.16574187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46119381700004 meters Centerline goodness : 0.940774 Centerline is valid? [False, False] Translation: X:20.08, Y:-0.32, Z:-2.17 [[ 9.98495121e-01 -5.43298867e-02 7.46710291e-03 2.00784781e+01] [ 5.44923259e-02 9.98234914e-01 -2.36144772e-02 -3.23288647e-01] [-6.17095096e-03 2.39858400e-02 9.99693252e-01 -2.16586662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49119381700004 meters Centerline goodness : 0.941754 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.32, Z:-2.17 [[ 9.98964468e-01 -4.50351131e-02 6.46766772e-03 2.01010768e+01] [ 4.52173932e-02 9.98479418e-01 -3.15315477e-02 -3.17737001e-01] [-5.03780629e-03 3.17913468e-02 9.99481831e-01 -2.16753869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.521193817 meters Centerline goodness : 0.938835 Centerline is valid? [False, False] Translation: X:20.12, Y:-0.32, Z:-2.17 [[ 9.99117990e-01 -4.18137799e-02 3.85363348e-03 2.01237757e+01] [ 4.19065832e-02 9.98717701e-01 -2.84040999e-02 -3.16288961e-01] [-2.66100918e-03 2.85405398e-02 9.99589094e-01 -2.16901258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.551193817 meters Centerline goodness : 0.939497 Centerline is valid? [False, False] Translation: X:20.12, Y:-0.32, Z:-2.17 [[ 9.99259724e-01 -3.83124349e-02 3.48735046e-03 2.01246498e+01] [ 3.83869418e-02 9.98958722e-01 -2.46559403e-02 -3.16098558e-01] [-2.53909005e-03 2.47715568e-02 9.99689913e-01 -2.16955378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.581193817 meters Centerline goodness : 0.937046 Centerline is valid? [False, False] Translation: X:20.13, Y:-0.31, Z:-2.17 [[ 9.99254524e-01 -3.84667550e-02 3.27190662e-03 2.01253671e+01] [ 3.85371708e-02 9.98938981e-01 -2.52150431e-02 -3.13919587e-01] [-2.29849418e-03 2.53223359e-02 9.99676696e-01 -2.16986856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61119381700001 meters Centerline goodness : 0.937617 Centerline is valid? [False, False] Translation: X:20.13, Y:-0.31, Z:-2.17 [[ 9.99238055e-01 -3.89093750e-02 3.06119273e-03 2.01260528e+01] [ 3.89754849e-02 9.98907536e-01 -2.57807306e-02 -3.12361914e-01] [-2.05473637e-03 2.58803985e-02 9.99662935e-01 -2.17008749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters Centerline goodness : 0.939043 Centerline is valid? [False, False] Translation: X:20.13, Y:-0.31, Z:-2.17 [[ 9.99224418e-01 -3.92822491e-02 2.73281599e-03 2.01268849e+01] [ 3.93401800e-02 9.98886560e-01 -2.60382543e-02 -3.11767355e-01] [-1.70693197e-03 2.61255690e-02 9.99657212e-01 -2.17025261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67119381700002 meters Centerline goodness : 0.934438 Centerline is valid? [False, False] Translation: X:20.13, Y:-0.31, Z:-2.17 [[ 9.99038543e-01 -4.37695636e-02 2.49309023e-03 2.01283195e+01] [ 4.38254055e-02 9.98570806e-01 -3.05888635e-02 -3.10485143e-01] [-1.15066591e-03 3.06687143e-02 9.99528942e-01 -2.17104880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters Centerline goodness : 0.935106 Centerline is valid? [False, False] Translation: X:20.13, Y:-0.31, Z:-2.17 [[ 9.99017614e-01 -4.42626845e-02 2.14972720e-03 2.01294292e+01] [ 4.43077615e-02 9.98549748e-01 -3.05814204e-02 -3.11593323e-01] [-7.92993789e-04 3.06466273e-02 9.99529967e-01 -2.17158369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73119381700002 meters Centerline goodness : 0.933985 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98892303e-01 -4.65646961e-02 6.77472004e-03 2.01405840e+01] [ 4.67053191e-02 9.98658909e-01 -2.23382121e-02 -3.13470317e-01] [-5.72546247e-03 2.26298836e-02 9.99727517e-01 -2.17526717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76119381700002 meters Centerline goodness : 0.936402 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98835168e-01 -4.77838196e-02 6.70918794e-03 2.01411691e+01] [ 4.79274527e-02 9.98581599e-01 -2.31894370e-02 -3.12073597e-01] [-5.59159175e-03 2.34839795e-02 9.99708576e-01 -2.17572102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79119381700002 meters Centerline goodness : 0.935186 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98811211e-01 -4.83127373e-02 6.48415237e-03 2.01419374e+01] [ 4.84532130e-02 9.98546313e-01 -2.36124407e-02 -3.10966576e-01] [-5.33394480e-03 2.38985485e-02 9.99700159e-01 -2.17604400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82119381700002 meters Centerline goodness : 0.935006 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98788249e-01 -4.88186664e-02 6.22661072e-03 2.01428989e+01] [ 4.89549915e-02 9.98511750e-01 -2.40352619e-02 -3.09865405e-01] [-5.04397454e-03 2.43109608e-02 9.99691720e-01 -2.17651926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85119381700002 meters Centerline goodness : 0.931777 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98757713e-01 -4.94751866e-02 5.93609901e-03 2.01439645e+01] [ 4.96063439e-02 9.98468939e-01 -2.44742214e-02 -3.09268569e-01] [-4.71614381e-03 2.47382855e-02 9.99682837e-01 -2.17704863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88119381700002 meters Centerline goodness : 0.930521 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.31, Z:-2.18 [[ 9.98608964e-01 -5.24239302e-02 5.64524977e-03 2.01456195e+01] [ 5.25581429e-02 9.98251025e-01 -2.70653403e-02 -3.07093196e-01] [-4.21650486e-03 2.73243953e-02 9.99617726e-01 -2.17794798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91119381700003 meters Centerline goodness : 0.931971 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.31, Z:-2.18 [[ 9.98580461e-01 -5.29665855e-02 5.62164434e-03 2.01452406e+01] [ 5.31023961e-02 9.98206179e-01 -2.76506728e-02 -3.05558643e-01] [-4.14699839e-03 2.79099444e-02 9.99601839e-01 -2.17722198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94119381700003 meters Centerline goodness : 0.935927 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.31, Z:-2.18 [[ 9.98709371e-01 -5.04957521e-02 5.45633360e-03 2.01449200e+01] [ 5.06147365e-02 9.98418401e-01 -2.44712943e-02 -3.05174732e-01] [-4.21200747e-03 2.47158818e-02 9.99685643e-01 -2.17665462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97119381700003 meters Centerline goodness : 0.937810 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.30, Z:-2.18 [[ 9.98836693e-01 -4.79622773e-02 4.98808071e-03 2.01453628e+01] [ 4.80586134e-02 9.98614704e-01 -2.14252895e-02 -3.04319172e-01] [-3.95356507e-03 2.16400855e-02 9.99758009e-01 -2.17637512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00119381700003 meters Centerline goodness : 0.937026 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.30, Z:-2.18 [[ 9.98813128e-01 -4.84803211e-02 4.68969826e-03 2.01458056e+01] [ 4.85736845e-02 9.98567969e-01 -2.24189387e-02 -3.01278065e-01] [-3.59610512e-03 2.26201262e-02 9.99737665e-01 -2.17601989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03119381700003 meters Centerline goodness : 0.935762 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.30, Z:-2.18 [[ 9.98791207e-01 -4.89529875e-02 4.44181059e-03 2.01463247e+01] [ 4.90443214e-02 9.98519304e-01 -2.35340989e-02 -2.97578065e-01] [-3.28316917e-03 2.37234966e-02 9.99713167e-01 -2.17593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06119381700003 meters Centerline goodness : 0.939934 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.29, Z:-2.18 [[ 9.98887080e-01 -4.69883096e-02 4.08668887e-03 2.01464219e+01] [ 4.70687328e-02 9.98637642e-01 -2.25254127e-02 -2.90206634e-01] [-3.02269027e-03 2.26926990e-02 9.99737918e-01 -2.17526036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09119381700003 meters Centerline goodness : 0.938627 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.29, Z:-2.18 [[ 9.99004705e-01 -4.44596053e-02 3.59756826e-03 2.01476408e+01] [ 4.45235642e-02 9.98803013e-01 -2.02532505e-02 -2.86788500e-01] [-2.69281050e-03 2.03932691e-02 9.99788409e-01 -2.17575076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12119381700003 meters Centerline goodness : 0.938950 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.28, Z:-2.18 [[ 9.99144227e-01 -4.12229107e-02 3.38891270e-03 2.01478857e+01] [ 4.12758275e-02 9.98996245e-01 -1.74014092e-02 -2.83605144e-01] [-2.66817433e-03 1.75263977e-02 9.99842841e-01 -2.17579422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15119381700003 meters Centerline goodness : 0.939934 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.28, Z:-2.18 [[ 9.99276336e-01 -3.79011768e-02 3.21003738e-03 2.01479825e+01] [ 3.79442578e-02 9.99172685e-01 -1.46348434e-02 -2.79810193e-01] [-2.65270388e-03 1.47460552e-02 9.99887752e-01 -2.17569268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18119381700004 meters Centerline goodness : 0.941624 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.27, Z:-2.18 [[ 9.99503815e-01 -3.13598042e-02 2.94722728e-03 2.01480685e+01] [ 3.13862202e-02 9.99463217e-01 -9.39054171e-03 -2.71982385e-01] [-2.65115972e-03 9.47838459e-03 9.99951565e-01 -2.17560360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21119381700004 meters Centerline goodness : 0.938394 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.27, Z:-2.18 [[ 9.99684793e-01 -2.49575246e-02 2.72687177e-03 2.01482090e+01] [ 2.49649841e-02 9.99684580e-01 -2.73664394e-03 -2.69718741e-01] [-2.65771180e-03 2.80385764e-03 9.99992537e-01 -2.17563948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24119381700004 meters Centerline goodness : 0.942505 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.27, Z:-2.18 [[ 9.99765285e-01 -2.15096087e-02 2.59064727e-03 2.01482938e+01] [ 2.15099034e-02 9.99768632e-01 -8.59515200e-05 -2.65232220e-01] [-2.58819909e-03 1.41655918e-04 9.99996641e-01 -2.17547300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.271193817 meters Centerline goodness : 0.943306 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.25, Z:-2.17 [[ 9.99870110e-01 -1.58553255e-02 2.89325001e-03 2.01466945e+01] [ 1.58451770e-02 9.99868340e-01 3.49749809e-03 -2.54836429e-01] [-2.94832305e-03 -3.45119974e-03 9.99989698e-01 -2.17444278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.301193817 meters Centerline goodness : 0.943306 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.25, Z:-2.17 [[ 9.99870110e-01 -1.58553255e-02 2.89325001e-03 2.01466945e+01] [ 1.58451770e-02 9.99868340e-01 3.49749809e-03 -2.54836429e-01] [-2.94832305e-03 -3.45119974e-03 9.99989698e-01 -2.17444278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.331193817 meters Centerline goodness : 0.942609 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.25, Z:-2.17 [[ 9.99920768e-01 -1.22821234e-02 2.75828848e-03 2.01466856e+01] [ 1.22649243e-02 9.99905759e-01 6.16811957e-03 -2.50431784e-01] [-2.83378614e-03 -6.13380065e-03 9.99977173e-01 -2.17424534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters Centerline goodness : 0.944785 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.25, Z:-2.17 [[ 9.99956317e-01 -9.00062224e-03 2.52038241e-03 2.01473614e+01] [ 8.97869383e-03 9.99922875e-01 8.58062173e-03 -2.46013809e-01] [-2.59741896e-03 -8.55761716e-03 9.99960010e-01 -2.17449746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39119381700002 meters Centerline goodness : 0.941293 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.24, Z:-2.18 [[ 9.99994438e-01 -2.33194562e-03 2.38442244e-03 2.01483588e+01] [ 2.29928789e-03 9.99904756e-01 1.36085028e-02 -2.38331018e-01] [-2.41592963e-03 -1.36029446e-02 9.99904557e-01 -2.17546949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters Centerline goodness : 0.941252 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.24, Z:-2.18 [[ 9.99996522e-01 1.10423699e-03 2.39512973e-03 2.01485741e+01] [-1.14334051e-03 9.99865074e-01 1.63868071e-02 -2.35188397e-01] [-2.37671165e-03 -1.63894886e-02 9.99862859e-01 -2.17565863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45119381700002 meters Centerline goodness : 0.944129 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.23, Z:-2.18 [[ 9.99986997e-01 4.58995347e-03 2.22204510e-03 2.01489519e+01] [-4.63182544e-03 9.99804540e-01 1.92205346e-02 -2.31885100e-01] [-2.13338942e-03 -1.92305768e-02 9.99812799e-01 -2.17558304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48119381700002 meters Centerline goodness : 0.943936 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.23, Z:-2.18 [[ 9.99964120e-01 8.22765487e-03 2.01615085e-03 2.01496810e+01] [-8.27042296e-03 9.99719075e-01 2.22119829e-02 -2.28995377e-01] [-1.83283193e-03 -2.22278603e-02 9.99751251e-01 -2.17582792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51119381700002 meters Centerline goodness : 0.943288 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.23, Z:-2.18 [[ 9.99931479e-01 1.15734512e-02 1.75857885e-03 2.01504316e+01] [-1.16141343e-02 9.99614493e-01 2.52186024e-02 -2.27121780e-01] [-1.46603464e-03 -2.52372988e-02 9.99680414e-01 -2.17609456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54119381700002 meters Centerline goodness : 0.942262 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.22, Z:-2.18 [[ 9.99928116e-01 1.19404103e-02 1.09043761e-03 2.01521766e+01] [-1.19636639e-02 9.99624640e-01 2.46465125e-02 -2.24518648e-01] [-7.95738828e-04 -2.46577864e-02 9.99695634e-01 -2.17660902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57119381700002 meters Centerline goodness : 0.938015 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.22, Z:-2.18 [[ 9.99885077e-01 1.51456083e-02 6.65182221e-04 2.01545999e+01] [-1.51581516e-02 9.99509348e-01 2.74097454e-02 -2.22650800e-01] [-2.49718581e-04 -2.74166783e-02 9.99624061e-01 -2.17835554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60119381700002 meters Centerline goodness : 0.936927 Centerline is valid? [False, False] Translation: X:20.16, Y:-0.22, Z:-2.18 [[ 9.99864167e-01 1.64817632e-02 -4.39055310e-06 2.01574157e+01] [-1.64750405e-02 9.99463870e-01 2.82938983e-02 -2.22194885e-01] [ 4.70721532e-04 -2.82899827e-02 9.99599648e-01 -2.18011101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63119381700002 meters Centerline goodness : 0.935915 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.22, Z:-2.18 [[ 9.99858817e-01 1.67916027e-02 -6.22418604e-04 2.01785953e+01] [-1.67660229e-02 9.99426369e-01 2.94250404e-02 -2.22238710e-01] [ 1.11615515e-03 -2.94104506e-02 9.99566796e-01 -2.18102047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66119381700003 meters Centerline goodness : 0.939383 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.22, Z:-2.18 [[ 9.99848908e-01 1.73515689e-02 -1.04152214e-03 2.01795367e+01] [-1.73131298e-02 9.99411475e-01 2.96134976e-02 -2.22419124e-01] [ 1.55474982e-03 -2.95909913e-02 9.99560882e-01 -2.18107525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69119381700003 meters Centerline goodness : 0.939232 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.22, Z:-2.18 [[ 9.99802413e-01 1.97475312e-02 2.27373919e-03 2.01895192e+01] [-1.97920595e-02 9.99570985e-01 2.15898285e-02 -2.22470736e-01] [-1.84641791e-03 -2.16305646e-02 9.99764327e-01 -2.18225313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72119381700003 meters Centerline goodness : 0.942419 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.23, Z:-2.18 [[ 9.99777934e-01 2.09669804e-02 2.11405976e-03 2.01897873e+01] [-2.10100805e-02 9.99514854e-01 2.29920378e-02 -2.25581633e-01] [-1.63096052e-03 -2.30313487e-02 9.99733413e-01 -2.18190118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75119381700003 meters Centerline goodness : 0.942993 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.23, Z:-2.18 [[ 9.99796778e-01 1.98793105e-02 3.34900933e-03 2.02091259e+01] [-1.99550416e-02 9.99504473e-01 2.43434905e-02 -2.27939140e-01] [-2.86341800e-03 -2.44053730e-02 9.99698044e-01 -2.18223108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78119381700003 meters Centerline goodness : 0.943259 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.23, Z:-2.18 [[ 9.99820144e-01 1.79147292e-02 6.22425119e-03 2.02268652e+01] [-1.80653817e-02 9.99522817e-01 2.50555382e-02 -2.31138686e-01] [-5.77241790e-03 -2.51634753e-02 9.99666684e-01 -2.18218569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81119381700003 meters Centerline goodness : 0.945533 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.25, Z:-2.18 [[ 9.99855203e-01 1.08659180e-02 1.30959871e-02 2.02550808e+01] [-1.15191431e-02 9.98638223e-01 5.08823119e-02 -2.47018156e-01] [-1.25252703e-02 -5.10257989e-02 9.98618789e-01 -2.18102017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84119381700003 meters Centerline goodness : 0.946398 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.26, Z:-2.18 [[ 9.99821502e-01 4.97900893e-03 1.82256205e-02 2.02776696e+01] [-6.66534419e-03 9.95581232e-01 9.36674062e-02 -2.63529056e-01] [-1.76787149e-02 -9.37721668e-02 9.95436710e-01 -2.17639205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87119381700003 meters Centerline goodness : 0.947206 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.27, Z:-2.18 [[ 9.99817822e-01 7.59831273e-04 1.90721349e-02 2.02771823e+01] [-2.50769600e-03 9.95775294e-01 9.17893017e-02 -2.67834039e-01] [-1.89218163e-02 -9.18204067e-02 9.95595790e-01 -2.17505231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90119381700003 meters Centerline goodness : 0.947284 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.27, Z:-2.17 [[ 9.99811794e-01 -3.11361433e-03 1.91489185e-02 2.02771490e+01] [ 1.39096448e-03 9.96001631e-01 8.93242226e-02 -2.71648647e-01] [-1.93504752e-02 -8.92807758e-02 9.95818509e-01 -2.17426283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93119381700004 meters Centerline goodness : 0.948528 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.27, Z:-2.17 [[ 9.99861351e-01 -5.29136333e-03 1.57886054e-02 2.02521329e+01] [ 4.15425055e-03 9.97453121e-01 7.12040285e-02 -2.71288711e-01] [-1.61251601e-02 -7.11285663e-02 9.97336807e-01 -2.16856988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96119381700004 meters Centerline goodness : 0.949270 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.28, Z:-2.17 [[ 9.99803805e-01 -1.12939361e-02 1.62726210e-02 2.02253790e+01] [ 1.03407251e-02 9.98291020e-01 5.75161581e-02 -2.76275055e-01] [-1.68943953e-02 -5.73366030e-02 9.98211948e-01 -2.16835358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99119381700004 meters Centerline goodness : 0.947708 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.27, Z:-2.17 [[ 9.99698103e-01 -1.36239159e-02 2.04472760e-02 2.02267198e+01] [ 1.28732394e-02 9.99254166e-01 3.64059134e-02 -2.74736983e-01] [-2.09280168e-02 -3.61316998e-02 9.99127879e-01 -2.17082971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters Centerline goodness : 0.948183 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.27, Z:-2.17 [[ 9.99718478e-01 -1.56615296e-02 1.78236410e-02 2.02205772e+01] [ 1.52594889e-02 9.99630980e-01 2.24733661e-02 -2.74488341e-01] [-1.81690310e-02 -2.21950597e-02 9.99588548e-01 -2.17205832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.051193817 meters Centerline goodness : 0.945369 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99687967e-01 -1.82068808e-02 1.71020208e-02 2.02232299e+01] [ 1.78636127e-02 9.99640090e-01 2.00145522e-02 -2.76368969e-01] [-1.74602682e-02 -1.97028031e-02 9.99653409e-01 -2.17343016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters Centerline goodness : 0.946064 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99738714e-01 -1.73840868e-02 1.48424090e-02 2.02155745e+01] [ 1.72470086e-02 9.99807875e-01 9.31417063e-03 -2.76625658e-01] [-1.50014757e-02 -9.05574981e-03 9.99846463e-01 -2.17349362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11119381700001 meters Centerline goodness : 0.943892 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99743114e-01 -1.73144213e-02 1.46258742e-02 2.02159823e+01] [ 1.71795858e-02 9.99809216e-01 9.29485108e-03 -2.76749841e-01] [-1.47840188e-02 -9.04119690e-03 9.99849833e-01 -2.17338033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters Centerline goodness : 0.943029 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99753073e-01 -1.69664239e-02 1.43503986e-02 2.02163778e+01] [ 1.68294378e-02 9.99812160e-01 9.61330614e-03 -2.77290695e-01] [-1.45108065e-02 -9.36942321e-03 9.99850814e-01 -2.17309629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17119381700002 meters Centerline goodness : 0.943235 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99758018e-01 -1.67433075e-02 1.42677192e-02 2.02162696e+01] [ 1.66037066e-02 9.99813656e-01 9.84730859e-03 -2.77661133e-01] [-1.44299370e-02 -9.60802869e-03 9.99849720e-01 -2.17263114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters Centerline goodness : 0.945155 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99759826e-01 -1.65953860e-02 1.43137783e-02 2.02157878e+01] [ 1.64499567e-02 9.99812471e-01 1.02186907e-02 -2.78067143e-01] [-1.44806772e-02 -9.98077538e-03 9.99845335e-01 -2.17187347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23119381700002 meters Centerline goodness : 0.944105 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99760501e-01 -1.68121165e-02 1.40104833e-02 2.02164517e+01] [ 1.66743385e-02 9.99812026e-01 9.89339048e-03 -2.77429593e-01] [-1.41741785e-02 -9.65740548e-03 9.99852903e-01 -2.17187850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26119381700002 meters Centerline goodness : 0.943746 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99762203e-01 -1.67448618e-02 1.39695347e-02 2.02168602e+01] [ 1.66103055e-02 9.99815053e-01 9.69318693e-03 -2.76462702e-01] [-1.41292622e-02 -9.45884368e-03 9.99855437e-01 -2.17219617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29119381700002 meters Centerline goodness : 0.943546 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99816110e-01 -1.34425924e-02 1.36763397e-02 2.02175563e+01] [ 1.32567242e-02 9.99819748e-01 1.35915662e-02 -2.77156074e-01] [-1.38565804e-02 -1.34077634e-02 9.99814096e-01 -2.17252201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32119381700002 meters Centerline goodness : 0.939383 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.28, Z:-2.17 [[ 9.99861690e-01 -9.93643312e-03 1.33367209e-02 2.02182133e+01] [ 9.70126445e-03 9.99798332e-01 1.75835272e-02 -2.77684719e-01] [-1.35087489e-02 -1.74517122e-02 9.99756446e-01 -2.17264254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35119381700002 meters Centerline goodness : 0.940346 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99955851e-01 -2.80284624e-03 8.96885842e-03 2.02095197e+01] [ 2.68679941e-03 9.99912861e-01 1.29248573e-02 -2.74603664e-01] [-9.00430327e-03 -1.29001892e-02 9.99876246e-01 -2.17078234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38119381700002 meters Centerline goodness : 0.937069 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99961486e-01 9.94433870e-04 8.71992764e-03 2.02098726e+01] [-1.13932477e-03 9.99861115e-01 1.66268731e-02 -2.73873726e-01] [-8.70218225e-03 -1.66361675e-02 9.99823739e-01 -2.17060177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41119381700003 meters Centerline goodness : 0.935906 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99952145e-01 4.82064604e-03 8.51288252e-03 2.02097853e+01] [-4.99407883e-03 9.99777982e-01 2.04706303e-02 -2.73730342e-01] [-8.41231084e-03 -2.05121647e-02 9.99754212e-01 -2.16985403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44119381700003 meters Centerline goodness : 0.940292 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99939904e-01 6.77932499e-03 8.61566628e-03 2.02082170e+01] [-6.96765057e-03 9.99733255e-01 2.20197941e-02 -2.73253627e-01] [-8.46408875e-03 -2.20785017e-02 9.99720410e-01 -2.16808381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47119381700003 meters Centerline goodness : 0.938878 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99901004e-01 1.11849819e-02 8.53687270e-03 2.02084378e+01] [-1.14084004e-02 9.99581398e-01 2.65871467e-02 -2.73835332e-01] [-8.23592239e-03 -2.66819068e-02 9.99610047e-01 -2.16795293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50119381700003 meters Centerline goodness : 0.938746 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99901341e-01 1.13850320e-02 8.22735797e-03 2.02091988e+01] [-1.15989566e-02 9.99583124e-01 2.64393917e-02 -2.72738281e-01] [-7.92291486e-03 -2.65322119e-02 9.99616561e-01 -2.16817111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53119381700003 meters Centerline goodness : 0.938768 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99903991e-01 1.13454503e-02 7.95550804e-03 2.02097361e+01] [-1.15516381e-02 9.99585524e-01 2.63692963e-02 -2.72215843e-01] [-7.65303914e-03 -2.64586638e-02 9.99620613e-01 -2.16808419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56119381700003 meters Centerline goodness : 0.936949 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.27, Z:-2.17 [[ 9.99907724e-01 1.12232951e-02 7.65381464e-03 2.02102371e+01] [-1.14236698e-02 9.99579314e-01 2.66588746e-02 -2.73014745e-01] [-7.35139437e-03 -2.67438493e-02 9.99615288e-01 -2.16796387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59119381700003 meters Centerline goodness : 0.935042 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.28, Z:-2.17 [[ 9.99982086e-01 4.34918710e-03 4.11255829e-03 2.02090447e+01] [-4.50246488e-03 9.99266581e-01 3.80266710e-02 -2.77207029e-01] [-3.94415695e-03 -3.80445064e-02 9.99268262e-01 -2.16646431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62119381700003 meters Centerline goodness : 0.935593 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.28, Z:-2.16 [[ 9.99993730e-01 9.46683012e-04 3.41232669e-03 2.01885361e+01] [-1.06250702e-03 9.99417779e-01 3.41023997e-02 -2.76223937e-01] [-3.37805580e-03 -3.41058115e-02 9.99412519e-01 -2.16481991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65119381700003 meters Centerline goodness : 0.935771 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.28, Z:-2.16 [[ 9.99988351e-01 -3.54072436e-03 3.28030545e-03 2.01886740e+01] [ 3.44247195e-03 9.99559188e-01 2.94886325e-02 -2.75314579e-01] [-3.38327057e-03 -2.94769966e-02 9.99559733e-01 -2.16460318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68119381700004 meters Centerline goodness : 0.936500 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.28, Z:-2.16 [[ 9.99979762e-01 -6.08697851e-03 1.85021700e-03 2.01685543e+01] [ 6.03359032e-03 9.99600638e-01 2.76072392e-02 -2.75271939e-01] [-2.01752277e-03 -2.75955171e-02 9.99617135e-01 -2.16310814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71119381700004 meters Centerline goodness : 0.932883 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99944703e-01 -1.03884179e-02 1.63479179e-03 2.01690568e+01] [ 1.03477234e-02 9.99677450e-01 2.31931044e-02 -2.74464612e-01] [-1.87520415e-03 -2.31749055e-02 9.99729667e-01 -2.16311792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74119381700004 meters Centerline goodness : 0.933041 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99827047e-01 -1.85499167e-02 1.33268901e-03 2.01700213e+01] [ 1.85283208e-02 9.99720076e-01 1.47129824e-02 -2.72874179e-01] [-1.60524056e-03 -1.46857453e-02 9.99890870e-01 -2.16321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.771193817 meters Centerline goodness : 0.931744 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99744855e-01 -2.25545585e-02 1.23120894e-03 2.01702469e+01] [ 2.25403987e-02 9.99690727e-01 1.05062121e-02 -2.72194915e-01] [-1.46779113e-03 -1.04757795e-02 9.99944050e-01 -2.16298088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters Centerline goodness : 0.931608 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99726617e-01 -2.33468393e-02 1.27153698e-03 2.01701235e+01] [ 2.33327048e-02 9.99675905e-01 1.01818613e-02 -2.72709448e-01] [-1.50883916e-03 -1.01494094e-02 9.99947355e-01 -2.16284143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.831193817 meters Centerline goodness : 0.934597 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99704585e-01 -2.42870288e-02 9.39513180e-04 2.01704599e+01] [ 2.42772959e-02 9.99662337e-01 9.26422574e-03 -2.70876025e-01] [-1.16419646e-03 -9.23868011e-03 9.99956645e-01 -2.16237507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters Centerline goodness : 0.934344 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99700801e-01 -2.44461264e-02 8.33893732e-04 2.01707815e+01] [ 2.44379779e-02 9.99663665e-01 8.68001357e-03 -2.68762387e-01] [-1.04580597e-03 -8.65703784e-03 9.99961980e-01 -2.16248340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89119381700002 meters Centerline goodness : 0.931754 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:-2.16 [[ 9.99705096e-01 -2.42778190e-02 5.55823725e-04 2.01718342e+01] [ 2.42723476e-02 9.99670632e-01 8.33552537e-03 -2.66813507e-01] [-7.58009031e-04 -8.31957604e-03 9.99965104e-01 -2.16313410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters Centerline goodness : 0.931204 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.26, Z:-2.16 [[ 9.99710083e-01 -2.40745850e-02 4.06496308e-04 2.01724029e+01] [ 2.40706861e-02 9.99679847e-01 7.79783450e-03 -2.64396247e-01] [-5.94095796e-04 -7.78578913e-03 9.99969514e-01 -2.16350800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95119381700002 meters Centerline goodness : 0.928736 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.26, Z:-2.16 [[ 9.99795152e-01 -2.02394526e-02 1.37775328e-04 2.01729929e+01] [ 2.02365151e-02 9.99728608e-01 1.15409302e-02 -2.63504119e-01] [-3.71320045e-04 -1.15357779e-02 9.99933392e-01 -2.16383682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98119381700002 meters Centerline goodness : 0.930161 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.26, Z:-2.16 [[ 9.99945392e-01 -1.04484555e-02 2.08106868e-04 2.01714827e+01] [ 1.04418433e-02 9.99727973e-01 2.08554072e-02 -2.59758035e-01] [-4.25957052e-04 -2.08520953e-02 9.99782481e-01 -2.16254038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01119381700002 meters Centerline goodness : 0.931526 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.26, Z:-2.16 [[ 9.99978376e-01 -6.57620990e-03 -1.72170836e-05 2.01718793e+01] [ 6.57474737e-03 9.99693495e-01 2.38681532e-02 -2.56113467e-01] [-1.39750179e-04 -2.38677503e-02 9.99715115e-01 -2.16257956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04119381700002 meters Centerline goodness : 0.929914 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.25, Z:-2.16 [[ 9.99999808e-01 -5.82038539e-04 -2.11162667e-04 2.01688048e+01] [ 5.84251771e-04 9.99943254e-01 1.06370504e-02 -2.48521526e-01] [ 2.04959511e-04 -1.06371718e-02 9.99943403e-01 -2.16067749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07119381700002 meters Centerline goodness : 0.928745 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.24, Z:-2.16 [[ 9.99969770e-01 7.33670418e-03 -2.57524199e-03 2.01739075e+01] [-7.31024019e-03 9.99921872e-01 1.01395403e-02 -2.41614203e-01] [ 2.64943160e-03 -1.01204082e-02 9.99945277e-01 -2.15627996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10119381700002 meters Centerline goodness : 0.932094 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.24, Z:-2.16 [[ 9.99931110e-01 1.14410014e-02 -2.62259635e-03 2.01740380e+01] [-1.14042837e-02 9.99842313e-01 1.36121767e-02 -2.40226163e-01] [ 2.77791973e-03 -1.35813302e-02 9.99903911e-01 -2.15619447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13119381700002 meters Centerline goodness : 0.930629 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.24, Z:-2.16 [[ 9.99873591e-01 1.56389982e-02 -2.86772474e-03 2.01747568e+01] [-1.55868777e-02 9.99727525e-01 1.73759934e-02 -2.39523928e-01] [ 3.13868648e-03 -1.73290980e-02 9.99844913e-01 -2.15643818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16119381700003 meters Centerline goodness : 0.931542 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99798265e-01 1.98689180e-02 -2.94212801e-03 2.01754468e+01] [-1.98017498e-02 9.99576433e-01 2.13271091e-02 -2.38943279e-01] [ 3.36462840e-03 -2.12645474e-02 9.99768222e-01 -2.15695801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19119381700003 meters Centerline goodness : 0.930843 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99780239e-01 2.07218716e-02 -3.17464172e-03 2.01763982e+01] [-2.06504265e-02 9.99564283e-01 2.10903609e-02 -2.36448765e-01] [ 3.61029022e-03 -2.10201683e-02 9.99772533e-01 -2.15746876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22119381700003 meters Centerline goodness : 0.930843 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99780239e-01 2.07218716e-02 -3.17464172e-03 2.01763982e+01] [-2.06504265e-02 9.99564283e-01 2.10903609e-02 -2.36448765e-01] [ 3.61029022e-03 -2.10201683e-02 9.99772533e-01 -2.15746876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25119381700003 meters Centerline goodness : 0.930474 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99664329e-01 2.57390505e-02 -2.95463346e-03 2.01763048e+01] [-2.56559320e-02 9.99348774e-01 2.53732159e-02 -2.35506666e-01] [ 3.60579182e-03 -2.52888950e-02 9.99673682e-01 -2.15746416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28119381700003 meters Centerline goodness : 0.932034 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99649094e-01 2.63211058e-02 -2.98123728e-03 2.01764099e+01] [-2.62352697e-02 9.99320675e-01 2.58824189e-02 -2.36517405e-01] [ 3.66046594e-03 -2.57951231e-02 9.99660549e-01 -2.15744212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31119381700003 meters Centerline goodness : 0.924551 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99719502e-01 2.34534231e-02 -3.29466688e-03 2.01772196e+01] [-2.33727369e-02 9.99469065e-01 2.27002986e-02 -2.37631829e-01] [ 3.82531733e-03 -2.26169258e-02 9.99736886e-01 -2.15782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34119381700003 meters Centerline goodness : 0.926670 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.24, Z:-2.16 [[ 9.99786764e-01 2.03354398e-02 -3.59109646e-03 2.01779201e+01] [-2.02605543e-02 9.99598949e-01 1.97851047e-02 -2.40414458e-01] [ 3.99199505e-03 -1.97081282e-02 9.99797806e-01 -2.15811730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37119381700003 meters Centerline goodness : 0.924563 Centerline is valid? [False, False] Translation: X:20.20, Y:-0.25, Z:-2.16 [[ 9.99870779e-01 1.60200742e-02 -1.33478976e-03 2.01964613e+01] [-1.59880613e-02 9.99645725e-01 2.12792491e-02 -2.52004897e-01] [ 1.67521202e-03 -2.12551587e-02 9.99772680e-01 -2.16014292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40119381700003 meters Centerline goodness : 0.921986 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.26, Z:-2.16 [[ 9.99909313e-01 1.30198016e-02 3.44247828e-03 2.02103166e+01] [-1.31087814e-02 9.99543246e-01 2.72297531e-02 -2.58856237e-01] [-3.08637993e-03 -2.72724104e-02 9.99623274e-01 -2.16452561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43119381700004 meters Centerline goodness : 0.924917 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.26, Z:-2.17 [[ 9.99940582e-01 1.00740008e-02 4.16495844e-03 2.02297261e+01] [-1.01847332e-02 9.99570460e-01 2.74803140e-02 -2.63723060e-01] [-3.88633272e-03 -2.75211001e-02 9.99613668e-01 -2.16510093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46119381700004 meters Centerline goodness : 0.923134 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.27, Z:-2.17 [[ 9.99964349e-01 7.11698219e-03 4.54418819e-03 2.02491838e+01] [-7.23831906e-03 9.99601947e-01 2.72681801e-02 -2.68403342e-01] [-4.34831221e-03 -2.73001003e-02 9.99617825e-01 -2.16530373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49119381700004 meters Centerline goodness : 0.917933 Centerline is valid? [False, False] Translation: X:20.28, Y:-0.28, Z:-2.17 [[ 9.99983087e-01 2.72311050e-03 5.13918222e-03 2.02791612e+01] [-2.90980987e-03 9.99322906e-01 3.66778129e-02 -2.80763932e-01] [-5.03582477e-03 -3.66921466e-02 9.99313928e-01 -2.16601861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters Centerline goodness : 0.917093 Centerline is valid? [False, False] Translation: X:20.30, Y:-0.29, Z:-2.17 [[ 9.99982158e-01 2.59658123e-03 5.37968764e-03 2.02992314e+01] [-2.81591070e-03 9.99148116e-01 4.11717603e-02 -2.87924343e-01] [-5.26819895e-03 -4.11861745e-02 9.99137601e-01 -2.16757993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.551193817 meters Centerline goodness : 0.915972 Centerline is valid? [False, False] Translation: X:20.30, Y:-0.29, Z:-2.17 [[ 9.99986342e-01 -5.59086172e-04 5.19647752e-03 2.03007493e+01] [ 3.57547588e-04 9.99250655e-01 3.87040103e-02 -2.91487416e-01] [-5.21422244e-03 -3.87016237e-02 9.99237207e-01 -2.16851664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters Centerline goodness : 0.914031 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.30, Z:-2.17 [[ 9.99985141e-01 -3.85694307e-03 3.85246912e-03 2.03120969e+01] [ 3.60193588e-03 9.97934465e-01 6.41391426e-02 -3.01841238e-01] [-4.09189274e-03 -6.41243132e-02 9.97933529e-01 -2.16798997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61119381700001 meters Centerline goodness : 0.912408 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.32, Z:-2.16 [[ 9.99935005e-01 -1.13875958e-02 5.55821831e-04 2.03245323e+01] [ 1.12854444e-02 9.95537899e-01 9.36852740e-02 -3.17474144e-01] [-1.62019173e-03 -9.36729122e-02 9.95601708e-01 -2.16329298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters Centerline goodness : 0.910086 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.32, Z:-2.16 [[ 9.99880831e-01 -1.49337832e-02 -3.91220782e-03 2.03239439e+01] [ 1.51787923e-02 9.97237704e-01 7.27087715e-02 -3.17063411e-01] [ 2.81558412e-03 -7.27594895e-02 9.97345542e-01 -2.16127978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67119381700002 meters Centerline goodness : 0.911743 Centerline is valid? [False, False] Translation: X:20.33, Y:-0.32, Z:-2.16 [[ 9.99806598e-01 -1.90772375e-02 -4.77771036e-03 2.03329387e+01] [ 1.93259235e-02 9.98073073e-01 5.89631285e-02 -3.17974791e-01] [ 3.64365045e-03 -5.90440585e-02 9.98248728e-01 -2.15923429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters Centerline goodness : 0.912029 Centerline is valid? [False, False] Translation: X:20.34, Y:-0.32, Z:-2.16 [[ 9.99698748e-01 -2.44703391e-02 -1.90150419e-03 2.03399187e+01] [ 2.45288897e-02 9.98803863e-01 4.22986696e-02 -3.17395985e-01] [ 8.64166937e-04 -4.23325688e-02 9.99103201e-01 -2.15800534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73119381700002 meters Centerline goodness : 0.914337 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.32, Z:-2.16 [[ 9.99583590e-01 -2.88324202e-02 1.15716591e-03 2.03481497e+01] [ 2.87910060e-02 9.99225034e-01 2.68404608e-02 -3.16930071e-01] [-1.93014459e-03 -2.67959681e-02 9.99639060e-01 -2.15790036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76119381700002 meters Centerline goodness : 0.915874 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.32, Z:-2.16 [[ 9.99374915e-01 -3.51253340e-02 3.99887812e-03 2.03556694e+01] [ 3.50839979e-02 9.99334574e-01 9.97610105e-03 -3.17903451e-01] [-4.34663105e-03 -9.82956850e-03 9.99942242e-01 -2.15701175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79119381700002 meters Centerline goodness : 0.915463 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.32, Z:-2.16 [[ 9.99271373e-01 -3.79980476e-02 3.58775474e-03 2.03579768e+01] [ 3.79713796e-02 9.99252674e-01 7.22962139e-03 -3.18918331e-01] [-3.85978502e-03 -7.08812170e-03 9.99967430e-01 -2.15855372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82119381700002 meters Centerline goodness : 0.916727 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.32, Z:-2.16 [[ 9.99206829e-01 -3.97033564e-02 3.05887916e-03 2.03608446e+01] [ 3.96854574e-02 9.99195933e-01 5.70544932e-03 -3.19853013e-01] [-3.28294511e-03 -5.57953090e-03 9.99979045e-01 -2.16065147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85119381700002 meters Centerline goodness : 0.914124 Centerline is valid? [False, False] Translation: X:20.36, Y:-0.32, Z:-2.16 [[ 9.99157802e-01 -4.09581451e-02 2.47323256e-03 2.03635668e+01] [ 4.09460095e-02 9.99149961e-01 4.77277465e-03 -3.20509179e-01] [-2.66661421e-03 -4.66748602e-03 9.99985552e-01 -2.16250318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88119381700002 meters Centerline goodness : 0.917146 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.32, Z:-2.16 [[ 9.99043301e-01 -4.36852508e-02 2.02030489e-03 2.03664863e+01] [ 4.36808579e-02 9.99043180e-01 2.16971159e-03 -3.21439693e-01] [-2.11315621e-03 -2.07938718e-03 9.99995605e-01 -2.16474424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91119381700003 meters Centerline goodness : 0.917617 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.32, Z:-2.17 [[ 9.99026674e-01 -4.40737967e-02 1.79047203e-03 2.03673662e+01] [ 4.40702197e-02 9.99026453e-01 1.99045020e-03 -3.21783426e-01] [-1.87645562e-03 -1.90960635e-03 9.99996416e-01 -2.16524731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94119381700003 meters Centerline goodness : 0.917755 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.32, Z:-2.17 [[ 9.99013560e-01 -4.43796345e-02 1.53442264e-03 2.03679982e+01] [ 4.43769154e-02 9.99013304e-01 1.76285666e-03 -3.21783700e-01] [-1.61114357e-03 -1.69302476e-03 9.99997269e-01 -2.16536437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97119381700003 meters Centerline goodness : 0.917717 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.32, Z:-2.17 [[ 9.99023751e-01 -4.41603933e-02 1.18493196e-03 2.03686145e+01] [ 4.41586315e-02 9.99023444e-01 1.47401354e-03 -3.19956071e-01] [-1.24886783e-03 -1.42024956e-03 9.99998212e-01 -2.16540975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00119381700003 meters Centerline goodness : 0.920726 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.32, Z:-2.17 [[ 9.99147283e-01 -4.12132438e-02 2.48508939e-03 2.03794327e+01] [ 4.12284692e-02 9.99129100e-01 -6.42304584e-03 -3.17411406e-01] [-2.21821057e-03 6.52002523e-03 9.99976284e-01 -2.16647334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03119381700003 meters Centerline goodness : 0.917671 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.32, Z:-2.17 [[ 9.99199128e-01 -3.99723697e-02 1.81980228e-03 2.03815108e+01] [ 3.99822053e-02 9.99183939e-01 -5.73410769e-03 -3.15456673e-01] [-1.58911134e-03 5.80227511e-03 9.99981904e-01 -2.16756885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06119381700003 meters Centerline goodness : 0.918560 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.31, Z:-2.17 [[ 9.99434705e-01 -3.34187131e-02 3.66892020e-03 2.04026697e+01] [ 3.34639911e-02 9.99354536e-01 -1.30642039e-02 -3.13605346e-01] [-3.22996316e-03 1.31795955e-02 9.99907929e-01 -2.16947220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09119381700003 meters Centerline goodness : 0.916376 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.31, Z:-2.17 [[ 9.99553080e-01 -2.97061062e-02 3.34485256e-03 2.04033266e+01] [ 2.97362036e-02 9.99514144e-01 -9.33987819e-03 -3.13300031e-01] [-3.06577604e-03 9.43516723e-03 9.99950788e-01 -2.16976333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12119381700003 meters Centerline goodness : 0.915424 Centerline is valid? [False, False] Translation: X:20.43, Y:-0.31, Z:-2.17 [[ 9.99754935e-01 -2.15652706e-02 5.00086604e-03 2.04271642e+01] [ 2.16541581e-02 9.99595093e-01 -1.84593630e-02 -3.08742748e-01] [-4.60076000e-03 1.85631288e-02 9.99817105e-01 -2.17234873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15119381700003 meters Centerline goodness : 0.913565 Centerline is valid? [False, False] Translation: X:20.43, Y:-0.31, Z:-2.17 [[ 9.99825971e-01 -1.80530221e-02 4.70268982e-03 2.04282005e+01] [ 1.81218816e-02 9.99722713e-01 -1.50364328e-02 -3.07549737e-01] [-4.42993278e-03 1.51190376e-02 9.99875887e-01 -2.17309692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18119381700004 meters Centerline goodness : 0.916346 Centerline is valid? [False, False] Translation: X:20.44, Y:-0.30, Z:-2.18 [[ 9.99849187e-01 -1.48384069e-02 9.02358421e-03 2.04408313e+01] [ 1.50320545e-02 9.99649664e-01 -2.17850292e-02 -3.04130636e-01] [-8.69716779e-03 2.19173867e-02 9.99721955e-01 -2.17730064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21119381700004 meters Centerline goodness : 0.913749 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.30, Z:-2.18 [[ 9.99910527e-01 -1.16112764e-02 6.64201435e-03 2.04674720e+01] [ 1.17780274e-02 9.99601778e-01 -2.56429834e-02 -3.02442322e-01] [-6.34162159e-03 2.57189189e-02 9.99649099e-01 -2.17568948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24119381700004 meters Centerline goodness : 0.914189 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.30, Z:-2.18 [[ 9.99902780e-01 -8.80935355e-03 1.08086299e-02 2.04838793e+01] [ 9.04659948e-03 9.99714818e-01 -2.21007368e-02 -3.02483222e-01] [-1.06108543e-02 2.21963695e-02 9.99697320e-01 -2.17502526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.271193817 meters Centerline goodness : 0.917558 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.30, Z:-2.17 [[ 9.99928238e-01 -5.50612154e-03 1.06396023e-02 2.04839699e+01] [ 5.69633985e-03 9.99822991e-01 -1.79315134e-02 -3.04156542e-01] [-1.05389859e-02 1.79908334e-02 9.99782606e-01 -2.17481449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters Centerline goodness : 0.915172 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.31, Z:-2.17 [[ 9.99942442e-01 -2.43279391e-03 1.04495972e-02 2.04843107e+01] [ 2.57777545e-03 9.99900298e-01 -1.38833795e-02 -3.06212328e-01] [-1.04147799e-02 1.39095171e-02 9.99849017e-01 -2.17485475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.331193817 meters Centerline goodness : 0.912920 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.31, Z:-2.18 [[ 9.99901398e-01 -3.61992995e-03 1.35680075e-02 2.04768545e+01] [ 3.71848058e-03 9.99966839e-01 -7.24528040e-03 -3.06730380e-01] [-1.35413301e-02 7.29501837e-03 9.99881701e-01 -2.17800020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters Centerline goodness : 0.914655 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.31, Z:-2.18 [[ 9.99948484e-01 -5.25698298e-03 8.68289797e-03 2.04684767e+01] [ 5.24078594e-03 9.99984486e-01 1.88709706e-03 -3.07664286e-01] [-8.69268370e-03 -1.84149463e-03 9.99960522e-01 -2.17634912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39119381700002 meters Centerline goodness : 0.915464 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.31, Z:-2.18 [[ 9.99950381e-01 -5.24010113e-03 8.47207527e-03 2.04690732e+01] [ 5.22269608e-03 9.99984208e-01 2.07522276e-03 -3.07978605e-01] [-8.48281586e-03 -2.03087272e-03 9.99961958e-01 -2.17662795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters Centerline goodness : 0.909641 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.31, Z:-2.18 [[ 9.99953265e-01 -5.25434911e-03 8.11536948e-03 2.04701063e+01] [ 5.23511365e-03 9.99983441e-01 2.38967760e-03 -3.09192870e-01] [-8.12779130e-03 -2.34708104e-03 9.99964214e-01 -2.17713487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45119381700002 meters Centerline goodness : 0.910828 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.31, Z:-2.18 [[ 9.99936844e-01 -8.49683745e-03 7.35601110e-03 2.04747220e+01] [ 8.50138219e-03 9.99963690e-01 -5.86778023e-04 -3.11265205e-01] [-7.35075825e-03 6.49277226e-04 9.99972772e-01 -2.18104373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48119381700002 meters Centerline goodness : 0.911288 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.31, Z:-2.18 [[ 9.99925121e-01 -1.02925361e-02 6.61937518e-03 2.04785757e+01] [ 1.03074460e-02 9.99944407e-01 -2.22230408e-03 -3.11994897e-01] [-6.59613405e-03 2.29036653e-03 9.99975622e-01 -2.18406416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51119381700002 meters Centerline goodness : 0.909977 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.31, Z:-2.19 [[ 9.99908924e-01 -1.21389910e-02 5.89810802e-03 2.04822655e+01] [ 1.21623274e-02 9.99918286e-01 -3.93695749e-03 -3.12559218e-01] [-5.84983536e-03 4.00833365e-03 9.99974856e-01 -2.18685230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54119381700002 meters Centerline goodness : 0.905631 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.31, Z:-2.19 [[ 9.99896399e-01 -1.33713388e-02 5.32911501e-03 2.04852319e+01] [ 1.33967567e-02 9.99898916e-01 -4.76282051e-03 -3.13595708e-01] [-5.26489104e-03 4.83371993e-03 9.99974458e-01 -2.18912499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57119381700002 meters Centerline goodness : 0.906784 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.32, Z:-2.19 [[ 9.99859865e-01 -1.60316048e-02 4.82060711e-03 2.04878155e+01] [ 1.60639490e-02 9.99848199e-01 -6.74741087e-03 -3.17351217e-01] [-4.71170352e-03 6.82390331e-03 9.99965617e-01 -2.19101442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60119381700002 meters Centerline goodness : 0.907850 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.32, Z:-2.19 [[ 9.99832165e-01 -1.78446168e-02 4.14871620e-03 2.04906168e+01] [ 1.78789251e-02 9.99804998e-01 -8.38507431e-03 -3.19122098e-01] [-3.99827876e-03 8.45784158e-03 9.99956238e-01 -2.19275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63119381700002 meters Centerline goodness : 0.906351 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.32, Z:-2.19 [[ 9.99803733e-01 -1.94921841e-02 3.54255156e-03 2.04931626e+01] [ 1.95256865e-02 9.99762472e-01 -9.68229384e-03 -3.20642087e-01] [-3.35298106e-03 9.74956428e-03 9.99946850e-01 -2.19430967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66119381700003 meters Centerline goodness : 0.907823 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.32, Z:-2.19 [[ 9.99802010e-01 -1.96184210e-02 3.32528108e-03 2.04936143e+01] [ 1.96477065e-02 9.99766314e-01 -9.01578512e-03 -3.23055780e-01] [-3.14762854e-03 9.07933424e-03 9.99953828e-01 -2.19429327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69119381700003 meters Centerline goodness : 0.909837 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.32, Z:-2.20 [[ 9.99764423e-01 -2.15306251e-02 2.74407859e-03 2.04958652e+01] [ 2.15582633e-02 9.99712713e-01 -1.04753058e-02 -3.24369040e-01] [-2.51775037e-03 1.05319956e-02 9.99941367e-01 -2.19545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72119381700003 meters Centerline goodness : 0.909046 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.33, Z:-2.19 [[ 9.99664230e-01 -2.57380730e-02 2.99650625e-03 2.04944596e+01] [ 2.57776109e-02 9.99569625e-01 -1.40028405e-02 -3.26180743e-01] [-2.63481050e-03 1.40753815e-02 9.99897465e-01 -2.19377444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75119381700003 meters Centerline goodness : 0.912400 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.33, Z:-2.19 [[ 9.99651109e-01 -2.62539169e-02 2.89677925e-03 2.04940579e+01] [ 2.62911784e-02 9.99560753e-01 -1.36775076e-02 -3.28138475e-01] [-2.53641870e-03 1.37488954e-02 9.99902262e-01 -2.19282696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78119381700003 meters Centerline goodness : 0.913761 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.33, Z:-2.19 [[ 9.99635478e-01 -2.68486814e-02 2.83888638e-03 2.04937638e+01] [ 2.68849039e-02 9.99546006e-01 -1.36009098e-02 -3.29421243e-01] [-2.47243105e-03 1.36722752e-02 9.99903473e-01 -2.19213786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81119381700003 meters Centerline goodness : 0.918168 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.33, Z:-2.19 [[ 9.99616896e-01 -2.75523821e-02 2.63208310e-03 2.04941145e+01] [ 2.75863510e-02 9.99523005e-01 -1.38836231e-02 -3.29557996e-01] [-2.24830072e-03 1.39509137e-02 9.99900154e-01 -2.19195371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84119381700003 meters Centerline goodness : 0.918244 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.33, Z:-2.19 [[ 9.99580220e-01 -2.88619777e-02 2.52373475e-03 2.04946503e+01] [ 2.88968655e-02 9.99468383e-01 -1.50970880e-02 -3.27301195e-01] [-2.08666127e-03 1.51636786e-02 9.99882847e-01 -2.19222625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87119381700003 meters Centerline goodness : 0.917543 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.33, Z:-2.19 [[ 9.99565189e-01 -2.93946542e-02 2.32091969e-03 2.04956642e+01] [ 2.94277187e-02 9.99442030e-01 -1.57999270e-02 -3.25487066e-01] [-1.85519130e-03 1.58613564e-02 9.99872480e-01 -2.19298097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90119381700003 meters Centerline goodness : 0.917928 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.32, Z:-2.19 [[ 9.99548005e-01 -2.99835111e-02 2.18523237e-03 2.04965252e+01] [ 3.00157354e-02 9.99411323e-01 -1.66151499e-02 -3.23397933e-01] [-1.68576544e-03 1.66732313e-02 9.99859571e-01 -2.19372421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93119381700004 meters Centerline goodness : 0.921307 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.32, Z:-2.19 [[ 9.99532068e-01 -3.05224541e-02 2.00599576e-03 2.04973109e+01] [ 3.05528736e-02 9.99380614e-01 -1.74616855e-02 -3.21040603e-01] [-1.47177978e-03 1.75148036e-02 9.99845521e-01 -2.19421397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96119381700004 meters Centerline goodness : 0.917253 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.32, Z:-2.20 [[ 9.99572175e-01 -2.91978213e-02 1.71882888e-03 2.04989018e+01] [ 2.92221336e-02 9.99438142e-01 -1.64154673e-02 -3.16884031e-01] [-1.23856727e-03 1.64586722e-02 9.99863780e-01 -2.19549646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99119381700004 meters Centerline goodness : 0.918353 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.31, Z:-2.20 [[ 9.99619986e-01 -2.75429215e-02 1.12781808e-03 2.05012614e+01] [ 2.75566585e-02 9.99509628e-01 -1.48705905e-02 -3.14813201e-01] [-7.17685521e-04 1.48960183e-02 9.99888791e-01 -2.19701109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters Centerline goodness : 0.919834 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.31, Z:-2.20 [[ 9.99637293e-01 -2.69222750e-02 6.88822395e-04 2.05032595e+01] [ 2.69295330e-02 9.99527284e-01 -1.48327020e-02 -3.11105225e-01] [-2.89166696e-04 1.48458718e-02 9.99889752e-01 -2.19832893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.051193817 meters Centerline goodness : 0.919398 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.31, Z:-2.20 [[ 9.99714741e-01 -2.38805968e-02 3.92845221e-04 2.05044524e+01] [ 2.38836061e-02 9.99641092e-01 -1.21350813e-02 -3.08044463e-01] [-1.02911242e-04 1.21410022e-02 9.99926290e-01 -2.19918776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters Centerline goodness : 0.918553 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.30, Z:-2.20 [[ 9.99830237e-01 -1.84234466e-02 -2.70564529e-04 2.05076836e+01] [ 1.84208136e-02 9.99800587e-01 -7.71096331e-03 -3.01786530e-01] [ 4.12573096e-04 7.70467025e-03 9.99970233e-01 -2.20190129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11119381700001 meters Centerline goodness : 0.918553 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.30, Z:-2.20 [[ 9.99830237e-01 -1.84234466e-02 -2.70564529e-04 2.05076836e+01] [ 1.84208136e-02 9.99800587e-01 -7.71096331e-03 -3.01786530e-01] [ 4.12573096e-04 7.70467025e-03 9.99970233e-01 -2.20190129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14119381700002 meters Centerline goodness : 0.918013 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.30, Z:-2.20 [[ 9.99892914e-01 -1.46253387e-02 -5.10776983e-04 2.05087808e+01] [ 1.46229806e-02 9.99883616e-01 -4.35007472e-03 -2.99453119e-01] [ 5.74338853e-04 4.34213981e-03 9.99990408e-01 -2.20284535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17119381700002 meters Centerline goodness : 0.918428 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.30, Z:-2.20 [[ 9.99940298e-01 -1.09028115e-02 -7.27223300e-04 2.05097148e+01] [ 1.09019227e-02 9.99939834e-01 -1.21516566e-03 -2.96269772e-01] [ 7.40428268e-04 1.20716498e-03 9.99998997e-01 -2.20358192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters Centerline goodness : 0.918869 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.29, Z:-2.20 [[ 9.99972975e-01 -7.29570340e-03 -9.07111065e-04 2.05102669e+01] [ 7.29729816e-03 9.99971813e-01 1.76735667e-03 -2.92804066e-01] [ 8.94191385e-04 -1.77392837e-03 9.99998027e-01 -2.20387168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23119381700002 meters Centerline goodness : 0.920682 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.29, Z:-2.20 [[ 9.99992396e-01 -3.76693238e-03 -1.00881912e-03 2.05103572e+01] [ 3.77157410e-03 9.99982125e-01 4.63945932e-03 -2.89097125e-01] [ 9.91324559e-04 -4.64322888e-03 9.99988729e-01 -2.20372109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26119381700002 meters Centerline goodness : 0.923954 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.28, Z:-2.20 [[ 9.99995263e-01 2.94492716e-03 -8.95337577e-04 2.05093960e+01] [-2.93596073e-03 9.99947117e-01 9.85618044e-03 -2.82177628e-01] [ 9.24315962e-04 -9.85350508e-03 9.99951026e-01 -2.20267874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29119381700002 meters Centerline goodness : 0.920257 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.28, Z:-2.20 [[ 9.99994373e-01 3.18282562e-03 -1.06029988e-03 2.05095999e+01] [-3.17360807e-03 9.99958117e-01 8.58446446e-03 -2.76710659e-01] [ 1.08757833e-03 -8.58105118e-03 9.99962591e-01 -2.20232008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32119381700002 meters Centerline goodness : 0.922920 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.27, Z:-2.20 [[ 9.99978916e-01 6.40046562e-03 -1.09652892e-03 2.05095292e+01] [-6.38788187e-03 9.99917779e-01 1.11188844e-02 -2.72954934e-01] [ 1.16760480e-03 -1.11116455e-02 9.99937582e-01 -2.20202778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35119381700002 meters Centerline goodness : 0.925824 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.27, Z:-2.20 [[ 9.99979304e-01 6.31408959e-03 -1.23481327e-03 2.05097456e+01] [-6.30194240e-03 9.99934008e-01 9.60545069e-03 -2.67255069e-01] [ 1.29538146e-03 -9.59747017e-03 9.99953104e-01 -2.20176922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38119381700002 meters Centerline goodness : 0.923798 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.26, Z:-2.20 [[ 9.99961467e-01 8.69974244e-03 -1.17416037e-03 2.05091987e+01] [-8.68683048e-03 9.99906223e-01 1.05870117e-02 -2.59942067e-01] [ 1.26615453e-03 -1.05764040e-02 9.99943267e-01 -2.20106310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41119381700003 meters Centerline goodness : 0.922869 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.26, Z:-2.20 [[ 9.99946104e-01 1.03317330e-02 -1.02237702e-03 2.05083449e+01] [-1.03185329e-02 9.99872715e-01 1.21688886e-02 -2.57712347e-01] [ 1.14797259e-03 -1.21576833e-02 9.99925434e-01 -2.20036715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44119381700003 meters Centerline goodness : 0.925930 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.26, Z:-2.20 [[ 9.99923082e-01 1.23799793e-02 -7.52481559e-04 2.05075443e+01] [-1.23681060e-02 9.99823531e-01 1.41399138e-02 -2.55739454e-01] [ 9.27400611e-04 -1.41295195e-02 9.99899743e-01 -2.19997700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47119381700003 meters Centerline goodness : 0.923231 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.25, Z:-2.20 [[ 9.99905288e-01 1.37422850e-02 -7.51589238e-04 2.05069486e+01] [-1.37288887e-02 9.99783988e-01 1.56043050e-02 -2.53499134e-01] [ 9.65865693e-04 -1.55925086e-02 9.99877963e-01 -2.19925758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50119381700003 meters Centerline goodness : 0.923679 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.25, Z:-2.20 [[ 9.99926209e-01 1.21006211e-02 -1.07312093e-03 2.05076385e+01] [-1.20856154e-02 9.99842028e-01 1.30329547e-02 -2.47672687e-01] [ 1.23065825e-03 -1.30190237e-02 9.99914492e-01 -2.19940258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53119381700003 meters Centerline goodness : 0.919277 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.25, Z:-2.20 [[ 9.99941621e-01 1.08045704e-02 -1.27668219e-04 2.04983879e+01] [-1.07995665e-02 9.99724669e-01 2.08316205e-02 -2.46295829e-01] [ 3.52709780e-04 -2.08290256e-02 9.99782990e-01 -2.20071259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56119381700003 meters Centerline goodness : 0.924591 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.20 [[ 9.99943246e-01 1.06384112e-02 5.74331509e-04 2.04944393e+01] [-1.06477789e-02 9.99742844e-01 2.00217392e-02 -2.41145264e-01] [-3.61184322e-04 -2.00267182e-02 9.99799380e-01 -2.19733275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59119381700003 meters Centerline goodness : 0.924591 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.20 [[ 9.99943849e-01 1.05828854e-02 5.48636237e-04 2.04944514e+01] [-1.05917145e-02 9.99745520e-01 1.99176048e-02 -2.40812392e-01] [-3.37710890e-04 -1.99222974e-02 9.99801474e-01 -2.19727738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62119381700003 meters Centerline goodness : 0.927378 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.20 [[ 9.99949959e-01 9.98833927e-03 5.59572482e-04 2.04935843e+01] [-9.99707495e-03 9.99774294e-01 1.87461695e-02 -2.38094881e-01] [-3.72203083e-04 -1.87508255e-02 9.99824119e-01 -2.19595463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65119381700003 meters Centerline goodness : 0.931163 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.19 [[ 9.99959013e-01 9.01497044e-03 8.38141456e-04 2.04915669e+01] [-9.02818468e-03 9.99808032e-01 1.73894179e-02 -2.36347674e-01] [-6.81215471e-04 -1.73962721e-02 9.99848441e-01 -2.19389061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68119381700004 meters Centerline goodness : 0.925163 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.19 [[ 9.99936173e-01 1.12262241e-02 1.27330704e-03 2.04906626e+01] [-1.12498044e-02 9.99729900e-01 2.03363847e-02 -2.37677558e-01] [-1.04466231e-03 -2.03494112e-02 9.99792384e-01 -2.19377102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71119381700004 meters Centerline goodness : 0.926219 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:-2.19 [[ 9.99968741e-01 7.83151089e-03 1.08854638e-03 2.04914554e+01] [-7.84789959e-03 9.99841685e-01 1.59692125e-02 -2.35129960e-01] [-9.63310984e-04 -1.59772561e-02 9.99871891e-01 -2.19419451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74119381700004 meters Centerline goodness : 0.928204 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.23, Z:-2.19 [[ 9.99940351e-01 1.08864245e-02 8.82858007e-04 2.04923072e+01] [-1.09012934e-02 9.99758457e-01 1.90837516e-02 -2.33426840e-01] [-6.74890938e-04 -1.90922376e-02 9.99817499e-01 -2.19481089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77119381700004 meters Centerline goodness : 0.928765 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.23, Z:-2.19 [[ 9.99890028e-01 1.37136661e-02 -5.64512701e-03 2.04830050e+01] [-1.36447496e-02 9.99834045e-01 1.20707963e-02 -2.30247837e-01] [ 5.80972504e-03 -1.19924425e-02 9.99911210e-01 -2.19191622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters Centerline goodness : 0.925926 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.23, Z:-2.19 [[ 9.99838383e-01 1.69934235e-02 -5.86775054e-03 2.04838528e+01] [-1.68999578e-02 9.99735060e-01 1.56269084e-02 -2.30109814e-01] [ 6.13175061e-03 -1.55252181e-02 9.99860675e-01 -2.19244087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.831193817 meters Centerline goodness : 0.927316 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.23, Z:-2.19 [[ 9.99782967e-01 1.99364060e-02 -6.04644813e-03 2.04844611e+01] [-1.98193142e-02 9.99625987e-01 1.88435961e-02 -2.29332834e-01] [ 6.41986026e-03 -1.87196700e-02 9.99804160e-01 -2.19265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters Centerline goodness : 0.925620 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.23, Z:-2.19 [[ 9.99784058e-01 1.97771938e-02 -6.37969605e-03 2.04850977e+01] [-1.96598922e-02 9.99645522e-01 1.79532713e-02 -2.26264247e-01] [ 6.73249991e-03 -1.78239703e-02 9.99818473e-01 -2.19261212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89119381700002 meters Centerline goodness : 0.927346 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.23, Z:-2.19 [[ 9.99782659e-01 1.97551421e-02 -6.66094440e-03 2.04861316e+01] [-1.96342678e-02 9.99649684e-01 1.77483888e-02 -2.25430992e-01] [ 7.00923290e-03 -1.76137486e-02 9.99820297e-01 -2.19321185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters Centerline goodness : 0.928993 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.22, Z:-2.19 [[ 9.99790513e-01 1.92711293e-02 -6.89586376e-03 2.04869622e+01] [-1.91516618e-02 9.99672218e-01 1.69902995e-02 -2.23789900e-01] [ 7.22102568e-03 -1.68546730e-02 9.99831874e-01 -2.19369488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95119381700002 meters Centerline goodness : 0.928400 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.22, Z:-2.19 [[ 9.99800742e-01 1.86364872e-02 -7.15241562e-03 2.04877044e+01] [-1.85206284e-02 9.99701460e-01 1.59366373e-02 -2.21406673e-01] [ 7.44728328e-03 -1.58009945e-02 9.99847422e-01 -2.19394813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98119381700002 meters Centerline goodness : 0.931019 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.22, Z:-2.19 [[ 9.99823023e-01 1.73680755e-02 -7.23003840e-03 2.04885195e+01] [-1.72664817e-02 9.99754514e-01 1.38845605e-02 -2.16344439e-01] [ 7.46941162e-03 -1.37572659e-02 9.99877465e-01 -2.19477883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01119381700002 meters Centerline goodness : 0.929555 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.21, Z:-2.20 [[ 9.99832603e-01 1.67166211e-02 -7.43784102e-03 2.04892232e+01] [-1.66198183e-02 9.99778768e-01 1.28917371e-02 -2.13913674e-01] [ 7.65170182e-03 -1.27659635e-02 9.99889235e-01 -2.19514399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04119381700002 meters Centerline goodness : 0.926163 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.21, Z:-2.20 [[ 9.99840916e-01 1.61853968e-02 -7.49507509e-03 2.04895379e+01] [-1.60944946e-02 9.99798057e-01 1.20337767e-02 -2.11878439e-01] [ 7.68833296e-03 -1.19112328e-02 9.99899501e-01 -2.19539446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07119381700002 meters Centerline goodness : 0.928428 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.21, Z:-2.20 [[ 9.99850003e-01 1.55103898e-02 -7.70703980e-03 2.04898915e+01] [-1.54232252e-02 9.99817839e-01 1.12433092e-02 -2.10048170e-01] [ 7.88002400e-03 -1.11227554e-02 9.99907090e-01 -2.19531991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10119381700002 meters Centerline goodness : 0.926140 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.21, Z:-2.19 [[ 9.99886566e-01 1.31761729e-02 -7.29685178e-03 2.04876487e+01] [-1.31124138e-02 9.99876024e-01 8.71786056e-03 -2.06476095e-01] [ 7.41081519e-03 -8.62119232e-03 9.99935375e-01 -2.19331709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13119381700002 meters Centerline goodness : 0.928217 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.21, Z:-2.19 [[ 9.99894150e-01 1.25786340e-02 -7.31207786e-03 2.04873005e+01] [-1.25195032e-02 9.99889006e-01 8.07703305e-03 -2.05042008e-01] [ 7.41286430e-03 -7.98463452e-03 9.99940646e-01 -2.19267036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16119381700003 meters Centerline goodness : 0.929606 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99900590e-01 1.20473128e-02 -7.32610049e-03 2.04868944e+01] [-1.19925227e-02 9.99900130e-01 7.47726104e-03 -2.03735299e-01] [ 7.41544974e-03 -7.38865930e-03 9.99945208e-01 -2.19197985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19119381700003 meters Centerline goodness : 0.935425 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99905450e-01 1.16030569e-02 -7.37977216e-03 2.04864695e+01] [-1.15518819e-02 9.99909193e-01 6.93971838e-03 -2.02322054e-01] [ 7.45962397e-03 -6.85381197e-03 9.99948688e-01 -2.19113453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22119381700003 meters Centerline goodness : 0.933048 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99912242e-01 1.09810339e-02 -7.41112457e-03 2.04861366e+01] [-1.09349518e-02 9.99920803e-01 6.23010784e-03 -2.01119577e-01] [ 7.47895066e-03 -6.14852081e-03 9.99953129e-01 -2.19056221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25119381700003 meters Centerline goodness : 0.932811 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99915396e-01 1.04058390e-02 -7.80512971e-03 2.04874905e+01] [-1.03613868e-02 9.99929992e-01 5.71423142e-03 -1.99474713e-01] [ 7.86404466e-03 -5.63287601e-03 9.99953213e-01 -2.19139912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28119381700003 meters Centerline goodness : 0.930296 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99914002e-01 1.01864106e-02 -8.25982477e-03 2.04887576e+01] [-1.01403689e-02 9.99932921e-01 5.59702046e-03 -1.98837743e-01] [ 8.31628426e-03 -5.51278146e-03 9.99950223e-01 -2.19188779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31119381700003 meters Centerline goodness : 0.928474 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99917199e-01 9.84856770e-03 -8.28258320e-03 2.04890209e+01] [-9.80552889e-03 9.99938295e-01 5.22095683e-03 -1.98123353e-01] [ 8.33349107e-03 -5.13930942e-03 9.99952069e-01 -2.19214310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34119381700003 meters Centerline goodness : 0.932674 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.20, Z:-2.19 [[ 9.99917675e-01 9.59984583e-03 -8.51387354e-03 2.04894320e+01] [-9.55797765e-03 9.99942095e-01 4.94477229e-03 -1.97100596e-01] [ 8.56084960e-03 -4.86298980e-03 9.99951530e-01 -2.19207617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37119381700003 meters Centerline goodness : 0.934293 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.19, Z:-2.19 [[ 9.99929222e-01 8.30438964e-03 -8.51988014e-03 2.04888642e+01] [-8.27779941e-03 9.99960772e-01 3.15149438e-03 -1.93478172e-01] [ 8.54571717e-03 -3.08074547e-03 9.99958739e-01 -2.19122561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40119381700003 meters Centerline goodness : 0.930488 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.19, Z:-2.19 [[ 9.99933168e-01 7.80848047e-03 -8.52569580e-03 2.04887911e+01] [-7.78834788e-03 9.99966809e-01 2.39205435e-03 -1.91581493e-01] [ 8.54409114e-03 -2.32549340e-03 9.99960795e-01 -2.19101354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43119381700004 meters Centerline goodness : 0.933527 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.19, Z:-2.19 [[ 9.99936048e-01 7.36383013e-03 -8.58340915e-03 2.04887920e+01] [-7.35029095e-03 9.99971694e-01 1.60784642e-03 -1.89620155e-01] [ 8.59500609e-03 -1.54465304e-03 9.99961869e-01 -2.19080672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46119381700004 meters Centerline goodness : 0.929636 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.19, Z:-2.19 [[ 9.99938039e-01 6.95447481e-03 -8.69213160e-03 2.04890977e+01] [-6.94785105e-03 9.99975550e-01 7.92005901e-04 -1.87638954e-01] [ 8.69742706e-03 -7.31565192e-04 9.99961909e-01 -2.19081211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49119381700004 meters Centerline goodness : 0.935705 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.18, Z:-2.19 [[ 9.99930388e-01 8.42975696e-03 -8.25586747e-03 2.04872963e+01] [-8.41384507e-03 9.99962682e-01 1.96018320e-03 -1.83902157e-01] [ 8.27208324e-03 -1.89058316e-03 9.99963999e-01 -2.18959171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52119381700004 meters Centerline goodness : 0.932228 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.18, Z:-2.19 [[ 9.99930789e-01 8.27292804e-03 -8.36516464e-03 2.04875448e+01] [-8.26324003e-03 9.99965148e-01 1.19203702e-03 -1.81264268e-01] [ 8.37473473e-03 -1.12283116e-03 9.99964301e-01 -2.18949453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.551193817 meters Centerline goodness : 0.933145 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.18, Z:-2.19 [[ 9.99914370e-01 1.02924016e-02 -8.08205052e-03 2.04859373e+01] [-1.02672205e-02 9.99942326e-01 3.15101413e-03 -1.79546377e-01] [ 8.11401589e-03 -3.06776411e-03 9.99962375e-01 -2.18818173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.581193817 meters Centerline goodness : 0.936678 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.18, Z:-2.19 [[ 9.99877562e-01 1.33705907e-02 -8.12947246e-03 2.04859460e+01] [-1.33262120e-02 9.99896137e-01 5.48887297e-03 -1.75516487e-01] [ 8.20201758e-03 -5.37986585e-03 9.99951891e-01 -2.18788711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61119381700001 meters Centerline goodness : 0.938179 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.17, Z:-2.19 [[ 9.99831484e-01 1.65242647e-02 -7.99695932e-03 2.04856103e+01] [-1.64549932e-02 9.99827174e-01 8.65185575e-03 -1.74376065e-01] [ 8.13854279e-03 -8.51880787e-03 9.99930595e-01 -2.18771183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64119381700002 meters Centerline goodness : 0.934885 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99788760e-01 1.90434875e-02 -7.73183471e-03 2.04843731e+01] [-1.89557162e-02 9.99756795e-01 1.12708144e-02 -1.73170588e-01] [ 7.94458991e-03 -1.11218711e-02 9.99906589e-01 -2.18679208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67119381700002 meters Centerline goodness : 0.936382 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99760198e-01 2.05818575e-02 -7.47893916e-03 2.04827691e+01] [-2.04861415e-02 9.99710018e-01 1.26569072e-02 -1.71144879e-01] [ 7.73727306e-03 -1.25006575e-02 9.99891928e-01 -2.18541587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70119381700002 meters Centerline goodness : 0.934958 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99765345e-01 2.03003454e-02 -7.55980978e-03 2.04829344e+01] [-2.02064781e-02 9.99720256e-01 1.22926301e-02 -1.70522758e-01] [ 7.80723960e-03 -1.21369885e-02 9.99895865e-01 -2.18540906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73119381700002 meters Centerline goodness : 0.935159 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99774747e-01 1.98034037e-02 -7.63419245e-03 2.04828265e+01] [-1.97114992e-02 9.99734513e-01 1.19314597e-02 -1.70459652e-01] [ 7.86844919e-03 -1.17782907e-02 9.99899675e-01 -2.18502649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76119381700002 meters Centerline goodness : 0.935973 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.18 [[ 9.99786948e-01 1.91558037e-02 -7.68856451e-03 2.04828021e+01] [-1.90661243e-02 9.99751248e-01 1.15725669e-02 -1.70684494e-01] [ 7.90833379e-03 -1.14235103e-02 9.99903476e-01 -2.18495044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79119381700002 meters Centerline goodness : 0.937274 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99798287e-01 1.85455317e-02 -7.71031983e-03 2.04831053e+01] [-1.84580467e-02 9.99766151e-01 1.12668950e-02 -1.70859037e-01] [ 7.91746734e-03 -1.11223049e-02 9.99906800e-01 -2.18532947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82119381700002 meters Centerline goodness : 0.935099 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99799012e-01 1.84488122e-02 -7.84713914e-03 2.04839984e+01] [-1.83585899e-02 9.99766266e-01 1.14181760e-02 -1.71045267e-01] [ 8.05595678e-03 -1.12718186e-02 9.99904019e-01 -2.18620187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85119381700002 meters Centerline goodness : 0.935126 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.17, Z:-2.19 [[ 9.99807791e-01 1.79102257e-02 -7.97524942e-03 2.04849786e+01] [-1.78244532e-02 9.99783886e-01 1.06990773e-02 -1.69300757e-01] [ 8.16514874e-03 -1.05548664e-02 9.99910959e-01 -2.18723543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88119381700002 meters Centerline goodness : 0.937310 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.17, Z:-2.19 [[ 9.99813615e-01 1.75292711e-02 -8.09074896e-03 2.04851348e+01] [-1.74485017e-02 9.99798275e-01 9.94783826e-03 -1.67276924e-01] [ 8.26349521e-03 -9.80481269e-03 9.99917787e-01 -2.18697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91119381700003 meters Centerline goodness : 0.938986 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.16, Z:-2.19 [[ 9.99819230e-01 1.71437899e-02 -8.22184059e-03 2.04851388e+01] [-1.70698122e-02 9.99813928e-01 8.98503063e-03 -1.64703254e-01] [ 8.37434821e-03 -8.84306112e-03 9.99925833e-01 -2.18646814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94119381700003 meters Centerline goodness : 0.936821 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.16, Z:-2.19 [[ 9.99822527e-01 1.68694839e-02 -8.38663708e-03 2.04850267e+01] [-1.68030439e-02 9.99827368e-01 7.93045782e-03 -1.61810120e-01] [ 8.51897201e-03 -7.78812934e-03 9.99933384e-01 -2.18571729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97119381700003 meters Centerline goodness : 0.941887 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.16, Z:-2.19 [[ 9.99763817e-01 2.01449330e-02 -8.15427712e-03 2.04844318e+01] [-2.00641568e-02 9.99749980e-01 9.86947539e-03 -1.56726979e-01] [ 8.35105831e-03 -9.70353569e-03 9.99918047e-01 -2.18504543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00119381700003 meters Centerline goodness : 0.947264 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.15, Z:-2.18 [[ 9.99759409e-01 2.03286726e-02 -8.23828219e-03 2.04847202e+01] [-2.02579008e-02 9.99757929e-01 8.58488615e-03 -1.52140001e-01] [ 8.41080729e-03 -8.41593040e-03 9.99929213e-01 -2.18471165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03119381700003 meters Centerline goodness : 0.947264 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.15, Z:-2.18 [[ 9.99760270e-01 2.02888622e-02 -8.23186641e-03 2.04847078e+01] [-2.02187877e-02 9.99759375e-01 8.50834264e-03 -1.51940735e-01] [ 8.40251021e-03 -8.33986458e-03 9.99929920e-01 -2.18470612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06119381700003 meters Centerline goodness : 0.947659 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.15, Z:-2.18 [[ 9.99681164e-01 2.38603011e-02 -8.26170388e-03 2.04847380e+01] [-2.37650075e-02 9.99652040e-01 1.14465825e-02 -1.49152233e-01] [ 8.53194804e-03 -1.12465935e-02 9.99900355e-01 -2.18434469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09119381700003 meters Centerline goodness : 0.949630 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.15, Z:-2.18 [[ 9.99591501e-01 2.73631118e-02 -8.25179960e-03 2.04848988e+01] [-2.72434374e-02 9.99526793e-01 1.42823243e-02 -1.46256278e-01] [ 8.63870363e-03 -1.40516826e-02 9.99863952e-01 -2.18423712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12119381700003 meters Centerline goodness : 0.944762 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.14, Z:-2.18 [[ 9.99371493e-01 3.45587585e-02 -7.89380716e-03 2.04846015e+01] [-3.43915592e-02 9.99199875e-01 2.04164239e-02 -1.41400892e-01] [ 8.59305739e-03 -2.01321117e-02 9.99760400e-01 -2.18405104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15119381700003 meters Centerline goodness : 0.945919 Centerline is valid? [False, False] Translation: X:20.48, Y:-0.14, Z:-2.18 [[ 9.99243449e-01 3.80944962e-02 -7.83196297e-03 2.04846438e+01] [-3.79023330e-02 9.99008081e-01 2.33723736e-02 -1.39047973e-01] [ 8.71455309e-03 -2.30578415e-02 9.99696150e-01 -2.18382902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18119381700004 meters Centerline goodness : 0.946931 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.14, Z:-2.18 [[ 9.99098005e-01 4.17122002e-02 -7.95412801e-03 2.04850570e+01] [-4.14870707e-02 9.98784053e-01 2.66315494e-02 -1.37536819e-01] [ 9.05531672e-03 -2.62775344e-02 9.99613672e-01 -2.18369471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21119381700004 meters Centerline goodness : 0.946309 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.18 [[ 9.99044308e-01 4.29477842e-02 -8.12143205e-03 2.04860047e+01] [-4.27214606e-02 9.98742283e-01 2.62436443e-02 -1.34323864e-01] [ 9.23832396e-03 -2.58716041e-02 9.99622586e-01 -2.18390065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24119381700004 meters Centerline goodness : 0.949222 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.18 [[ 9.99008261e-01 4.37036542e-02 -8.51381619e-03 2.04873741e+01] [-4.34676283e-02 9.98711915e-01 2.61739674e-02 -1.32903173e-01] [ 9.64674768e-03 -2.57779342e-02 9.99621147e-01 -2.18447229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27119381700004 meters Centerline goodness : 0.948135 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.19 [[ 9.98920414e-01 4.56057769e-02 -8.83857642e-03 2.04896697e+01] [-4.53502009e-02 9.98599933e-01 2.72311200e-02 -1.31599592e-01] [ 1.00680982e-02 -2.68008904e-02 9.99590089e-01 -2.18604129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.301193817 meters Centerline goodness : 0.945708 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.19 [[ 9.98699690e-01 5.01875918e-02 -8.95178261e-03 2.04910817e+01] [-4.98840234e-02 9.98261044e-01 3.14081675e-02 -1.30989769e-01] [ 1.05125161e-02 -3.09207762e-02 9.99466554e-01 -2.18700064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.331193817 meters Centerline goodness : 0.944564 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.19 [[ 9.98435806e-01 5.51548163e-02 -9.15896096e-03 2.04925829e+01] [-5.47936748e-02 9.97853482e-01 3.58619938e-02 -1.30357838e-01] [ 1.11172628e-02 -3.53040455e-02 9.99314781e-01 -2.18770062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36119381700001 meters Centerline goodness : 0.944185 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.19 [[ 9.97478569e-01 6.94172545e-02 -1.47563419e-02 2.04916102e+01] [-6.89017480e-02 9.97078655e-01 3.29652009e-02 -1.29970693e-01] [ 1.70015873e-02 -3.18653436e-02 9.99347560e-01 -2.18580413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39119381700002 meters Centerline goodness : 0.944505 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.13, Z:-2.19 [[ 9.97265427e-01 7.23079848e-02 -1.52716701e-02 2.04946109e+01] [-7.17352137e-02 9.96802078e-01 3.52090489e-02 -1.31251010e-01] [ 1.77687278e-02 -3.40172507e-02 9.99263278e-01 -2.18763923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42119381700002 meters Centerline goodness : 0.944750 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.13, Z:-2.19 [[ 9.97154805e-01 7.37456636e-02 -1.56163947e-02 2.04960784e+01] [-7.31408421e-02 9.96661198e-01 3.62887399e-02 -1.32651228e-01] [ 1.82403919e-02 -3.50432951e-02 9.99219323e-01 -2.18840643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45119381700002 meters Centerline goodness : 0.945798 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.14, Z:-2.19 [[ 9.97065649e-01 7.48765628e-02 -1.59245919e-02 2.04972026e+01] [-7.42387119e-02 9.96537011e-01 3.74512981e-02 -1.35012055e-01] [ 1.86736697e-02 -3.61591817e-02 9.99171561e-01 -2.18894046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48119381700002 meters Centerline goodness : 0.942500 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.14, Z:-2.19 [[ 9.96773346e-01 7.81378669e-02 -1.83676312e-02 2.05031036e+01] [-7.73706509e-02 9.96227082e-01 3.93113599e-02 -1.44987452e-01] [ 2.13700374e-02 -3.77634002e-02 9.99058180e-01 -2.18884715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51119381700002 meters Centerline goodness : 0.939290 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.15, Z:-2.19 [[ 9.96917108e-01 7.60853977e-02 -1.91648765e-02 2.05047505e+01] [-7.53240453e-02 9.96445053e-01 3.77298965e-02 -1.49985278e-01] [ 2.19674405e-02 -3.61700033e-02 9.99104180e-01 -2.18942757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54119381700002 meters Centerline goodness : 0.944647 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.16, Z:-2.19 [[ 9.97102154e-01 7.34539115e-02 -1.97943859e-02 2.05056680e+01] [-7.27132834e-02 9.96708477e-01 3.58467676e-02 -1.55417262e-01] [ 2.23623175e-02 -3.43035743e-02 9.99161244e-01 -2.18963036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57119381700002 meters Centerline goodness : 0.940650 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.16, Z:-2.19 [[ 9.97304494e-01 7.05067315e-02 -2.03112647e-02 2.05061096e+01] [-6.97949498e-02 9.96986982e-01 3.38470495e-02 -1.61242235e-01] [ 2.26365114e-02 -3.23381908e-02 9.99220611e-01 -2.18952603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60119381700002 meters Centerline goodness : 0.943629 Centerline is valid? [False, False] Translation: X:20.52, Y:-0.18, Z:-2.19 [[ 9.97789741e-01 6.44196421e-02 -1.63016216e-02 2.05213422e+01] [-6.38175873e-02 9.97344446e-01 3.50908937e-02 -1.77708311e-01] [ 1.85188746e-02 -3.39730035e-02 9.99251163e-01 -2.19090504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63119381700002 meters Centerline goodness : 0.941966 Centerline is valid? [False, False] Translation: X:20.52, Y:-0.18, Z:-2.19 [[ 9.98107887e-01 5.90189423e-02 -1.72455998e-02 2.05227381e+01] [-5.84786836e-02 9.97828371e-01 3.03114798e-02 -1.83805670e-01] [ 1.89971002e-02 -2.92456271e-02 9.99391717e-01 -2.19114862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66119381700003 meters Centerline goodness : 0.943405 Centerline is valid? [False, False] Translation: X:20.52, Y:-0.19, Z:-2.19 [[ 9.98368875e-01 5.41300217e-02 -1.81529725e-02 2.05247153e+01] [-5.36491265e-02 9.98221110e-01 2.60074333e-02 -1.90206662e-01] [ 1.95284633e-02 -2.49911208e-02 9.99496915e-01 -2.19204322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69119381700003 meters Centerline goodness : 0.942499 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.21, Z:-2.19 [[ 9.98750977e-01 4.73302307e-02 -1.60104434e-02 2.05428659e+01] [-4.68982599e-02 9.98551851e-01 2.63582049e-02 -2.06802560e-01] [ 1.72347978e-02 -2.55744209e-02 9.99524342e-01 -2.19467445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72119381700003 meters Centerline goodness : 0.939286 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.21, Z:-2.19 [[ 9.99024712e-01 4.08596520e-02 -1.67365676e-02 2.05440216e+01] [-4.05134950e-02 9.98968169e-01 2.05244657e-02 -2.12007359e-01] [ 1.75579208e-02 -1.98263916e-02 9.99649255e-01 -2.19498047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75119381700003 meters Centerline goodness : 0.938604 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.22, Z:-2.20 [[ 9.99222872e-01 3.63127123e-02 -1.53309831e-02 2.05630626e+01] [-3.59881206e-02 9.99132760e-01 2.09423721e-02 -2.20926205e-01] [ 1.60781618e-02 -2.03743640e-02 9.99663132e-01 -2.19595652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78119381700003 meters Centerline goodness : 0.937197 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.23, Z:-2.20 [[ 9.99453278e-01 3.14759380e-02 -1.01198264e-02 2.05763345e+01] [-3.12189226e-02 9.99209202e-01 2.46241709e-02 -2.30011446e-01] [ 1.08868925e-02 -2.42947782e-02 9.99645557e-01 -2.19883560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81119381700003 meters Centerline goodness : 0.937156 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.26, Z:-2.20 [[ 9.99739705e-01 2.25820716e-02 -3.25149035e-03 2.06078521e+01] [-2.22802225e-02 9.97016812e-01 7.38990345e-02 -2.60076035e-01] [ 4.91058384e-03 -7.38073550e-02 9.97260428e-01 -2.19535636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84119381700003 meters Centerline goodness : 0.935372 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.27, Z:-2.19 [[ 9.99821338e-01 1.88704273e-02 1.09483282e-03 2.06232739e+01] [-1.88989514e-02 9.96906018e-01 7.62969291e-02 -2.69283123e-01] [ 3.48310224e-04 -7.63039889e-02 9.97084540e-01 -2.19402875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87119381700003 meters Centerline goodness : 0.938405 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.29, Z:-2.19 [[ 9.99896714e-01 1.38796593e-02 3.73034838e-03 2.06434548e+01] [-1.42105960e-02 9.93585311e-01 1.12188626e-01 -2.87376560e-01] [-2.14927946e-03 -1.12230049e-01 9.93679927e-01 -2.18737510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90119381700003 meters Centerline goodness : 0.937393 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.30, Z:-2.18 [[ 9.99958869e-01 8.70064940e-03 2.56104885e-03 2.06578405e+01] [-8.97381322e-03 9.90079976e-01 1.40218084e-01 -3.01906096e-01] [-1.31565480e-03 -1.40235299e-01 9.90117331e-01 -2.17832667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93119381700004 meters Centerline goodness : 0.937785 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.32, Z:-2.17 [[ 9.99999793e-01 -4.64186896e-04 -4.44745958e-04 2.06672379e+01] [ 5.26839818e-04 9.88196132e-01 1.53193106e-01 -3.16616118e-01] [ 3.68386003e-04 -1.53193309e-01 9.88196172e-01 -2.16887402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96119381700004 meters Centerline goodness : 0.940847 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.32, Z:-2.17 [[ 9.99988877e-01 -3.63216312e-03 -3.00879398e-03 2.06580472e+01] [ 4.01801714e-03 9.90121854e-01 1.40151956e-01 -3.17406560e-01] [ 2.47001791e-03 -1.40162486e-01 9.90125435e-01 -2.16658419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99119381700004 meters Centerline goodness : 0.937231 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.32, Z:-2.16 [[ 9.99962777e-01 -6.78834021e-03 -5.32576234e-03 2.06439287e+01] [ 7.39482409e-03 9.92299463e-01 1.23640982e-01 -3.16598343e-01] [ 4.44543406e-03 -1.23675763e-01 9.92312725e-01 -2.16484479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02119381700004 meters Centerline goodness : 0.936276 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.32, Z:-2.16 [[ 9.99911351e-01 -9.63588298e-03 -9.18909352e-03 2.06376151e+01] [ 1.05866461e-02 9.93901849e-01 1.09759001e-01 -3.16483415e-01] [ 8.07543214e-03 -1.09846553e-01 9.93915752e-01 -2.16434511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.051193817 meters Centerline goodness : 0.936841 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.31, Z:-2.16 [[ 9.99860213e-01 -1.22995175e-02 -1.13259267e-02 2.06356453e+01] [ 1.32423164e-02 9.96092031e-01 8.73230061e-02 -3.14088132e-01] [ 1.02076345e-02 -8.74607810e-02 9.96115664e-01 -2.16222811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.081193817 meters Centerline goodness : 0.937541 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.31, Z:-2.16 [[ 9.99709515e-01 -1.73838431e-02 -1.66939681e-02 2.06335686e+01] [ 1.84757280e-02 9.97538165e-01 6.76480329e-02 -3.14295276e-01] [ 1.54768875e-02 -6.79368154e-02 9.97569574e-01 -2.16033493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11119381700001 meters Centerline goodness : 0.934286 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.31, Z:-2.16 [[ 9.99628638e-01 -1.98583670e-02 -1.86609526e-02 2.06426993e+01] [ 2.08795782e-02 9.98199793e-01 5.62246997e-02 -3.13233923e-01] [ 1.75108283e-02 -5.65934528e-02 9.98243734e-01 -2.15798604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14119381700002 meters Centerline goodness : 0.936298 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.31, Z:-2.16 [[ 9.99537736e-01 -2.24531492e-02 -2.04980487e-02 2.06362793e+01] [ 2.33022346e-02 9.98838704e-01 4.21693013e-02 -3.10388241e-01] [ 1.95274108e-02 -4.26274583e-02 9.98900185e-01 -2.16012014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17119381700002 meters Centerline goodness : 0.931861 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.31, Z:-2.16 [[ 9.99413430e-01 -2.74636989e-02 -2.04582582e-02 2.06366266e+01] [ 2.82113398e-02 9.98909558e-01 3.71996725e-02 -3.08968598e-01] [ 1.94143091e-02 -3.77550072e-02 9.99098416e-01 -2.16042492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20119381700002 meters Centerline goodness : 0.935876 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.31, Z:-2.16 [[ 9.99292724e-01 -3.14283948e-02 -2.06472323e-02 2.06375048e+01] [ 3.20928505e-02 9.98950499e-01 3.26795043e-02 -3.06388369e-01] [ 1.95984987e-02 -3.33190194e-02 9.99252592e-01 -2.16072691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23119381700002 meters Centerline goodness : 0.935350 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.30, Z:-2.16 [[ 9.99306298e-01 -3.28601155e-02 -1.75253088e-02 2.06483528e+01] [ 3.32150884e-02 9.99240750e-01 2.03637288e-02 -3.02398901e-01] [ 1.68428482e-02 -2.09317071e-02 9.99639026e-01 -2.16264015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26119381700002 meters Centerline goodness : 0.941003 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.30, Z:-2.16 [[ 9.99283260e-01 -3.34796797e-02 -1.76657254e-02 2.06488947e+01] [ 3.38207377e-02 9.99240112e-01 1.93741370e-02 -3.00191476e-01] [ 1.70036616e-02 -1.99577186e-02 9.99656223e-01 -2.16287625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29119381700002 meters Centerline goodness : 0.940171 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.29, Z:-2.16 [[ 9.99261594e-01 -3.41730283e-02 -1.75633448e-02 2.06494547e+01] [ 3.44756058e-02 9.99257111e-01 1.72237831e-02 -2.93750974e-01] [ 1.69617083e-02 -1.78165719e-02 9.99697389e-01 -2.16377044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32119381700002 meters Centerline goodness : 0.941640 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.29, Z:-2.16 [[ 9.99256906e-01 -3.42092399e-02 -1.77584987e-02 2.06503089e+01] [ 3.44963353e-02 9.99274809e-01 1.61201477e-02 -2.89147672e-01] [ 1.71941624e-02 -1.67207721e-02 9.99712347e-01 -2.16436503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35119381700002 meters Centerline goodness : 0.941281 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.29, Z:-2.16 [[ 9.99357969e-01 -3.10370871e-02 -1.78983026e-02 2.06503248e+01] [ 3.13695200e-02 9.99334742e-01 1.86017788e-02 -2.85446211e-01] [ 1.73090505e-02 -1.91512970e-02 9.99666757e-01 -2.16431832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38119381700002 meters Centerline goodness : 0.943031 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.28, Z:-2.16 [[ 9.99494999e-01 -2.66846563e-02 -1.72533168e-02 2.06579796e+01] [ 2.68866687e-02 9.99571360e-01 1.15845939e-02 -2.79853612e-01] [ 1.69367904e-02 -1.20426279e-02 9.99784037e-01 -2.16204276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41119381700003 meters Centerline goodness : 0.947059 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99674138e-01 -1.88241214e-02 -1.72415554e-02 2.06573710e+01] [ 1.91167052e-02 9.99673316e-01 1.69650544e-02 -2.71741119e-01] [ 1.69165706e-02 -1.72891279e-02 9.99707415e-01 -2.16166364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44119381700003 meters Centerline goodness : 0.948337 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99775093e-01 -1.18493908e-02 -1.75885180e-02 2.06572584e+01] [ 1.22617317e-02 9.99648072e-01 2.35240587e-02 -2.68633473e-01] [ 1.73035824e-02 -2.37344336e-02 9.99568538e-01 -2.16105118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47119381700003 meters Centerline goodness : 0.947725 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.26, Z:-2.16 [[ 9.99804210e-01 -7.64759785e-03 -1.82497974e-02 2.06587060e+01] [ 8.12573220e-03 9.99621839e-01 2.62707267e-02 -2.63418599e-01] [ 1.80419881e-02 -2.64138761e-02 9.99488266e-01 -2.16142972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50119381700003 meters Centerline goodness : 0.943226 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.25, Z:-2.16 [[ 9.99854427e-01 -1.38709879e-04 -1.70618429e-02 2.06576170e+01] [ 6.25708080e-04 9.99592424e-01 2.85410932e-02 -2.52403899e-01] [ 1.70509300e-02 -2.85476141e-02 9.99446997e-01 -2.16371948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53119381700003 meters Centerline goodness : 0.944756 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.25, Z:-2.16 [[ 9.99842033e-01 3.43717989e-03 -1.74383414e-02 2.06588384e+01] [-2.88972641e-03 9.99505159e-01 3.13223084e-02 -2.49077585e-01] [ 1.75373726e-02 -3.12669685e-02 9.99357202e-01 -2.16438853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56119381700003 meters Centerline goodness : 0.947023 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.25, Z:-2.17 [[ 9.99827618e-01 4.01389805e-03 -1.81279835e-02 2.06607245e+01] [-3.45601331e-03 9.99522609e-01 3.07019420e-02 -2.45590335e-01] [ 1.82425638e-02 -3.06339990e-02 9.99364181e-01 -2.16521550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59119381700003 meters Centerline goodness : 0.941995 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.24, Z:-2.17 [[ 9.99820974e-01 4.07916754e-03 -1.84764616e-02 2.06618914e+01] [-3.52327154e-03 9.99543089e-01 3.00199764e-02 -2.43043337e-01] [ 1.85904760e-02 -2.99495044e-02 9.99378518e-01 -2.16588162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62119381700003 meters Centerline goodness : 0.942703 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.24, Z:-2.17 [[ 9.99814163e-01 3.78928699e-03 -1.89018677e-02 2.06633044e+01] [-3.23536444e-03 9.99566887e-01 2.92501576e-02 -2.41142515e-01] [ 1.90045183e-02 -2.91835674e-02 9.99393390e-01 -2.16672385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65119381700003 meters Centerline goodness : 0.942019 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.24, Z:-2.17 [[ 9.99811770e-01 3.38839098e-03 -1.91034677e-02 2.06642805e+01] [-2.84081319e-03 9.99586372e-01 2.86184158e-02 -2.39921989e-01] [ 1.91925364e-02 -2.85587596e-02 9.99407847e-01 -2.16735114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68119381700004 meters Centerline goodness : 0.942048 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.24, Z:-2.17 [[ 9.99871955e-01 1.31163964e-03 -1.59484339e-02 2.06818670e+01] [-8.68542240e-04 9.99614285e-01 2.77583803e-02 -2.38719325e-01] [ 1.59786913e-02 -2.77409741e-02 9.99487429e-01 -2.16708510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71119381700004 meters Centerline goodness : 0.940462 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.17 [[ 9.99904902e-01 1.01409700e-03 -1.37534976e-02 2.06999837e+01] [-6.17186470e-04 9.99584067e-01 2.88324785e-02 -2.37859363e-01] [ 1.37770160e-02 -2.88212481e-02 9.99489635e-01 -2.16657815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74119381700004 meters Centerline goodness : 0.940978 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.24, Z:-2.17 [[ 9.99956694e-01 -3.25098207e-04 -9.30081539e-03 2.07119303e+01] [ 6.66583649e-04 9.99324778e-01 3.67361435e-02 -2.38022861e-01] [ 9.28259242e-03 -3.67407523e-02 9.99281717e-01 -2.17043572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77119381700004 meters Centerline goodness : 0.939565 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.24, Z:-2.17 [[ 9.99986554e-01 -2.90934430e-04 -5.17750998e-03 2.07227077e+01] [ 5.34301390e-04 9.98891661e-01 4.70655259e-02 -2.39238813e-01] [ 5.15807856e-03 -4.70676594e-02 9.98878386e-01 -2.17354718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters Centerline goodness : 0.937780 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.24, Z:-2.17 [[ 9.99990086e-01 -1.86356008e-03 -4.04405272e-03 2.07422730e+01] [ 2.04351344e-03 9.98986688e-01 4.49602145e-02 -2.38344449e-01] [ 3.95616878e-03 -4.49680328e-02 9.98980593e-01 -2.17361988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.831193817 meters Centerline goodness : 0.938225 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99986769e-01 -2.73874537e-03 -4.35435362e-03 2.07474666e+01] [ 2.97933582e-03 9.98412712e-01 5.62421494e-02 -2.41010556e-01] [ 4.19340908e-03 -5.62543784e-02 9.98407662e-01 -2.16806658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters Centerline goodness : 0.939655 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99969752e-01 -6.26493055e-03 -4.60931847e-03 2.07478988e+01] [ 6.49712668e-03 9.98614699e-01 5.22156194e-02 -2.40229061e-01] [ 4.27580595e-03 -5.22439873e-02 9.98625197e-01 -2.16789081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89119381700002 meters Centerline goodness : 0.941090 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99934040e-01 -1.05351225e-02 -4.57450736e-03 2.07477330e+01] [ 1.07441937e-02 9.98771295e-01 4.83783264e-02 -2.41629532e-01] [ 4.05921505e-03 -4.84242848e-02 9.98818608e-01 -2.16752229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters Centerline goodness : 0.941090 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99934040e-01 -1.05351225e-02 -4.57450736e-03 2.07477330e+01] [ 1.07441937e-02 9.98771295e-01 4.83783264e-02 -2.41629532e-01] [ 4.05921505e-03 -4.84242848e-02 9.98818608e-01 -2.16752229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95119381700002 meters Centerline goodness : 0.939459 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99915650e-01 -1.22191672e-02 -4.40287324e-03 2.07462174e+01] [ 1.24133280e-02 9.98810060e-01 4.71632582e-02 -2.41826169e-01] [ 3.82133835e-03 -4.72139342e-02 9.98877491e-01 -2.16592074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98119381700002 meters Centerline goodness : 0.937820 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99909651e-01 -1.26571188e-02 -4.52623873e-03 2.07466133e+01] [ 1.28578977e-02 9.98789020e-01 4.74886077e-02 -2.43480764e-01] [ 3.91968860e-03 -4.75425151e-02 9.98861525e-01 -2.16608313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01119381700002 meters Centerline goodness : 0.937157 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99853271e-01 -1.64441390e-02 -4.79865284e-03 2.07472777e+01] [ 1.66377915e-02 9.98911527e-01 4.35768813e-02 -2.43136165e-01] [ 4.07684534e-03 -4.36503263e-02 9.99038552e-01 -2.16610326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04119381700002 meters Centerline goodness : 0.938280 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99712744e-01 -2.35401574e-02 -4.50455968e-03 2.07474148e+01] [ 2.36864542e-02 9.99078935e-01 3.57803554e-02 -2.42784616e-01] [ 3.65813550e-03 -3.58767743e-02 9.99349526e-01 -2.16672014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07119381700002 meters Centerline goodness : 0.933253 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99697734e-01 -2.45523125e-02 -1.27450869e-03 2.07510121e+01] [ 2.45729394e-02 9.99497053e-01 2.00452455e-02 -2.39871917e-01] [ 7.81710545e-04 -2.00705050e-02 9.99798262e-01 -2.16685789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10119381700002 meters Centerline goodness : 0.934860 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99784518e-01 -2.06547672e-02 -2.07304009e-03 2.07520620e+01] [ 2.07041840e-02 9.99403928e-01 2.76247130e-02 -2.45012792e-01] [ 1.50122239e-03 -2.76616810e-02 9.99616215e-01 -2.16500264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13119381700002 meters Centerline goodness : 0.929553 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.17 [[ 9.99800284e-01 -1.95696620e-02 -4.05214001e-03 2.07456748e+01] [ 1.96336818e-02 9.99672514e-01 1.64129187e-02 -2.44263543e-01] [ 3.72961772e-03 -1.64891992e-02 9.99857088e-01 -2.16740116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16119381700003 meters Centerline goodness : 0.930428 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99803372e-01 -1.93077006e-02 -4.52004326e-03 2.07467732e+01] [ 1.93823307e-02 9.99665996e-01 1.70945096e-02 -2.45330998e-01] [ 4.18847787e-03 -1.71787573e-02 9.99843661e-01 -2.16749982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19119381700003 meters Centerline goodness : 0.928549 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99800430e-01 -1.93863982e-02 -4.82373662e-03 2.07470902e+01] [ 1.94669665e-02 9.99661555e-01 1.72572455e-02 -2.45842786e-01] [ 4.48754822e-03 -1.73477050e-02 9.99839447e-01 -2.16701149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22119381700003 meters Centerline goodness : 0.932401 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99795030e-01 -1.95399148e-02 -5.29988419e-03 2.07479169e+01] [ 1.96299397e-02 9.99654108e-01 1.75022835e-02 -2.46676280e-01] [ 4.95605787e-03 -1.76027324e-02 9.99832777e-01 -2.16670946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25119381700003 meters Centerline goodness : 0.931825 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99723558e-01 -2.28623377e-02 -5.48821180e-03 2.07481957e+01] [ 2.29402409e-02 9.99630542e-01 1.45782031e-02 -2.48954188e-01] [ 5.15289233e-03 -1.47000740e-02 9.99878670e-01 -2.16615476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28119381700003 meters Centerline goodness : 0.933456 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.17 [[ 9.99637548e-01 -2.63995010e-02 -5.27634562e-03 2.07475666e+01] [ 2.64552498e-02 9.99591753e-01 1.07910931e-02 -2.49119382e-01] [ 4.98931209e-03 -1.09267689e-02 9.99927854e-01 -2.16551263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31119381700003 meters Centerline goodness : 0.934749 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99635143e-01 -2.64565816e-02 -5.44332733e-03 2.07475333e+01] [ 2.65177258e-02 9.99582362e-01 1.14853118e-02 -2.50937576e-01] [ 5.13719190e-03 -1.16254660e-02 9.99919226e-01 -2.16488518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34119381700003 meters Centerline goodness : 0.935647 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99624186e-01 -2.68669298e-02 -5.44561544e-03 2.07470723e+01] [ 2.69282315e-02 9.99571045e-01 1.15150257e-02 -2.51655169e-01] [ 5.13390613e-03 -1.16573389e-02 9.99918871e-01 -2.16408604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37119381700003 meters Centerline goodness : 0.938302 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99610465e-01 -2.73422200e-02 -5.59648263e-03 2.07472523e+01] [ 2.74024852e-02 9.99564056e-01 1.09909464e-02 -2.50848353e-01] [ 5.29352600e-03 -1.11400226e-02 9.99923936e-01 -2.16386929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40119381700003 meters Centerline goodness : 0.937126 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99665323e-01 -2.52431923e-02 -5.65889312e-03 2.07459264e+01] [ 2.53183600e-02 9.99586513e-01 1.36302280e-02 -2.51052143e-01] [ 5.31248278e-03 -1.37689401e-02 9.99891091e-01 -2.16221498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43119381700004 meters Centerline goodness : 0.939082 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.25, Z:-2.16 [[ 9.99821868e-01 -1.74569953e-02 -7.17537766e-03 2.07444896e+01] [ 1.74755540e-02 9.99844085e-01 2.53192900e-03 -2.47193410e-01] [ 7.13005904e-03 -2.65687169e-03 9.99971051e-01 -2.16205057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46119381700004 meters Centerline goodness : 0.942370 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99878554e-01 -1.35159128e-02 -7.75874584e-03 2.07455796e+01] [ 1.35662052e-02 9.99887065e-01 6.46641681e-03 -2.46984236e-01] [ 7.67047008e-03 -6.57088823e-03 9.99948992e-01 -2.16217851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49119381700004 meters Centerline goodness : 0.939204 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.25, Z:-2.16 [[ 9.99920135e-01 -9.76675503e-03 -8.02087924e-03 2.07458782e+01] [ 9.84809496e-03 9.99899840e-01 1.01649264e-02 -2.46214512e-01] [ 7.92079752e-03 -1.02431050e-02 9.99916166e-01 -2.16207641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52119381700004 meters Centerline goodness : 0.941313 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.24, Z:-2.16 [[ 9.99925834e-01 -9.15093942e-03 -8.03656659e-03 2.07454481e+01] [ 9.22909474e-03 9.99909951e-01 9.74232801e-03 -2.43759406e-01] [ 7.94669145e-03 -9.81577570e-03 9.99920247e-01 -2.16158969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.551193817 meters Centerline goodness : 0.941526 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.24, Z:-2.16 [[ 9.99974629e-01 -5.27850851e-03 -4.78321312e-03 2.07181645e+01] [ 5.37269720e-03 9.99787591e-01 1.98974143e-02 -2.44151731e-01] [ 4.67716845e-03 -1.99226082e-02 9.99790585e-01 -2.16327868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters Centerline goodness : 0.942987 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.24, Z:-2.16 [[ 9.99981239e-01 -3.64018547e-03 -4.92653860e-03 2.07173177e+01] [ 3.74730949e-03 9.99752867e-01 2.19126126e-02 -2.43682259e-01] [ 4.84555512e-03 -2.19306628e-02 9.99747751e-01 -2.16201737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61119381700001 meters Centerline goodness : 0.942664 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.24, Z:-2.16 [[ 9.99967709e-01 -6.44622950e-03 -4.79857392e-03 2.07010925e+01] [ 6.60997781e-03 9.99367938e-01 3.49289788e-02 -2.44590018e-01] [ 4.57038071e-03 -3.49595694e-02 9.99378277e-01 -2.16343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters Centerline goodness : 0.939028 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.25, Z:-2.17 [[ 9.99981786e-01 -6.00009895e-03 -6.53814668e-04 2.06829992e+01] [ 6.01889908e-03 9.99400783e-01 3.40858900e-02 -2.45368180e-01] [ 4.48904179e-04 -3.40892043e-02 9.99418693e-01 -2.16696826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67119381700002 meters Centerline goodness : 0.944770 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.25, Z:-2.17 [[ 9.99982748e-01 -5.78671773e-03 -1.00874791e-03 2.06839715e+01] [ 5.81814900e-03 9.99384687e-01 3.45889543e-02 -2.45921836e-01] [ 8.07970697e-04 -3.45942266e-02 9.99401114e-01 -2.16730002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters Centerline goodness : 0.939017 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.25, Z:-2.17 [[ 9.99973597e-01 -6.20081352e-03 -3.78871986e-03 2.06656100e+01] [ 6.32045242e-03 9.99454121e-01 3.24270271e-02 -2.45044045e-01] [ 3.58557773e-03 -3.24501174e-02 9.99466925e-01 -2.16730540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73119381700002 meters Centerline goodness : 0.938363 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.25, Z:-2.17 [[ 9.99955581e-01 -4.56378463e-03 -8.24674772e-03 2.06503264e+01] [ 4.84315675e-03 9.99403944e-01 3.41804157e-02 -2.46259871e-01] [ 8.08584014e-03 -3.42188377e-02 9.99381654e-01 -2.16896022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76119381700002 meters Centerline goodness : 0.936648 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.25, Z:-2.17 [[ 9.99896459e-01 -2.61594062e-03 -1.41501709e-02 2.06365029e+01] [ 3.15107627e-03 9.99275461e-01 3.79292049e-02 -2.49075398e-01] [ 1.40406980e-02 -3.79698660e-02 9.99180238e-01 -2.16947396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79119381700002 meters Centerline goodness : 0.932222 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.25, Z:-2.17 [[ 9.99902996e-01 -3.35121079e-03 -1.35191639e-02 2.06092722e+01] [ 3.94313481e-03 9.99023848e-01 4.39977517e-02 -2.49816759e-01] [ 1.33585214e-02 -4.40467916e-02 9.98940153e-01 -2.17080535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82119381700002 meters Centerline goodness : 0.930849 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.25, Z:-2.17 [[ 9.99881998e-01 -3.32635943e-03 -1.49974860e-02 2.05891947e+01] [ 3.93679246e-03 9.99157195e-01 4.08583114e-02 -2.47993075e-01] [ 1.48489366e-02 -4.09125320e-02 9.99052388e-01 -2.16971439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85119381700002 meters Centerline goodness : 0.928985 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.25, Z:-2.17 [[ 9.99856592e-01 4.88563724e-04 -1.69280152e-02 2.05695151e+01] [ 2.86539714e-04 9.98952625e-01 4.57555495e-02 -2.49724398e-01] [ 1.69326397e-02 -4.57538383e-02 9.98809227e-01 -2.16781495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88119381700002 meters Centerline goodness : 0.933899 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.25, Z:-2.17 [[ 9.99845506e-01 4.29766725e-03 -1.70438850e-02 2.05679203e+01] [-3.45416471e-03 9.98782270e-01 4.92142953e-02 -2.49889335e-01] [ 1.72346368e-02 -4.91478196e-02 9.98642809e-01 -2.16540739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91119381700003 meters Centerline goodness : 0.935809 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.25, Z:-2.16 [[ 9.99832366e-01 5.12509952e-03 -1.75776306e-02 2.05686922e+01] [-4.25162021e-03 9.98771264e-01 4.93749500e-02 -2.49046088e-01] [ 1.78090839e-02 -4.92919397e-02 9.98625626e-01 -2.16496409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94119381700003 meters Centerline goodness : 0.934908 Centerline is valid? [False, False] Translation: X:20.57, Y:-0.25, Z:-2.16 [[ 9.99822917e-01 5.85031079e-03 -1.78859686e-02 2.05692510e+01] [-4.95656927e-03 9.98756310e-01 4.96111393e-02 -2.48802029e-01] [ 1.81539646e-02 -4.95137010e-02 9.98608445e-01 -2.16477921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97119381700003 meters Centerline goodness : 0.934551 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.25, Z:-2.16 [[ 9.99881455e-01 6.12202952e-03 -1.41278963e-02 2.05862345e+01] [-5.41260807e-03 9.98748659e-01 4.97174047e-02 -2.48464700e-01] [ 1.44145889e-02 -4.96350421e-02 9.98663398e-01 -2.16420953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00119381700003 meters Centerline goodness : 0.937447 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.25, Z:-2.16 [[ 9.99920452e-01 4.21778136e-03 -1.18870052e-02 2.06050383e+01] [-3.65114583e-03 9.98874363e-01 4.72935165e-02 -2.47314474e-01] [ 1.20730985e-02 -4.72463532e-02 9.98810304e-01 -2.16426348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03119381700003 meters Centerline goodness : 0.940887 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.25, Z:-2.16 [[ 9.99959317e-01 1.36324435e-03 -8.91659424e-03 2.06230957e+01] [-9.49619267e-04 9.98930415e-01 4.62290418e-02 -2.50024245e-01] [ 8.97007866e-03 -4.62186937e-02 9.98891070e-01 -2.16364462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06119381700003 meters Centerline goodness : 0.937107 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.25, Z:-2.17 [[ 9.99968456e-01 -2.72381080e-03 -7.46106551e-03 2.06443207e+01] [ 3.15661258e-03 9.98275120e-01 5.86243945e-02 -2.54513401e-01] [ 7.28851432e-03 -5.86460970e-02 9.98252229e-01 -2.16562861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09119381700003 meters Centerline goodness : 0.935731 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.26, Z:-2.17 [[ 9.99951380e-01 -5.52144357e-03 -8.17009464e-03 2.06467866e+01] [ 5.97208622e-03 9.98401540e-01 5.62022979e-02 -2.56022111e-01] [ 7.84671726e-03 -5.62483579e-02 9.98385973e-01 -2.16612934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12119381700003 meters Centerline goodness : 0.935051 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99853745e-01 -9.62295962e-03 -1.41381555e-02 2.06604543e+01] [ 1.08721410e-02 9.95781080e-01 9.11144147e-02 -2.70433504e-01] [ 1.32017174e-02 -9.12548008e-02 9.95740064e-01 -2.15838186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15119381700003 meters Centerline goodness : 0.931312 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99803401e-01 -1.29287741e-02 -1.50334854e-02 2.06625179e+01] [ 1.42007117e-02 9.96034081e-01 8.78319423e-02 -2.70947034e-01] [ 1.38383045e-02 -8.80281608e-02 9.96021859e-01 -2.15838200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18119381700004 meters Centerline goodness : 0.932987 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99799387e-01 -1.26831105e-02 -1.55023977e-02 2.06627661e+01] [ 1.40218965e-02 9.95883984e-01 8.95459464e-02 -2.73702336e-01] [ 1.43028685e-02 -8.97453553e-02 9.95862038e-01 -2.15649373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21119381700004 meters Centerline goodness : 0.931369 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.27, Z:-2.16 [[ 9.99764168e-01 -1.50058133e-02 -1.56981903e-02 2.06623401e+01] [ 1.63170696e-02 9.96071221e-01 8.70395100e-02 -2.74456502e-01] [ 1.43304170e-02 -8.72751318e-02 9.96081167e-01 -2.15512008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24119381700004 meters Centerline goodness : 0.932470 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.28, Z:-2.15 [[ 9.99710574e-01 -1.75659817e-02 -1.64379289e-02 2.06613322e+01] [ 1.89190663e-02 9.96102851e-01 8.61462688e-02 -2.79208269e-01] [ 1.48606240e-02 -8.64323261e-02 9.96146884e-01 -2.15094014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27119381700004 meters Centerline goodness : 0.933829 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.28, Z:-2.15 [[ 9.99767036e-01 -1.84897264e-02 -1.11357086e-02 2.06604549e+01] [ 1.92099971e-02 9.97467200e-01 6.84847518e-02 -2.78639380e-01] [ 9.84123977e-03 -6.86827142e-02 9.97590013e-01 -2.15090045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters Centerline goodness : 0.932894 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.28, Z:-2.15 [[ 9.99756211e-01 -2.04981267e-02 -8.20639425e-03 2.06665980e+01] [ 2.09192772e-02 9.98265491e-01 5.50308478e-02 -2.78563724e-01] [ 7.06413089e-03 -5.51891038e-02 9.98450931e-01 -2.14942885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.331193817 meters Centerline goodness : 0.934351 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.28, Z:-2.15 [[ 9.99688082e-01 -2.15271703e-02 -1.26617224e-02 2.06647877e+01] [ 2.20061858e-02 9.98997062e-01 3.89948361e-02 -2.80737593e-01] [ 1.18095750e-02 -3.92613092e-02 9.99159188e-01 -2.14762635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters Centerline goodness : 0.936950 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.28, Z:-2.15 [[ 9.99617612e-01 -2.43520843e-02 -1.30998007e-02 2.06660868e+01] [ 2.48107512e-02 9.99041179e-01 3.60714605e-02 -2.81449971e-01] [ 1.22088251e-02 -3.63826831e-02 9.99263351e-01 -2.14788142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39119381700002 meters Centerline goodness : 0.937550 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.28, Z:-2.15 [[ 9.99545871e-01 -2.69497163e-02 -1.34820121e-02 2.06674305e+01] [ 2.73850339e-02 9.99072826e-01 3.32196955e-02 -2.81734279e-01] [ 1.25742505e-02 -3.35738148e-02 9.99357137e-01 -2.14832513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters Centerline goodness : 0.939647 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.28, Z:-2.15 [[ 9.99476606e-01 -2.91815714e-02 -1.39624418e-02 2.06689377e+01] [ 2.95988919e-02 9.99090933e-01 3.06792086e-02 -2.82057075e-01] [ 1.30544815e-02 -3.10764241e-02 9.99431757e-01 -2.14868126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45119381700002 meters Centerline goodness : 0.938406 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.28, Z:-2.15 [[ 9.99427935e-01 -2.92864687e-02 -1.69146439e-02 2.06778019e+01] [ 2.96601776e-02 9.99311645e-01 2.22825147e-02 -2.83416351e-01] [ 1.62504244e-02 -2.27714590e-02 9.99608616e-01 -2.14528610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48119381700002 meters Centerline goodness : 0.937728 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.28, Z:-2.14 [[ 9.99479923e-01 -2.76177703e-02 -1.66475850e-02 2.06970106e+01] [ 2.77417146e-02 9.99588755e-01 7.26076278e-03 -2.82486149e-01] [ 1.64402127e-02 -7.71881918e-03 9.99835056e-01 -2.14496714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51119381700002 meters Centerline goodness : 0.936909 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.28, Z:-2.15 [[ 9.99576472e-01 -2.44039276e-02 -1.58532213e-02 2.07169255e+01] [ 2.43173830e-02 9.99688440e-01 -5.62916181e-03 -2.82501136e-01] [ 1.59856558e-02 5.24126885e-03 9.99858484e-01 -2.14558756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54119381700002 meters Centerline goodness : 0.935983 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.28, Z:-2.15 [[ 9.99572367e-01 -2.43696789e-02 -1.61617377e-02 2.07178489e+01] [ 2.42830845e-02 9.99689812e-01 -5.53278714e-03 -2.82876829e-01] [ 1.62915568e-02 5.13796429e-03 9.99854083e-01 -2.14588379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57119381700002 meters Centerline goodness : 0.937084 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.28, Z:-2.15 [[ 9.99654038e-01 -2.33070493e-02 -1.21895853e-02 2.07297364e+01] [ 2.31283235e-02 9.99625844e-01 -1.46031906e-02 -2.81097925e-01] [ 1.25253817e-02 1.43162138e-02 9.99819064e-01 -2.14903145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60119381700002 meters Centerline goodness : 0.937121 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.28, Z:-2.15 [[ 9.99767500e-01 -2.04439968e-02 -6.85481365e-03 2.07415507e+01] [ 2.02973934e-02 9.99577293e-01 -2.08146734e-02 -2.79799138e-01] [ 7.27745119e-03 2.06706991e-02 9.99759852e-01 -2.15273149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63119381700002 meters Centerline goodness : 0.936386 Centerline is valid? [False, False] Translation: X:20.75, Y:-0.28, Z:-2.16 [[ 9.99832572e-01 -1.82158832e-02 -1.73463216e-03 2.07534661e+01] [ 1.81611695e-02 9.99454875e-01 -2.75703756e-02 -2.78554123e-01] [ 2.23590531e-03 2.75342566e-02 9.99618360e-01 -2.15664806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66119381700003 meters Centerline goodness : 0.937772 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.28, Z:-2.16 [[ 9.99869708e-01 -1.61127483e-02 -9.72498230e-04 2.07734976e+01] [ 1.60854242e-02 9.99593880e-01 -2.35230423e-02 -2.80975332e-01] [ 1.35112414e-03 2.35043344e-02 9.99722822e-01 -2.15700883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69119381700003 meters Centerline goodness : 0.938476 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.28, Z:-2.16 [[ 9.99872737e-01 -1.59058965e-02 -1.22946253e-03 2.07743382e+01] [ 1.58730729e-02 9.99604325e-01 -2.32215396e-02 -2.81810854e-01] [ 1.59833547e-03 2.31990690e-02 9.99729588e-01 -2.15738186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72119381700003 meters Centerline goodness : 0.935116 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.28, Z:-2.16 [[ 9.99887085e-01 -1.49196091e-02 -1.79529565e-03 2.07767539e+01] [ 1.48771822e-02 9.99653992e-01 -2.16925310e-02 -2.84564715e-01] [ 2.11831854e-03 2.16633727e-02 9.99763077e-01 -2.15914638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75119381700003 meters Centerline goodness : 0.937654 Centerline is valid? [False, False] Translation: X:20.80, Y:-0.29, Z:-2.16 [[ 9.99894740e-01 -1.42245171e-02 -2.85883691e-03 2.07990843e+01] [ 1.41656152e-02 9.99706295e-01 -1.96636499e-02 -2.86678342e-01] [ 3.13770318e-03 1.96210829e-02 9.99802564e-01 -2.16087724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78119381700003 meters Centerline goodness : 0.935925 Centerline is valid? [False, False] Translation: X:20.80, Y:-0.29, Z:-2.16 [[ 9.99891031e-01 -1.44098226e-02 -3.20667869e-03 2.08002514e+01] [ 1.43447014e-02 9.99707331e-01 -1.94802776e-02 -2.87805834e-01] [ 3.48644754e-03 1.94321560e-02 9.99805099e-01 -2.16145490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81119381700003 meters Centerline goodness : 0.933722 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.29, Z:-2.16 [[ 9.99870039e-01 -1.52372744e-02 -5.26600481e-03 2.08227366e+01] [ 1.51317524e-02 9.99694785e-01 -1.95286430e-02 -2.89338284e-01] [ 5.56196083e-03 1.94464211e-02 9.99795430e-01 -2.16255197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84119381700003 meters Centerline goodness : 0.933722 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.29, Z:-2.16 [[ 9.99870039e-01 -1.52372744e-02 -5.26600481e-03 2.08227366e+01] [ 1.51317524e-02 9.99694785e-01 -1.95286430e-02 -2.89338284e-01] [ 5.56196083e-03 1.94464211e-02 9.99795430e-01 -2.16255197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87119381700003 meters Centerline goodness : 0.933164 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.29, Z:-2.16 [[ 9.99844767e-01 -1.66559700e-02 -5.74631905e-03 2.08254235e+01] [ 1.65368472e-02 9.99659395e-01 -2.01897615e-02 -2.92168124e-01] [ 6.08064189e-03 2.00916014e-02 9.99779652e-01 -2.16456633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90119381700003 meters Centerline goodness : 0.933625 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.29, Z:-2.16 [[ 9.99838793e-01 -1.68715934e-02 -6.14312666e-03 2.08263246e+01] [ 1.67478462e-02 9.99666303e-01 -1.96670336e-02 -2.94580550e-01] [ 6.47289092e-03 1.95609790e-02 9.99787712e-01 -2.16471449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93119381700004 meters Centerline goodness : 0.935885 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.30, Z:-2.17 [[ 9.99834568e-01 -1.75043853e-02 -4.94288900e-03 2.08462469e+01] [ 1.74073529e-02 9.99667271e-01 -1.90349994e-02 -2.97335986e-01] [ 5.27444033e-03 1.89458078e-02 9.99806600e-01 -2.16509547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96119381700004 meters Centerline goodness : 0.935991 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.30, Z:-2.17 [[ 9.99829984e-01 -1.76642689e-02 -5.28934709e-03 2.08470303e+01] [ 1.75627518e-02 9.99671612e-01 -1.86605783e-02 -2.99418719e-01] [ 5.61723560e-03 1.85645102e-02 9.99811885e-01 -2.16518062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99119381700004 meters Centerline goodness : 0.937927 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.31, Z:-2.17 [[ 9.99856774e-01 -1.67584924e-02 -2.36304662e-03 2.08651533e+01] [ 1.67212849e-02 9.99748081e-01 -1.49724437e-02 -3.05292349e-01] [ 2.61336691e-03 1.49307861e-02 9.99885114e-01 -2.16528040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02119381700004 meters Centerline goodness : 0.937303 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.31, Z:-2.17 [[ 9.99859038e-01 -1.65936332e-02 -2.56025765e-03 2.08655772e+01] [ 1.65552169e-02 9.99759832e-01 -1.43597499e-02 -3.06983313e-01] [ 2.79792319e-03 1.43153401e-02 9.99893616e-01 -2.16528604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.051193817 meters Centerline goodness : 0.938786 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.31, Z:-2.17 [[ 9.99860866e-01 -1.64515115e-02 -2.75615907e-03 2.08662672e+01] [ 1.64118795e-02 9.99769625e-01 -1.38328329e-02 -3.08231567e-01] [ 2.98309512e-03 1.37856745e-02 9.99900523e-01 -2.16559151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.081193817 meters Centerline goodness : 0.938307 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.31, Z:-2.17 [[ 9.99860925e-01 -1.64185006e-02 -2.92646982e-03 2.08669179e+01] [ 1.63770220e-02 9.99772371e-01 -1.36747934e-02 -3.08313596e-01] [ 3.15032327e-03 1.36249647e-02 9.99902213e-01 -2.16593503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11119381700001 meters Centerline goodness : 0.939222 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.31, Z:-2.17 [[ 9.99860511e-01 -1.63980572e-02 -3.17214456e-03 2.08676501e+01] [ 1.63534284e-02 9.99773540e-01 -1.36174207e-02 -3.07963969e-01] [ 3.39472544e-03 1.35636458e-02 9.99902247e-01 -2.16621213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters Centerline goodness : 0.940033 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.31, Z:-2.17 [[ 9.99904257e-01 -1.36574600e-02 2.22481196e-03 2.08796649e+01] [ 1.36992195e-02 9.99706478e-01 -1.99822460e-02 -3.06392874e-01] [-1.95125220e-03 2.00108110e-02 9.99797860e-01 -2.17014164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17119381700002 meters Centerline goodness : 0.937021 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.31, Z:-2.17 [[ 9.99913178e-01 -1.30441915e-02 1.86676254e-03 2.08806640e+01] [ 1.30783264e-02 9.99721965e-01 -1.96201417e-02 -3.06438794e-01] [-1.61031463e-03 1.96428524e-02 9.99805764e-01 -2.17045213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20119381700002 meters Centerline goodness : 0.936081 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.31, Z:-2.17 [[ 9.99936603e-01 -1.12044164e-02 1.11818768e-03 2.08835031e+01] [ 1.12226804e-02 9.99776057e-01 -1.79412016e-02 -3.07000800e-01] [-9.16916579e-04 1.79526132e-02 9.99838418e-01 -2.17215185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23119381700002 meters Centerline goodness : 0.934823 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.31, Z:-2.17 [[ 9.99975556e-01 -6.94798221e-03 7.82373106e-04 2.08847361e+01] [ 6.95782096e-03 9.99886457e-01 -1.33664716e-02 -3.08376210e-01] [-6.89414266e-04 1.33715885e-02 9.99910359e-01 -2.17295314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26119381700002 meters Centerline goodness : 0.931376 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.31, Z:-2.18 [[ 9.99998828e-01 9.87833510e-04 1.16979774e-03 2.09116830e+01] [-9.63853915e-04 9.99792960e-01 -2.03250557e-02 -3.05563365e-01] [-1.18963332e-03 2.03239043e-02 9.99792740e-01 -2.17544851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29119381700002 meters Centerline goodness : 0.931850 Centerline is valid? [False, False] Translation: X:20.93, Y:-0.30, Z:-2.18 [[ 9.99993909e-01 2.29462912e-03 2.62991878e-03 2.09315075e+01] [-2.23820786e-03 9.99771488e-01 -2.12594180e-02 -3.04013668e-01] [-2.67810029e-03 2.12534022e-02 9.99770534e-01 -2.17577904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32119381700002 meters Centerline goodness : 0.935708 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.30, Z:-2.18 [[ 9.99979982e-01 2.89292831e-03 5.62723988e-03 2.09490000e+01] [-2.76209832e-03 9.99728885e-01 -2.31198542e-02 -3.02945148e-01] [-5.69259833e-03 2.31038484e-02 9.99716863e-01 -2.17528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35119381700002 meters Centerline goodness : 0.937655 Centerline is valid? [False, False] Translation: X:20.97, Y:-0.30, Z:-2.18 [[ 9.99957144e-01 3.10367586e-03 8.72221987e-03 2.09665310e+01] [-2.87917694e-03 9.99667237e-01 -2.56344744e-02 -3.02172112e-01] [-8.79887853e-03 2.56082630e-02 9.99633331e-01 -2.17530223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38119381700002 meters Centerline goodness : 0.937627 Centerline is valid? [False, False] Translation: X:20.97, Y:-0.30, Z:-2.17 [[ 9.99886251e-01 9.02986324e-03 1.20807975e-02 2.09734132e+01] [-8.64918213e-03 9.99475713e-01 -3.12008130e-02 -3.04361419e-01] [-1.23562028e-02 3.10927750e-02 9.99440125e-01 -2.17431099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41119381700003 meters Centerline goodness : 0.939292 Centerline is valid? [False, False] Translation: X:20.97, Y:-0.31, Z:-2.17 [[ 9.99911402e-01 8.56363994e-03 1.01907582e-02 2.09736621e+01] [-8.42623478e-03 9.99874031e-01 -1.34507114e-02 -3.09728837e-01] [-1.03046615e-02 1.33636500e-02 9.99857603e-01 -2.17365570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44119381700003 meters Centerline goodness : 0.939803 Centerline is valid? [False, False] Translation: X:20.97, Y:-0.31, Z:-2.17 [[ 9.99903687e-01 9.68218184e-03 9.94340448e-03 2.09745414e+01] [-9.56107785e-03 9.99880408e-01 -1.21554874e-02 -3.11805544e-01] [-1.00599070e-02 1.20592470e-02 9.99876679e-01 -2.17414781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47119381700003 meters Centerline goodness : 0.939853 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.32, Z:-2.18 [[ 9.99882160e-01 1.19155833e-02 9.67912867e-03 2.09761285e+01] [-1.18258400e-02 9.99887039e-01 -9.27674933e-03 -3.17045800e-01] [-9.78857319e-03 9.16119233e-03 9.99910124e-01 -2.17554861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50119381700003 meters Centerline goodness : 0.939728 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.32, Z:-2.18 [[ 9.99870545e-01 1.29465853e-02 9.55398178e-03 2.09769381e+01] [-1.28736945e-02 9.99887852e-01 -7.65182586e-03 -3.20553640e-01] [-9.65197534e-03 7.52784025e-03 9.99925083e-01 -2.17629249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53119381700003 meters Centerline goodness : 0.939250 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.32, Z:-2.18 [[ 9.99899427e-01 1.08269329e-02 9.16043378e-03 2.09779873e+01] [-1.07364411e-02 9.99893643e-01 -9.87072321e-03 -3.23420106e-01] [-9.26632916e-03 9.77138002e-03 9.99909324e-01 -2.17681711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56119381700003 meters Centerline goodness : 0.939317 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.33, Z:-2.18 [[ 9.99924996e-01 8.42513636e-03 8.88930023e-03 2.09785087e+01] [-8.31830002e-03 9.99893543e-01 -1.19878202e-02 -3.27274887e-01] [-8.98935292e-03 1.19129772e-02 9.99888630e-01 -2.17699276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59119381700003 meters Centerline goodness : 0.939585 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.33, Z:-2.18 [[ 9.99920540e-01 8.97559616e-03 8.85164935e-03 2.09788566e+01] [-8.88965072e-03 9.99913423e-01 -9.70155178e-03 -3.33896058e-01] [-8.93796021e-03 9.62209283e-03 9.99913760e-01 -2.17771393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62119381700003 meters Centerline goodness : 0.940735 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.34, Z:-2.18 [[ 9.99951777e-01 5.16914568e-03 8.35002555e-03 2.09811591e+01] [-5.06967540e-03 9.99916458e-01 -1.18901329e-02 -3.43194208e-01] [-8.41078980e-03 1.18472276e-02 9.99894445e-01 -2.17952673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65119381700003 meters Centerline goodness : 0.939559 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.35, Z:-2.18 [[ 9.99967335e-01 1.53931817e-03 7.93468327e-03 2.09821716e+01] [-1.42322844e-03 9.99892173e-01 -1.46156111e-02 -3.47371835e-01] [-7.95632577e-03 1.46038408e-02 9.99861703e-01 -2.17984584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68119381700004 meters Centerline goodness : 0.939151 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.35, Z:-2.18 [[ 9.99968724e-01 -2.20120007e-03 7.59636979e-03 2.09831630e+01] [ 2.33129082e-03 9.99850052e-01 -1.71592358e-02 -3.52467066e-01] [-7.55745981e-03 1.71764085e-02 9.99823912e-01 -2.18029138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71119381700004 meters Centerline goodness : 0.939243 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.36, Z:-2.18 [[ 9.99954969e-01 -5.91228816e-03 7.42332908e-03 2.09836505e+01] [ 6.05618215e-03 9.99791250e-01 -1.95135435e-02 -3.57965694e-01] [-7.30640977e-03 1.95576218e-02 9.99782034e-01 -2.18036052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74119381700004 meters Centerline goodness : 0.941620 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.37, Z:-2.18 [[ 9.99883430e-01 -1.34140929e-02 7.29309734e-03 2.09848680e+01] [ 1.35898957e-02 9.99604621e-01 -2.46153768e-02 -3.67774356e-01] [-6.96002085e-03 2.47116198e-02 9.99670393e-01 -2.18139059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77119381700004 meters Centerline goodness : 0.940282 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.37, Z:-2.18 [[ 9.99837274e-01 -1.66060688e-02 7.04720134e-03 2.09861655e+01] [ 1.67893790e-02 9.99499735e-01 -2.68029146e-02 -3.72796611e-01] [-6.59858483e-03 2.69168712e-02 9.99615897e-01 -2.18232408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.801193817 meters Centerline goodness : 0.939649 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.38, Z:-2.18 [[ 9.99781600e-01 -1.97636773e-02 6.79328885e-03 2.09876191e+01] [ 1.99539009e-02 9.99375036e-01 -2.91783955e-02 -3.76938884e-01] [-6.21237090e-03 2.93075755e-02 9.99551135e-01 -2.18337639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.831193817 meters Centerline goodness : 0.938997 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.38, Z:-2.18 [[ 9.99782112e-01 -1.97960966e-02 6.62134336e-03 2.09886631e+01] [ 1.99735523e-02 9.99411034e-01 -2.79041568e-02 -3.82209017e-01] [-6.06505023e-03 2.80303286e-02 9.99588673e-01 -2.18422196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86119381700001 meters Centerline goodness : 0.938544 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.39, Z:-2.18 [[ 9.99721564e-01 -2.26915483e-02 6.47217016e-03 2.09895329e+01] [ 2.28726484e-02 9.99304998e-01 -2.94340593e-02 -3.88743438e-01] [-5.79976761e-03 2.95738995e-02 9.99545770e-01 -2.18476379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89119381700002 meters Centerline goodness : 0.939953 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.39, Z:-2.18 [[ 9.99731877e-01 -2.23032824e-02 6.22394712e-03 2.09899977e+01] [ 2.24692791e-02 9.99354961e-01 -2.80141550e-02 -3.92976703e-01] [-5.59512482e-03 2.81464914e-02 9.99588150e-01 -2.18469837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92119381700002 meters Centerline goodness : 0.937395 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.40, Z:-2.18 [[ 9.99744404e-01 -2.18423267e-02 5.83428086e-03 2.09906314e+01] [ 2.19903270e-02 9.99403240e-01 -2.66381349e-02 -3.96899138e-01] [-5.24896035e-03 2.67596240e-02 9.99628116e-01 -2.18455966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95119381700002 meters Centerline goodness : 0.940553 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.40, Z:-2.18 [[ 9.99747382e-01 -2.17763018e-02 5.56465902e-03 2.09910267e+01] [ 2.19089509e-02 9.99447183e-01 -2.50065422e-02 -4.02285313e-01] [-5.01703277e-03 2.51221409e-02 9.99671800e-01 -2.18428889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98119381700002 meters Centerline goodness : 0.941190 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.40, Z:-2.18 [[ 9.99750436e-01 -2.16821511e-02 5.38053920e-03 2.09913718e+01] [ 2.18064867e-02 9.99468321e-01 -2.42394662e-02 -4.04480767e-01] [-4.85211472e-03 2.43507476e-02 9.99691702e-01 -2.18419069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01119381700002 meters Centerline goodness : 0.939326 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.41, Z:-2.18 [[ 9.99752196e-01 -2.16370169e-02 5.23316743e-03 2.09914399e+01] [ 2.17540497e-02 9.99488318e-01 -2.34491600e-02 -4.06959825e-01] [-4.72311984e-03 2.35571918e-02 9.99711334e-01 -2.18384093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04119381700002 meters Centerline goodness : 0.940676 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.41, Z:-2.18 [[ 9.99754108e-01 -2.15897138e-02 5.06039045e-03 2.09916238e+01] [ 2.16989858e-02 9.99508233e-01 -2.26372911e-02 -4.09554257e-01] [-4.56916928e-03 2.27415301e-02 9.99730937e-01 -2.18359628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07119381700002 meters Centerline goodness : 0.941396 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.41, Z:-2.18 [[ 9.99613649e-01 -2.56378240e-02 1.07357207e-02 2.09998211e+01] [ 2.58087560e-02 9.99537274e-01 -1.60980390e-02 -4.14438985e-01] [-1.03180343e-02 1.63688951e-02 9.99812781e-01 -2.18482786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10119381700002 meters Centerline goodness : 0.940178 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.42, Z:-2.19 [[ 9.99609798e-01 -2.58536437e-02 1.05755048e-02 2.10003980e+01] [ 2.60181587e-02 9.99537763e-01 -1.57262617e-02 -4.15908536e-01] [-1.01640353e-02 1.59952804e-02 9.99820406e-01 -2.18511181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13119381700002 meters Centerline goodness : 0.939827 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.42, Z:-2.19 [[ 9.99583341e-01 -2.70218026e-02 1.01472229e-02 2.10026714e+01] [ 2.71886286e-02 9.99491162e-01 -1.66791773e-02 -4.15671244e-01] [-9.69135822e-03 1.69481168e-02 9.99809401e-01 -2.18678495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16119381700003 meters Centerline goodness : 0.941060 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.42, Z:-2.19 [[ 9.99574998e-01 -2.73923359e-02 9.97411512e-03 2.10035351e+01] [ 2.75578075e-02 9.99478205e-01 -1.68488868e-02 -4.15458468e-01] [-9.50738031e-03 1.71165908e-02 9.99808298e-01 -2.18745239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19119381700003 meters Centerline goodness : 0.937807 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.41, Z:-2.19 [[ 9.99564437e-01 -2.78530376e-02 9.75421960e-03 2.10045042e+01] [ 2.80194309e-02 9.99456641e-01 -1.73589840e-02 -4.14099303e-01] [-9.26541912e-03 1.76247307e-02 9.99801741e-01 -2.18808298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22119381700003 meters Centerline goodness : 0.937224 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.41, Z:-2.19 [[ 9.99534352e-01 -2.89517586e-02 9.63718077e-03 2.10051480e+01] [ 2.91300162e-02 9.99396913e-01 -1.89011375e-02 -4.09818593e-01] [-9.08414754e-03 1.91730674e-02 9.99774911e-01 -2.18851867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25119381700003 meters Centerline goodness : 0.933978 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.41, Z:-2.19 [[ 9.99611008e-01 -2.62679638e-02 9.37158501e-03 2.10057629e+01] [ 2.64115070e-02 9.99530410e-01 -1.55368073e-02 -4.09860659e-01] [-8.95906391e-03 1.57782813e-02 9.99835377e-01 -2.18862736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28119381700003 meters Centerline goodness : 0.934654 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.41, Z:-2.19 [[ 9.99597127e-01 -2.68325840e-02 9.25182573e-03 2.10063148e+01] [ 2.69817885e-02 9.99501418e-01 -1.63981194e-02 -4.07796635e-01] [-8.80720902e-03 1.66411439e-02 9.99822737e-01 -2.18896025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31119381700003 meters Centerline goodness : 0.932892 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.41, Z:-2.19 [[ 9.99582241e-01 -2.74506521e-02 9.04457203e-03 2.10070655e+01] [ 2.76051657e-02 9.99466999e-01 -1.74262024e-02 -4.05073047e-01] [-8.56139065e-03 1.76685994e-02 9.99807243e-01 -2.18936943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34119381700003 meters Centerline goodness : 0.928058 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.40, Z:-2.19 [[ 9.99612006e-01 -2.64347836e-02 8.77717590e-03 2.10082289e+01] [ 2.65828157e-02 9.99498623e-01 -1.72005092e-02 -3.96676819e-01] [-8.31808348e-03 1.74271576e-02 9.99813534e-01 -2.19007282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37119381700003 meters Centerline goodness : 0.929589 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.39, Z:-2.19 [[ 9.99675736e-01 -2.40264150e-02 8.43529165e-03 2.10091994e+01] [ 2.41525439e-02 9.99592977e-01 -1.51833976e-02 -3.92420737e-01] [-8.06705568e-03 1.53822079e-02 9.99849144e-01 -2.19049374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40119381700003 meters Centerline goodness : 0.930474 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.39, Z:-2.19 [[ 9.99736209e-01 -2.14901327e-02 8.10468468e-03 2.10101447e+01] [ 2.15955208e-02 9.99680330e-01 -1.31480851e-02 -3.88180989e-01] [-7.81953975e-03 1.33196417e-02 9.99880714e-01 -2.19087215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43119381700004 meters Centerline goodness : 0.925584 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.38, Z:-2.19 [[ 9.99785404e-01 -1.91670350e-02 7.85943994e-03 2.10109885e+01] [ 1.92649375e-02 9.99735316e-01 -1.25761490e-02 -3.78457813e-01] [-7.61631218e-03 1.27248618e-02 9.99890029e-01 -2.19134532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46119381700004 meters Centerline goodness : 0.923983 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.37, Z:-2.19 [[ 9.99830213e-01 -1.68202829e-02 7.52487835e-03 2.10123786e+01] [ 1.69012470e-02 9.99798525e-01 -1.08285268e-02 -3.73767737e-01] [-7.34122339e-03 1.09538681e-02 9.99913056e-01 -2.19227964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49119381700004 meters Centerline goodness : 0.926935 Centerline is valid? [False, False] Translation: X:21.01, Y:-0.37, Z:-2.19 [[ 9.99870840e-01 -1.43682442e-02 7.20113127e-03 2.10136872e+01] [ 1.44334082e-02 9.99854601e-01 -9.08037250e-03 -3.68705573e-01] [-7.06961522e-03 9.18313655e-03 9.99932843e-01 -2.19315027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52119381700004 meters Centerline goodness : 0.924278 Centerline is valid? [False, False] Translation: X:21.02, Y:-0.36, Z:-2.19 [[ 9.99902764e-01 -1.21153285e-02 6.90513782e-03 2.10151196e+01] [ 1.21677292e-02 9.99897104e-01 -7.59784308e-03 -3.63194543e-01] [-6.81237695e-03 7.68112414e-03 9.99947295e-01 -2.19416484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.551193817 meters Centerline goodness : 0.924110 Centerline is valid? [False, False] Translation: X:21.02, Y:-0.36, Z:-2.20 [[ 9.99930996e-01 -9.70574907e-03 6.61824824e-03 2.10164503e+01] [ 9.74496299e-03 9.99934999e-01 -5.91884089e-03 -3.57961163e-01] [-6.56037126e-03 5.98292705e-03 9.99960582e-01 -2.19507303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.581193817 meters Centerline goodness : 0.920162 Centerline is valid? [False, False] Translation: X:21.02, Y:-0.35, Z:-2.20 [[ 9.99948921e-01 -7.92801602e-03 6.26920020e-03 2.10185872e+01] [ 7.96653448e-03 9.99949397e-01 -6.14316206e-03 -3.46146113e-01] [-6.22017987e-03 6.19279207e-03 9.99961479e-01 -2.19677795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61119381700001 meters Centerline goodness : 0.919765 Centerline is valid? [False, False] Translation: X:21.04, Y:-0.34, Z:-2.20 [[ 9.99967359e-01 -6.71039420e-03 4.50011308e-03 2.10405454e+01] [ 6.74354854e-03 9.99949931e-01 -7.39319321e-03 -3.41504127e-01] [-4.45027652e-03 7.42329862e-03 9.99962544e-01 -2.19822359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64119381700002 meters Centerline goodness : 0.919467 Centerline is valid? [False, False] Translation: X:21.04, Y:-0.34, Z:-2.20 [[ 9.99967621e-01 -6.83302535e-03 4.25060664e-03 2.10419050e+01] [ 6.86942077e-03 9.99939359e-01 -8.60755985e-03 -3.35691241e-01] [-4.19153320e-03 8.63648035e-03 9.99953920e-01 -2.19917033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67119381700002 meters Centerline goodness : 0.915897 Centerline is valid? [False, False] Translation: X:21.06, Y:-0.32, Z:-2.20 [[ 9.99969415e-01 -5.74509271e-03 5.30694982e-03 2.10629973e+01] [ 5.81589502e-03 9.99892983e-01 -1.34237659e-02 -3.23353078e-01] [-5.22926111e-03 1.34542200e-02 9.99895814e-01 -2.20274562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters Centerline goodness : 0.913238 Centerline is valid? [False, False] Translation: X:21.06, Y:-0.32, Z:-2.20 [[ 9.99982507e-01 -2.90810557e-03 5.15049720e-03 2.10638277e+01] [ 2.96521127e-03 9.99933833e-01 -1.11147057e-02 -3.19188886e-01] [-5.11783367e-03 1.11297836e-02 9.99924965e-01 -2.20331383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73119381700002 meters Centerline goodness : 0.913238 Centerline is valid? [False, False] Translation: X:21.06, Y:-0.32, Z:-2.20 [[ 9.99982507e-01 -2.90810557e-03 5.15049720e-03 2.10638277e+01] [ 2.96521127e-03 9.99933833e-01 -1.11147057e-02 -3.19188886e-01] [-5.11783367e-03 1.11297836e-02 9.99924965e-01 -2.20331383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76119381700002 meters Centerline goodness : 0.913028 Centerline is valid? [False, False] Translation: X:21.08, Y:-0.31, Z:-2.20 [[ 9.99980731e-01 -1.49642859e-03 6.02483556e-03 2.10842107e+01] [ 1.57394761e-03 9.99915779e-01 -1.28824631e-02 -3.13257295e-01] [-6.00505046e-03 1.28916976e-02 9.99898867e-01 -2.20472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79119381700002 meters Centerline goodness : 0.911029 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.30, Z:-2.20 [[ 9.99965215e-01 5.52200715e-03 6.25116546e-03 2.11108375e+01] [-5.39467803e-03 9.99781290e-01 -2.02056814e-02 -3.00458222e-01] [-6.36137419e-03 2.01712555e-02 9.99776302e-01 -2.20406615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82119381700002 meters Centerline goodness : 0.909745 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.30, Z:-2.20 [[ 9.99910410e-01 1.16308332e-02 6.62533154e-03 2.11093129e+01] [-1.15335305e-02 9.99827767e-01 -1.45400754e-02 -2.96835441e-01] [-6.79330364e-03 1.44623593e-02 9.99872337e-01 -2.20279035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85119381700002 meters Centerline goodness : 0.913673 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.29, Z:-2.20 [[ 9.99854611e-01 1.57835851e-02 6.45251273e-03 2.11099177e+01] [-1.57086634e-02 9.99810458e-01 -1.15015445e-02 -2.92804872e-01] [-6.63282531e-03 1.13985120e-02 9.99913036e-01 -2.20280302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88119381700002 meters Centerline goodness : 0.907880 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.29, Z:-2.20 [[ 9.99735053e-01 2.19404899e-02 6.95974620e-03 2.11081125e+01] [-2.19004148e-02 9.99743431e-01 -5.78302008e-03 -2.89765824e-01] [-7.08484284e-03 5.62906656e-03 9.99959058e-01 -2.20131884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91119381700003 meters Centerline goodness : 0.909119 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.28, Z:-2.20 [[ 9.99447674e-01 3.24210022e-02 7.29560750e-03 2.11075911e+01] [-3.24437674e-02 9.99468988e-01 3.02395604e-03 -2.82027456e-01] [-7.19369376e-03 -3.25898282e-03 9.99968814e-01 -2.20040795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94119381700003 meters Centerline goodness : 0.910279 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.28, Z:-2.20 [[ 9.99234425e-01 3.83697431e-02 7.63713341e-03 2.11061434e+01] [-3.84359934e-02 9.99222966e-01 8.72569614e-03 -2.79342820e-01] [-7.29639638e-03 -9.01255677e-03 9.99932766e-01 -2.19879307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97119381700003 meters Centerline goodness : 0.907843 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.28, Z:-2.20 [[ 9.99070576e-01 4.24304529e-02 7.59217285e-03 2.11064399e+01] [-4.25210986e-02 9.99021015e-01 1.22052448e-02 -2.77347581e-01] [-7.06686616e-03 -1.25167284e-02 9.99896690e-01 -2.19863507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00119381700003 meters Centerline goodness : 0.907265 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.28, Z:-2.20 [[ 9.98902451e-01 4.62156939e-02 7.61599085e-03 2.11064285e+01] [-4.63290923e-02 9.98806677e-01 1.54543427e-02 -2.75546925e-01] [-6.89266934e-03 -1.57902228e-02 9.99851569e-01 -2.19818788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03119381700003 meters Centerline goodness : 0.906734 Centerline is valid? [False, False] Translation: X:21.11, Y:-0.27, Z:-2.20 [[ 9.98894821e-01 4.64261601e-02 7.33137843e-03 2.11068128e+01] [-4.65330856e-02 9.98801736e-01 1.51579851e-02 -2.74366386e-01] [-6.61886646e-03 -1.54823845e-02 9.99858233e-01 -2.19792155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06119381700003 meters Centerline goodness : 0.906111 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.28, Z:-2.20 [[ 9.98835091e-01 4.65985042e-02 1.25315639e-02 2.11174010e+01] [-4.69090087e-02 9.98567357e-01 2.57444978e-02 -2.76987486e-01] [-1.13139556e-02 -2.63023510e-02 9.99590006e-01 -2.20109421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09119381700003 meters Centerline goodness : 0.900910 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.28, Z:-2.20 [[ 9.98835567e-01 4.66009604e-02 1.24844313e-02 2.11175124e+01] [-4.69109946e-02 9.98565499e-01 2.58128361e-02 -2.77358186e-01] [-1.12636194e-02 -2.63684359e-02 9.99588834e-01 -2.20080729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12119381700003 meters Centerline goodness : 0.902216 Centerline is valid? [False, False] Translation: X:21.14, Y:-0.28, Z:-2.20 [[ 9.98925982e-01 4.46490880e-02 1.23831033e-02 2.11376542e+01] [-4.49620050e-02 9.98643464e-01 2.62612014e-02 -2.82876720e-01] [-1.11937664e-02 -2.67897656e-02 9.99578415e-01 -2.20138434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15119381700003 meters Centerline goodness : 0.902905 Centerline is valid? [False, False] Translation: X:21.14, Y:-0.29, Z:-2.20 [[ 9.98918003e-01 4.48269845e-02 1.23840210e-02 2.11381492e+01] [-4.51545516e-02 9.98599345e-01 2.75756323e-02 -2.86023915e-01] [-1.11305428e-02 -2.81049904e-02 9.99543006e-01 -2.20128524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18119381700004 meters Centerline goodness : 0.898890 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.29, Z:-2.20 [[ 9.99065830e-01 4.10706696e-02 1.34412748e-02 2.11534198e+01] [-4.16220042e-02 9.98177567e-01 4.36938522e-02 -2.92121903e-01] [-1.16222432e-02 -4.42124875e-02 9.98954543e-01 -2.19767176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21119381700004 meters Centerline goodness : 0.899773 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.30, Z:-2.19 [[ 9.99206342e-01 3.77417003e-02 1.27377720e-02 2.11647113e+01] [-3.84248216e-02 9.97547513e-01 5.85020756e-02 -3.01896857e-01] [-1.04985650e-02 -5.89450915e-02 9.98206019e-01 -2.19288059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24119381700004 meters Centerline goodness : 0.899249 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.31, Z:-2.19 [[ 9.99346980e-01 3.45644125e-02 1.05316469e-02 2.11729160e+01] [-3.53752005e-02 9.95290910e-01 9.02474354e-02 -3.13061835e-01] [-7.36270283e-03 -9.05610611e-02 9.95863688e-01 -2.18575289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27119381700004 meters Centerline goodness : 0.899644 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.31, Z:-2.19 [[ 9.99457587e-01 3.14298741e-02 9.83336398e-03 2.11740218e+01] [-3.21722676e-02 9.95627377e-01 8.76987573e-02 -3.14713549e-01] [-7.03400548e-03 -8.79675499e-02 9.96098506e-01 -2.18508696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters Centerline goodness : 0.896362 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.32, Z:-2.18 [[ 9.99533747e-01 3.03229545e-02 3.57855570e-03 2.11664882e+01] [-3.05294878e-02 9.94391055e-01 1.01263918e-01 -3.21077892e-01] [-4.87862607e-04 -1.01325955e-01 9.94853161e-01 -2.17886212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.331193817 meters Centerline goodness : 0.892990 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.34, Z:-2.17 [[ 9.99620692e-01 2.72190219e-02 -4.19498171e-03 2.11713600e+01] [-2.64344295e-02 9.91014292e-01 1.31117865e-01 -3.35945437e-01] [ 7.72618687e-03 -1.30957239e-01 9.91357911e-01 -2.16650865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters Centerline goodness : 0.896283 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.34, Z:-2.16 [[ 9.99581904e-01 2.69371920e-02 -1.05074148e-02 2.11602312e+01] [-2.54224276e-02 9.91904135e-01 1.24418192e-01 -3.36696171e-01] [ 1.37738249e-02 -1.24099049e-01 9.92174233e-01 -2.16003476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39119381700002 meters Centerline goodness : 0.894979 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.33, Z:-2.16 [[ 9.99601080e-01 2.61382712e-02 -1.06991034e-02 2.11546509e+01] [-2.49385420e-02 9.94670500e-01 1.00043316e-01 -3.34855104e-01] [ 1.32570418e-02 -9.97365869e-02 9.94925557e-01 -2.16094640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters Centerline goodness : 0.890864 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.33, Z:-2.16 [[ 9.99580771e-01 2.47692798e-02 -1.49921333e-02 2.11553299e+01] [-2.34838012e-02 9.96472137e-01 8.05716564e-02 -3.34746020e-01] [ 1.69349450e-02 -8.01858061e-02 9.96636064e-01 -2.16001405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45119381700002 meters Centerline goodness : 0.892179 Centerline is valid? [False, False] Translation: X:21.15, Y:-0.34, Z:-2.16 [[ 9.99581269e-01 2.12940560e-02 -1.95921038e-02 2.11539879e+01] [-1.99914901e-02 9.97721627e-01 6.44352010e-02 -3.40282659e-01] [ 2.09195525e-02 -6.40165447e-02 9.97729550e-01 -2.16078987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48119381700002 meters Centerline goodness : 0.895999 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.34, Z:-2.16 [[ 9.99540282e-01 1.90666136e-02 -2.35730690e-02 2.11619566e+01] [-1.76766425e-02 9.98170001e-01 5.78289344e-02 -3.42919635e-01] [ 2.46325322e-02 -5.73856567e-02 9.98048158e-01 -2.15912410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51119381700002 meters Centerline goodness : 0.893803 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.35, Z:-2.16 [[ 9.99649822e-01 1.16954358e-02 -2.37370998e-02 2.11616984e+01] [-1.04617855e-02 9.98620965e-01 5.14462757e-02 -3.46985299e-01] [ 2.43060521e-02 -5.11799279e-02 9.98393625e-01 -2.15867120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54119381700002 meters Centerline goodness : 0.891461 Centerline is valid? [False, False] Translation: X:21.17, Y:-0.35, Z:-2.16 [[ 9.99576674e-01 9.06961751e-03 -2.76444346e-02 2.11709095e+01] [-7.91013754e-03 9.99096058e-01 4.17671817e-02 -3.48598371e-01] [ 2.79982580e-02 -4.15308292e-02 9.98744856e-01 -2.15572530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57119381700002 meters Centerline goodness : 0.896625 Centerline is valid? [False, False] Translation: X:21.18, Y:-0.35, Z:-2.16 [[ 9.99696640e-01 5.75198339e-03 -2.39487478e-02 2.11816356e+01] [-5.07860931e-03 9.99592671e-01 2.80837971e-02 -3.48391897e-01] [ 2.41005303e-02 -2.79536513e-02 9.99318647e-01 -2.15809796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60119381700002 meters Centerline goodness : 0.892375 Centerline is valid? [False, False] Translation: X:21.18, Y:-0.35, Z:-2.16 [[ 9.99709011e-01 1.57283086e-03 -2.40711333e-02 2.11815010e+01] [-9.94669305e-04 9.99711175e-01 2.40120279e-02 -3.48494644e-01] [ 2.41019478e-02 -2.39810978e-02 9.99421834e-01 -2.15757106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63119381700002 meters Centerline goodness : 0.893060 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.35, Z:-2.16 [[ 9.99788659e-01 -1.29326909e-03 -2.05174354e-02 2.11897657e+01] [ 1.50211994e-03 9.99947186e-01 1.01670453e-02 -3.46886161e-01] [ 2.05032031e-02 -1.01957162e-02 9.99737799e-01 -2.15813037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66119381700003 meters Centerline goodness : 0.894846 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.35, Z:-2.16 [[ 9.99859765e-01 -4.20103366e-03 -1.62111310e-02 2.12004755e+01] [ 4.16448628e-03 9.99988712e-01 -2.28756146e-03 -3.46156371e-01] [ 1.62205581e-02 2.21972963e-03 9.99865974e-01 -2.16088296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69119381700003 meters Centerline goodness : 0.892830 Centerline is valid? [False, False] Translation: X:21.20, Y:-0.35, Z:-2.16 [[ 9.99845499e-01 -5.65353102e-03 -1.66438043e-02 2.12027528e+01] [ 5.59529794e-03 9.99978069e-01 -3.54327481e-03 -3.46228576e-01] [ 1.66634713e-02 3.44960032e-03 9.99855204e-01 -2.16252109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72119381700003 meters Centerline goodness : 0.895582 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.35, Z:-2.17 [[ 9.99915654e-01 -7.95659723e-03 -1.02653604e-02 2.12129498e+01] [ 7.98928779e-03 9.99963132e-01 3.14748263e-03 -3.48038452e-01] [ 1.02399387e-02 -3.22923007e-03 9.99942356e-01 -2.16565207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75119381700003 meters Centerline goodness : 0.894562 Centerline is valid? [False, False] Translation: X:21.21, Y:-0.35, Z:-2.17 [[ 9.99915216e-01 -8.11098233e-03 -1.01868745e-02 2.12126052e+01] [ 8.14054105e-03 9.99962765e-01 2.86354227e-03 -3.47269479e-01] [ 1.01632691e-02 -2.94622615e-03 9.99944012e-01 -2.16530260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78119381700003 meters Centerline goodness : 0.892641 Centerline is valid? [False, False] Translation: X:21.22, Y:-0.34, Z:-2.17 [[ 9.99978641e-01 -5.14839744e-03 -4.02645094e-03 2.12242825e+01] [ 5.13382374e-03 9.99980264e-01 -3.62148893e-03 -3.42788057e-01] [ 4.04501634e-03 3.60074049e-03 9.99985336e-01 -2.16930673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81119381700003 meters Centerline goodness : 0.894133 Centerline is valid? [False, False] Translation: X:21.22, Y:-0.34, Z:-2.17 [[ 9.99990224e-01 -1.64474182e-03 -4.10454510e-03 2.12244656e+01] [ 1.64414868e-03 9.99998637e-01 -1.47877468e-04 -3.41885258e-01] [ 4.10478273e-03 1.41127540e-04 9.99991565e-01 -2.16935167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84119381700003 meters Centerline goodness : 0.893737 Centerline is valid? [False, False] Translation: X:21.24, Y:-0.34, Z:-2.17 [[ 9.99996611e-01 2.15548283e-03 -1.46026170e-03 2.12373646e+01] [-2.16522663e-03 9.99975182e-01 -6.70424353e-03 -3.38915061e-01] [ 1.44577458e-03 6.70738260e-03 9.99976460e-01 -2.17322151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87119381700003 meters Centerline goodness : 0.890324 Centerline is valid? [False, False] Translation: X:21.25, Y:-0.33, Z:-2.18 [[ 9.99978709e-01 6.09394833e-03 2.33372263e-03 2.12526367e+01] [-6.06344132e-03 9.99898877e-01 -1.28635130e-02 -3.31910605e-01] [-2.41187622e-03 1.28490888e-02 9.99914538e-01 -2.17889786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90119381700003 meters Centerline goodness : 0.896050 Centerline is valid? [False, False] Translation: X:21.25, Y:-0.33, Z:-2.18 [[ 9.99951854e-01 9.58241033e-03 2.11365729e-03 2.12536628e+01] [-9.56152363e-03 9.99907434e-01 -9.67992506e-03 -3.29966267e-01] [-2.20621865e-03 9.65924922e-03 9.99950915e-01 -2.17951303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93119381700004 meters Centerline goodness : 0.896321 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.33, Z:-2.18 [[ 9.99917640e-01 1.26978759e-02 1.86491152e-03 2.12552861e+01] [-1.26845271e-02 9.99895023e-01 -7.00332774e-03 -3.27487276e-01] [-1.95364314e-03 6.97909542e-03 9.99973737e-01 -2.18068691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96119381700004 meters Centerline goodness : 0.891264 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.32, Z:-2.18 [[ 9.99913522e-01 1.30515135e-02 1.61432995e-03 2.12562638e+01] [-1.30384819e-02 9.99884295e-01 -7.83547918e-03 -3.23639774e-01] [-1.71640803e-03 7.81375317e-03 9.99967999e-01 -2.18103607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99119381700004 meters Centerline goodness : 0.890303 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.32, Z:-2.18 [[ 9.99909379e-01 1.33964327e-02 1.33022759e-03 2.12569813e+01] [-1.33844615e-02 9.99873150e-01 -8.63371731e-03 -3.20063620e-01] [-1.44571986e-03 8.61513053e-03 9.99961844e-01 -2.18105206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02119381700004 meters Centerline goodness : 0.899333 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.32, Z:-2.18 [[ 9.99781697e-01 2.08509601e-02 1.34026101e-03 2.12574699e+01] [-2.08483451e-02 9.99780775e-01 -1.93630930e-03 -3.16527169e-01] [-1.38034110e-03 1.90794437e-03 9.99997227e-01 -2.18114987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.051193817 meters Centerline goodness : 0.897620 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99687172e-01 2.49797683e-02 1.25262883e-03 2.12577627e+01] [-2.49819809e-02 9.99686312e-01 1.78296641e-03 -3.14668920e-01] [-1.20769780e-03 -1.81370179e-03 9.99997626e-01 -2.18102204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters Centerline goodness : 0.895634 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99578624e-01 2.90019512e-02 1.20921742e-03 2.12580243e+01] [-2.90079466e-02 9.99565254e-01 5.27664894e-03 -3.12466752e-01] [-1.05565860e-03 -5.30950240e-03 9.99985347e-01 -2.18089622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11119381700001 meters Centerline goodness : 0.895453 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99454554e-01 3.30050728e-02 1.12196383e-03 2.12583654e+01] [-3.30137500e-02 9.99415446e-01 8.88022485e-03 -3.10955692e-01] [-8.28215518e-04 -8.91242141e-03 9.99959941e-01 -2.18075618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters Centerline goodness : 0.897947 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99279030e-01 3.79435982e-02 1.30537829e-03 2.12583954e+01] [-3.79569135e-02 9.99202063e-01 1.24301730e-02 -3.08034986e-01] [-8.32691187e-04 -1.24707594e-02 9.99921890e-01 -2.18074407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17119381700002 meters Centerline goodness : 0.899407 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99165054e-01 4.08433719e-02 1.00687464e-03 2.12601787e+01] [-4.08539920e-02 9.99048462e-01 1.52683205e-02 -3.07884558e-01] [-3.82306871e-04 -1.52967072e-02 9.99882925e-01 -2.18187177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters Centerline goodness : 0.897425 Centerline is valid? [False, False] Translation: X:21.26, Y:-0.31, Z:-2.18 [[ 9.99148830e-01 4.12438089e-02 7.50685742e-04 2.12606688e+01] [-4.12504573e-02 9.99033109e-01 1.52068369e-02 -3.07195918e-01] [-1.22772037e-04 -1.52248594e-02 9.99884088e-01 -2.18185995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23119381700002 meters Centerline goodness : 0.899095 Centerline is valid? [False, False] Translation: X:21.27, Y:-0.31, Z:-2.18 [[ 9.99093644e-01 4.23406539e-02 4.37723529e-03 2.12694825e+01] [-4.24482298e-02 9.98694528e-01 2.84145576e-02 -3.11582568e-01] [-3.16842999e-03 -2.85746098e-02 9.99586641e-01 -2.18265639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26119381700002 meters Centerline goodness : 0.897139 Centerline is valid? [False, False] Translation: X:21.27, Y:-0.31, Z:-2.18 [[ 9.99181876e-01 4.02715839e-02 3.71186677e-03 2.12717047e+01] [-4.03563657e-02 9.98830226e-01 2.66372436e-02 -3.14573116e-01] [-2.63480074e-03 -2.67652485e-02 9.99638274e-01 -2.18393256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29119381700002 meters Centerline goodness : 0.895227 Centerline is valid? [False, False] Translation: X:21.29, Y:-0.32, Z:-2.18 [[ 9.99276891e-01 3.78966998e-02 3.08793356e-03 2.12872650e+01] [-3.79940065e-02 9.98367289e-01 4.26522101e-02 -3.20835604e-01] [-1.46651385e-03 -4.27386909e-02 9.99085208e-01 -2.18128393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32119381700002 meters Centerline goodness : 0.900908 Centerline is valid? [False, False] Translation: X:21.29, Y:-0.33, Z:-2.18 [[ 9.99303415e-01 3.70397345e-02 4.55432748e-03 2.12946198e+01] [-3.72353381e-02 9.97770452e-01 5.53864111e-02 -3.26708577e-01] [-2.49267542e-03 -5.55174117e-02 9.98454608e-01 -2.17817167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35119381700002 meters Centerline goodness : 0.895958 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.33, Z:-2.18 [[ 9.99427606e-01 3.35685587e-02 4.19680199e-03 2.12954182e+01] [-3.37443256e-02 9.98016584e-01 5.31433754e-02 -3.31263846e-01] [-2.40453147e-03 -5.32545747e-02 9.98578073e-01 -2.17807378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38119381700002 meters Centerline goodness : 0.897978 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.33, Z:-2.18 [[ 9.99469978e-01 3.25514803e-02 4.06283700e-04 2.13050838e+01] [-3.25375305e-02 9.98488923e-01 4.42852160e-02 -3.33344027e-01] [ 1.03587956e-03 -4.42749633e-02 9.99018846e-01 -2.17567553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41119381700003 meters Centerline goodness : 0.897021 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.34, Z:-2.17 [[ 9.99534580e-01 3.03653315e-02 -2.92753289e-03 2.13108597e+01] [-3.02244647e-02 9.98745862e-01 3.99147122e-02 -3.35958409e-01] [ 4.13588483e-03 -3.98076520e-02 9.99198802e-01 -2.17474236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44119381700003 meters Centerline goodness : 0.900727 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.34, Z:-2.18 [[ 9.99638823e-01 2.66860377e-02 -3.17472750e-03 2.13113921e+01] [-2.65523586e-02 9.98979130e-01 3.65468261e-02 -3.38142615e-01] [ 4.14677649e-03 -3.64493298e-02 9.99326899e-01 -2.17506068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47119381700003 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.34, Z:-2.18 [[ 9.99741093e-01 2.12617846e-02 -8.10458232e-03 2.12958348e+01] [-2.09799835e-02 9.99221857e-01 3.33994057e-02 -3.44169330e-01] [ 8.80840677e-03 -3.32207243e-02 9.99409223e-01 -2.17548396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50119381700003 meters Centerline goodness : 0.894169 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.35, Z:-2.18 [[ 9.99809189e-01 1.76322203e-02 -8.40776463e-03 2.12966431e+01] [-1.73706150e-02 9.99391908e-01 3.02336909e-02 -3.46632314e-01] [ 8.93573903e-03 -3.00818740e-02 9.99507495e-01 -2.17604319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53119381700003 meters Centerline goodness : 0.894306 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.35, Z:-2.18 [[ 9.99864832e-01 1.39469449e-02 -8.70629272e-03 2.12974805e+01] [-1.37077045e-02 9.99542550e-01 2.69590325e-02 -3.48753842e-01] [ 9.07830617e-03 -2.68360453e-02 9.99598625e-01 -2.17664150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56119381700003 meters Centerline goodness : 0.893454 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.35, Z:-2.18 [[ 9.99933821e-01 7.14612946e-03 -9.01594512e-03 2.12981216e+01] [-6.95705957e-03 9.99758815e-01 2.08305135e-02 -3.52712847e-01] [ 9.16262816e-03 -2.07664105e-02 9.99742368e-01 -2.17704669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59119381700003 meters Centerline goodness : 0.895615 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.36, Z:-2.18 [[ 9.99941432e-01 4.73614388e-03 -9.73150631e-03 2.13003855e+01] [-4.55330156e-03 9.99814290e-01 1.87257187e-02 -3.55628683e-01] [ 9.81838677e-03 -1.86803115e-02 9.99777298e-01 -2.17821227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62119381700003 meters Centerline goodness : 0.893735 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.36, Z:-2.18 [[ 9.99942179e-01 2.80999337e-03 -1.03798844e-02 2.13027856e+01] [-2.63361178e-03 9.99852575e-01 1.69673951e-02 -3.58587019e-01] [ 1.04260325e-02 -1.69390774e-02 9.99802163e-01 -2.17964028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65119381700003 meters Centerline goodness : 0.893735 Centerline is valid? [False, False] Translation: X:21.30, Y:-0.36, Z:-2.18 [[ 9.99942179e-01 2.80999337e-03 -1.03798844e-02 2.13027856e+01] [-2.63361178e-03 9.99852575e-01 1.69673951e-02 -3.58587019e-01] [ 1.04260325e-02 -1.69390774e-02 9.99802163e-01 -2.17964028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68119381700004 meters Centerline goodness : 0.899141 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.36, Z:-2.18 [[ 9.99939145e-01 1.93062760e-03 -1.08617821e-02 2.13053020e+01] [-1.75329581e-03 9.99865411e-01 1.63121150e-02 -3.60929577e-01] [ 1.08918128e-02 -1.62920784e-02 9.99807950e-01 -2.18149052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71119381700004 meters Centerline goodness : 0.892809 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.37, Z:-2.18 [[ 9.99928140e-01 4.08125371e-03 -1.12720277e-02 2.13071600e+01] [-3.86760429e-03 9.99813688e-01 1.89111457e-02 -3.65447756e-01] [ 1.13471088e-02 -1.88661910e-02 9.99757626e-01 -2.18272186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74119381700004 meters Centerline goodness : 0.896362 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.36, Z:-2.18 [[ 9.99952543e-01 5.67577443e-03 -7.91814550e-03 2.13158452e+01] [-5.60529432e-03 9.99944728e-01 8.89506341e-03 -3.64789093e-01] [ 7.96819422e-03 -8.85025774e-03 9.99929088e-01 -2.18369095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77119381700004 meters Centerline goodness : 0.897116 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.36, Z:-2.19 [[ 9.99964111e-01 7.42613168e-03 -4.07792182e-03 2.13247604e+01] [-7.42961805e-03 9.99972047e-01 -8.40455264e-04 -3.64379758e-01] [ 4.07156650e-03 8.70722503e-04 9.99991332e-01 -2.18506969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters Centerline goodness : 0.896693 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.37, Z:-2.19 [[ 9.99932043e-01 1.15275794e-02 1.73880572e-03 2.13329865e+01] [-1.15143829e-02 9.99906195e-01 -7.41754626e-03 -3.66386555e-01] [-1.82414896e-03 7.39702092e-03 9.99970978e-01 -2.18731116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.831193817 meters Centerline goodness : 0.892833 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.37, Z:-2.19 [[ 9.99923986e-01 1.22297044e-02 1.56722879e-03 2.13332893e+01] [-1.22190718e-02 9.99903409e-01 -6.62325456e-03 -3.67918433e-01] [-1.64807786e-03 6.60360102e-03 9.99976838e-01 -2.18723088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters Centerline goodness : 0.893389 Centerline is valid? [False, False] Translation: X:21.33, Y:-0.37, Z:-2.19 [[ 9.99918569e-01 1.26889179e-02 1.35886330e-03 2.13336368e+01] [-1.26804977e-02 9.99901384e-01 -6.03550151e-03 -3.69405065e-01] [-1.43531327e-03 6.01777897e-03 9.99980863e-01 -2.18714780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89119381700002 meters Centerline goodness : 0.897143 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.37, Z:-2.19 [[ 9.99921828e-01 1.20308379e-02 3.40531756e-03 2.13527290e+01] [-1.19973146e-02 9.99880987e-01 -9.69931425e-03 -3.69780405e-01] [-3.52160316e-03 9.65770138e-03 9.99947162e-01 -2.18801889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters Centerline goodness : 0.899195 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.37, Z:-2.19 [[ 9.99907424e-01 1.10317155e-02 7.96523319e-03 2.13680558e+01] [-1.09325561e-02 9.99863511e-01 -1.23870543e-02 -3.72556544e-01] [-8.10079648e-03 1.22988272e-02 9.99891552e-01 -2.18704921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95119381700002 meters Centerline goodness : 0.896051 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.37, Z:-2.19 [[ 9.99912549e-01 8.63264471e-03 1.00185269e-02 2.13868148e+01] [-8.46162110e-03 9.99819865e-01 -1.69893788e-02 -3.73029104e-01] [-1.01633855e-02 1.69031201e-02 9.99805476e-01 -2.18750707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98119381700002 meters Centerline goodness : 0.895415 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.38, Z:-2.19 [[ 9.99929871e-01 7.20802230e-03 9.39670958e-03 2.13887803e+01] [-7.04119929e-03 9.99819130e-01 -1.76671511e-02 -3.75758974e-01] [-9.52235522e-03 1.75997480e-02 9.99799767e-01 -2.18851659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01119381700002 meters Centerline goodness : 0.897144 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.38, Z:-2.19 [[ 9.99938754e-01 6.36628546e-03 9.05312073e-03 2.13896134e+01] [-6.20557309e-03 9.99824602e-01 -1.76707903e-02 -3.80352637e-01] [-9.16403012e-03 1.76135282e-02 9.99802873e-01 -2.18869573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04119381700002 meters Centerline goodness : 0.896465 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.39, Z:-2.19 [[ 9.99956650e-01 9.58465317e-05 9.31072483e-03 2.13878623e+01] [ 1.18222590e-04 9.99735725e-01 -2.29884000e-02 -3.86850520e-01] [-9.31046760e-03 2.29885042e-02 9.99692375e-01 -2.18720506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07119381700002 meters Centerline goodness : 0.898190 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.39, Z:-2.19 [[ 9.99958781e-01 -3.38666188e-04 9.07312816e-03 2.13884688e+01] [ 5.38663460e-04 9.99756736e-01 -2.20494465e-02 -3.91318134e-01] [-9.06345360e-03 2.20534250e-02 9.99715710e-01 -2.18732682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10119381700002 meters Centerline goodness : 0.899754 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.40, Z:-2.19 [[ 9.99960731e-01 -1.25448889e-03 8.77280317e-03 2.13896622e+01] [ 1.44498826e-03 9.99762565e-01 -2.17422501e-02 -3.95421963e-01] [-8.74344479e-03 2.17540729e-02 9.99725118e-01 -2.18807484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13119381700002 meters Centerline goodness : 0.902380 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.40, Z:-2.19 [[ 9.99950672e-01 -4.55401536e-03 8.82697516e-03 2.13897465e+01] [ 4.76225362e-03 9.99707406e-01 -2.37154651e-02 -4.01462134e-01] [-8.71639185e-03 2.37563315e-02 9.99679779e-01 -2.18832848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16119381700003 meters Centerline goodness : 0.898224 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.41, Z:-2.19 [[ 9.99953570e-01 -4.25114659e-03 8.64788755e-03 2.13903321e+01] [ 4.44491225e-03 9.99736698e-01 -2.25116966e-02 -4.05130907e-01] [-8.54991003e-03 2.25490905e-02 9.99709176e-01 -2.18863420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19119381700003 meters Centerline goodness : 0.899140 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.41, Z:-2.19 [[ 9.99955480e-01 -4.01453800e-03 8.53940650e-03 2.13910205e+01] [ 4.19778634e-03 9.99758946e-01 -2.15505806e-02 -4.08301425e-01] [-8.45083242e-03 2.15854678e-02 9.99731289e-01 -2.18925867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22119381700003 meters Centerline goodness : 0.900670 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.41, Z:-2.19 [[ 9.99958770e-01 -3.64466669e-03 8.31718305e-03 2.13918363e+01] [ 3.81454518e-03 9.99782548e-01 -2.05013825e-02 -4.11390513e-01] [-8.24065376e-03 2.05322635e-02 9.99755229e-01 -2.18977457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25119381700003 meters Centerline goodness : 0.899874 Centerline is valid? [False, False] Translation: X:21.39, Y:-0.42, Z:-2.19 [[ 9.99964024e-01 -3.13352509e-03 7.88235629e-03 2.13947284e+01] [ 3.28332321e-03 9.99812881e-01 -1.90636323e-02 -4.16300471e-01] [-7.82114498e-03 1.90888268e-02 9.99787201e-01 -2.19240220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28119381700003 meters Centerline goodness : 0.900174 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.42, Z:-2.19 [[ 9.99966887e-01 -2.85386205e-03 7.62098495e-03 2.13962341e+01] [ 2.99353568e-03 9.99826603e-01 -1.83794299e-02 -4.18218477e-01] [-7.56721113e-03 1.84016350e-02 9.99802039e-01 -2.19374382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31119381700003 meters Centerline goodness : 0.896074 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.42, Z:-2.20 [[ 9.99969641e-01 -2.79196403e-03 7.27479872e-03 2.13979735e+01] [ 2.92188185e-03 9.99835341e-01 -1.79096145e-02 -4.20035231e-01] [-7.22359786e-03 1.79303269e-02 9.99813144e-01 -2.19515101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34119381700003 meters Centerline goodness : 0.894719 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.42, Z:-2.20 [[ 9.99971434e-01 -2.65689965e-03 7.07618833e-03 2.13990248e+01] [ 2.77907915e-03 9.99846260e-01 -1.73127922e-02 -4.22170847e-01] [-7.02910208e-03 1.73319630e-02 9.99825082e-01 -2.19600297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37119381700003 meters Centerline goodness : 0.893675 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.43, Z:-2.20 [[ 9.99972455e-01 -3.16631453e-03 6.71294741e-03 2.14013861e+01] [ 3.27998194e-03 9.99850284e-01 -1.69897234e-02 -4.25885557e-01] [-6.65814756e-03 1.70112737e-02 9.99833129e-01 -2.19813525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40119381700003 meters Centerline goodness : 0.895900 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.43, Z:-2.20 [[ 9.99974554e-01 -3.15597939e-03 6.39768232e-03 2.14025680e+01] [ 3.25991591e-03 9.99861813e-01 -1.63011669e-02 -4.28672433e-01] [-6.34535210e-03 1.63216080e-02 9.99846659e-01 -2.19888763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43119381700004 meters Centerline goodness : 0.896975 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.43, Z:-2.20 [[ 9.99965239e-01 -5.71169156e-03 6.07432226e-03 2.14049310e+01] [ 5.82054664e-03 9.99820027e-01 -1.80564524e-02 -4.33131151e-01] [-5.97009615e-03 1.80911807e-02 9.99818517e-01 -2.20104997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46119381700004 meters Centerline goodness : 0.896635 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99966288e-01 -5.81553074e-03 5.79679278e-03 2.14060433e+01] [ 5.91553683e-03 9.99831339e-01 -1.73867711e-02 -4.35737713e-01] [-5.69470179e-03 1.74204761e-02 9.99832035e-01 -2.20180165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49119381700004 meters Centerline goodness : 0.894896 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99966663e-01 -6.12605652e-03 5.39852923e-03 2.14072912e+01] [ 6.21657151e-03 9.99837649e-01 -1.69124437e-02 -4.38000055e-01] [-5.29404619e-03 1.69454403e-02 9.99842400e-01 -2.20236189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52119381700004 meters Centerline goodness : 0.897116 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99965783e-01 -6.45707504e-03 5.17094449e-03 2.14080762e+01] [ 6.54134112e-03 9.99843318e-01 -1.64484399e-02 -4.40226489e-01] [-5.06392549e-03 1.64817020e-02 9.99851344e-01 -2.20269046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.551193817 meters Centerline goodness : 0.896091 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99927953e-01 -1.08600395e-02 5.11348193e-03 2.14087642e+01] [ 1.09622305e-02 9.99731804e-01 -2.03997562e-02 -4.41013002e-01] [-4.89056835e-03 2.04543416e-02 9.99778827e-01 -2.20325851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters Centerline goodness : 0.897616 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99925106e-01 -1.12583130e-02 4.79922964e-03 2.14098287e+01] [ 1.13531789e-02 9.99731081e-01 -2.02205777e-02 -4.42365877e-01] [-4.57028944e-03 2.02735498e-02 9.99784024e-01 -2.20373856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61119381700001 meters Centerline goodness : 0.898592 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99922999e-01 -1.15634019e-02 4.50385930e-03 2.14106315e+01] [ 1.16517665e-02 9.99729790e-01 -2.01142802e-02 -4.43472539e-01] [-4.27005280e-03 2.01652093e-02 9.99787543e-01 -2.20392997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters Centerline goodness : 0.898226 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99922165e-01 -1.17154787e-02 4.29096872e-03 2.14112438e+01] [ 1.17990986e-02 9.99730151e-01 -2.00101511e-02 -4.44051297e-01] [-4.05538231e-03 2.00592232e-02 9.99790569e-01 -2.20406933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67119381700002 meters Centerline goodness : 0.897703 Centerline is valid? [False, False] Translation: X:21.41, Y:-0.44, Z:-2.20 [[ 9.99949326e-01 -9.20760876e-03 4.06994592e-03 2.14115307e+01] [ 9.27488987e-03 9.99815286e-01 -1.68336132e-02 -4.43376878e-01] [-3.91419682e-03 1.68705085e-02 9.99850021e-01 -2.20362140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters Centerline goodness : 0.900219 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.44, Z:-2.20 [[ 9.99953683e-01 -7.52628460e-03 5.99893854e-03 2.14303640e+01] [ 7.62821774e-03 9.99823758e-01 -1.71540797e-02 -4.42069767e-01] [-5.86877479e-03 1.71990464e-02 9.99834862e-01 -2.20371924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73119381700002 meters Centerline goodness : 0.898624 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.44, Z:-2.20 [[ 9.99973849e-01 -4.36603500e-03 5.76532870e-03 2.14306237e+01] [ 4.44381688e-03 9.99898345e-01 -1.35481424e-02 -4.41739540e-01] [-5.70559096e-03 1.35734082e-02 9.99891599e-01 -2.20327845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76119381700002 meters Centerline goodness : 0.898895 Centerline is valid? [False, False] Translation: X:21.43, Y:-0.44, Z:-2.20 [[ 9.99982719e-01 -1.76944838e-03 5.60627881e-03 2.14306510e+01] [ 1.83103020e-03 9.99937839e-01 -1.09984135e-02 -4.39837434e-01] [-5.58646919e-03 1.10084887e-02 9.99923799e-01 -2.20274505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79119381700002 meters Centerline goodness : 0.899422 Centerline is valid? [False, False] Translation: X:21.45, Y:-0.44, Z:-2.20 [[ 9.99977504e-01 -1.40098877e-03 6.55967640e-03 2.14503440e+01] [ 1.49302504e-03 9.99900224e-01 -1.40468011e-02 -4.37914964e-01] [-6.53934250e-03 1.40562789e-02 9.99879822e-01 -2.20317960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82119381700002 meters Centerline goodness : 0.896858 Centerline is valid? [False, False] Translation: X:21.47, Y:-0.44, Z:-2.20 [[ 9.99986082e-01 1.97689985e-04 5.27232622e-03 2.14720396e+01] [-1.20566175e-04 9.99893051e-01 -1.46243503e-02 -4.36779978e-01] [-5.27465344e-03 1.46235111e-02 9.99879158e-01 -2.20406248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85119381700002 meters Centerline goodness : 0.896437 Centerline is valid? [False, False] Translation: X:21.47, Y:-0.43, Z:-2.21 [[ 9.99987556e-01 1.67835336e-03 4.69806422e-03 2.14746122e+01] [-1.61678667e-03 9.99913173e-01 -1.30779568e-02 -4.34721757e-01] [-4.71960573e-03 1.30701983e-02 9.99903443e-01 -2.20564768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88119381700002 meters Centerline goodness : 0.897314 Centerline is valid? [False, False] Translation: X:21.50, Y:-0.43, Z:-2.21 [[ 9.99987624e-01 2.27115336e-03 4.42658206e-03 2.14970787e+01] [-2.19327418e-03 9.99844113e-01 -1.75196778e-02 -4.27514977e-01] [-4.46568188e-03 1.75097522e-02 9.99836720e-01 -2.20893387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91119381700003 meters Centerline goodness : 0.902134 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.43, Z:-2.21 [[ 9.99991912e-01 3.33476432e-03 2.24829162e-03 2.15202090e+01] [-3.29276248e-03 9.99824667e-01 -1.84334493e-02 -4.25887724e-01] [-2.30936864e-03 1.84258972e-02 9.99827562e-01 -2.21065834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94119381700003 meters Centerline goodness : 0.894609 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.42, Z:-2.21 [[ 9.99989006e-01 4.37944095e-03 1.67558752e-03 2.15231364e+01] [-4.34966737e-03 9.99839527e-01 -1.73781565e-02 -4.24310659e-01] [-1.75142525e-03 1.73706772e-02 9.99847584e-01 -2.21263794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97119381700003 meters Centerline goodness : 0.895505 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.42, Z:-2.21 [[ 9.99987271e-01 4.90315633e-03 1.19043602e-03 2.15259323e+01] [-4.88207630e-03 9.99841726e-01 -1.71081253e-02 -4.22015652e-01] [-1.27413142e-03 1.71020957e-02 9.99852937e-01 -2.21466379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00119381700003 meters Centerline goodness : 0.895087 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.42, Z:-2.22 [[ 9.99988498e-01 4.77028031e-03 4.98072256e-04 2.15290386e+01] [-4.76073379e-03 9.99832494e-01 -1.76725705e-02 -4.15563802e-01] [-5.82291941e-04 1.76699960e-02 9.99843704e-01 -2.21647030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03119381700003 meters Centerline goodness : 0.891863 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.41, Z:-2.22 [[ 9.99992231e-01 3.94014563e-03 1.12822972e-04 2.15303400e+01] [-3.93730280e-03 9.99812948e-01 -1.89358670e-02 -4.12348750e-01] [-1.87411942e-04 1.89352757e-02 9.99820694e-01 -2.21695535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06119381700003 meters Centerline goodness : 0.903285 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.41, Z:-2.22 [[ 9.99994527e-01 3.30484649e-03 -1.55516384e-04 2.15314524e+01] [-3.30729610e-03 9.99794442e-01 -2.00033761e-02 -4.09254282e-01] [ 8.93763289e-05 2.00037809e-02 9.99799900e-01 -2.21749747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09119381700003 meters Centerline goodness : 0.897346 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.41, Z:-2.22 [[ 9.99996690e-01 2.54317862e-03 -3.89081838e-04 2.15322820e+01] [-2.55083706e-03 9.99773182e-01 -2.11442284e-02 -4.06172632e-01] [ 3.35220038e-04 2.11451509e-02 9.99776360e-01 -2.21776676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12119381700003 meters Centerline goodness : 0.896254 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.40, Z:-2.22 [[ 9.99999715e-01 4.11646427e-04 -6.32414198e-04 2.15327464e+01] [-4.26715829e-04 9.99711484e-01 -2.40159814e-02 -3.99248571e-01] [ 6.22345643e-04 2.40162444e-02 9.99711375e-01 -2.21737490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15119381700003 meters Centerline goodness : 0.895316 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.40, Z:-2.22 [[ 9.99988207e-01 -1.73815286e-03 4.53490917e-03 2.15438131e+01] [ 1.81335155e-03 9.99860049e-01 -1.66311079e-02 -3.97623164e-01] [-4.50536710e-03 1.66391351e-02 9.99851409e-01 -2.22060064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18119381700004 meters Centerline goodness : 0.896039 Centerline is valid? [False, False] Translation: X:21.54, Y:-0.39, Z:-2.22 [[ 9.99987151e-01 -2.73960050e-03 4.26531439e-03 2.15446991e+01] [ 2.81605369e-03 9.99833611e-01 -1.80227861e-02 -3.93719230e-01] [-4.21522945e-03 1.80345658e-02 9.99828478e-01 -2.22080553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21119381700004 meters Centerline goodness : 0.896944 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.39, Z:-2.22 [[ 9.99990917e-01 -1.83184498e-03 3.84831230e-03 2.15470467e+01] [ 1.89629549e-03 9.99856880e-01 -1.68113849e-02 -3.90938011e-01] [-3.81696568e-03 1.68185297e-02 9.99851273e-01 -2.22237334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24119381700004 meters Centerline goodness : 0.896073 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.39, Z:-2.22 [[ 9.99989869e-01 -2.67507156e-03 3.62031879e-03 2.15479009e+01] [ 2.74023913e-03 9.99832121e-01 -1.81168857e-02 -3.87026729e-01] [-3.57124705e-03 1.81266227e-02 9.99829321e-01 -2.22264610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27119381700004 meters Centerline goodness : 0.897377 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.38, Z:-2.22 [[ 9.99985866e-01 -4.04729877e-03 3.44772061e-03 2.15484692e+01] [ 4.11727916e-03 9.99780590e-01 -2.05382715e-02 -3.79479487e-01] [-3.36383963e-03 2.05521765e-02 9.99783123e-01 -2.22254381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters Centerline goodness : 0.896903 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.38, Z:-2.22 [[ 9.99993364e-01 -2.14892407e-03 2.94175425e-03 2.15505547e+01] [ 2.20377875e-03 9.99821353e-01 -1.87724572e-02 -3.76082793e-01] [-2.90088813e-03 1.87788156e-02 9.99819454e-01 -2.22366825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.331193817 meters Centerline goodness : 0.900006 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.37, Z:-2.22 [[ 9.99996984e-01 -2.29836710e-04 2.44517771e-03 2.15527065e+01] [ 2.72180094e-04 9.99849772e-01 -1.73308842e-02 -3.71315737e-01] [-2.44082710e-03 1.73314975e-02 9.99846819e-01 -2.22486961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters Centerline goodness : 0.899033 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.36, Z:-2.23 [[ 9.99993202e-01 3.28330929e-03 1.67808323e-03 2.15556010e+01] [-3.25836627e-03 9.99887277e-01 -1.46566428e-02 -3.60255805e-01] [-1.72601636e-03 1.46510754e-02 9.99891178e-01 -2.22594974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39119381700002 meters Centerline goodness : 0.899271 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.36, Z:-2.23 [[ 9.99987770e-01 4.80797526e-03 1.15927989e-03 2.15583020e+01] [-4.79180242e-03 9.99896418e-01 -1.35717217e-02 -3.55427157e-01] [-1.22441232e-03 1.35660007e-02 9.99907228e-01 -2.22775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters Centerline goodness : 0.898047 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.35, Z:-2.23 [[ 9.99983791e-01 5.68254532e-03 3.54168603e-04 2.15615730e+01] [-5.67741038e-03 9.99897824e-01 -1.31189983e-02 -3.50387088e-01] [-4.28681718e-04 1.31167749e-02 9.99913880e-01 -2.22959128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45119381700002 meters Centerline goodness : 0.896398 Centerline is valid? [False, False] Translation: X:21.56, Y:-0.34, Z:-2.23 [[ 9.99982683e-01 5.87766002e-03 -2.95403160e-04 2.15647312e+01] [-5.88108619e-03 9.99893211e-01 -1.33783235e-02 -3.44943441e-01] [ 2.16738377e-04 1.33798291e-02 9.99910463e-01 -2.23157048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48119381700002 meters Centerline goodness : 0.897086 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.33, Z:-2.23 [[ 9.99987458e-01 3.60338270e-03 -3.47841635e-03 2.15729533e+01] [-3.65058229e-03 9.99900038e-01 -1.36596666e-02 -3.32203873e-01] [ 3.42884764e-03 1.36721936e-02 9.99900652e-01 -2.23162326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51119381700002 meters Centerline goodness : 0.900446 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.33, Z:-2.23 [[ 9.99985501e-01 3.49114883e-03 -4.10006017e-03 2.15760858e+01] [-3.54961468e-03 9.99890875e-01 -1.43401217e-02 -3.25784444e-01] [ 4.04954925e-03 1.43544674e-02 9.99888769e-01 -2.23359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54119381700002 meters Centerline goodness : 0.900446 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.33, Z:-2.23 [[ 9.99985501e-01 3.49114883e-03 -4.10006017e-03 2.15760858e+01] [-3.54961468e-03 9.99890875e-01 -1.43401217e-02 -3.25784444e-01] [ 4.04954925e-03 1.43544674e-02 9.99888769e-01 -2.23359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57119381700002 meters Centerline goodness : 0.900133 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.32, Z:-2.23 [[ 9.99978010e-01 5.18335389e-03 -4.13673356e-03 2.15769923e+01] [-5.23744860e-03 9.99899492e-01 -1.31747691e-02 -3.20026754e-01] [ 4.06802830e-03 1.31961453e-02 9.99904652e-01 -2.23425601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60119381700002 meters Centerline goodness : 0.900542 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.31, Z:-2.24 [[ 9.99967625e-01 6.50312710e-03 -4.73910889e-03 2.15795680e+01] [-6.56113553e-03 9.99902464e-01 -1.23293851e-02 -3.14034754e-01] [ 4.65846710e-03 1.23600799e-02 9.99912760e-01 -2.23565425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63119381700002 meters Centerline goodness : 0.898079 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.30, Z:-2.24 [[ 9.99959032e-01 7.74931947e-03 -4.67781588e-03 2.15803572e+01] [-7.80791304e-03 9.99889623e-01 -1.26403092e-02 -3.01513685e-01] [ 4.57934576e-03 1.26763154e-02 9.99909166e-01 -2.23620503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66119381700003 meters Centerline goodness : 0.903166 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.30, Z:-2.24 [[ 9.99938838e-01 9.92179488e-03 -4.88656872e-03 2.15814375e+01] [-9.97611030e-03 9.99887297e-01 -1.12192180e-02 -2.95737949e-01] [ 4.77470321e-03 1.12672807e-02 9.99925122e-01 -2.23659482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69119381700003 meters Centerline goodness : 0.903605 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.29, Z:-2.24 [[ 9.99914650e-01 1.21717806e-02 -4.74770737e-03 2.15808235e+01] [-1.22184728e-02 9.99876015e-01 -9.93290321e-03 -2.89017972e-01] [ 4.62621761e-03 9.99006517e-03 9.99939397e-01 -2.23573778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72119381700003 meters Centerline goodness : 0.907447 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.27, Z:-2.23 [[ 9.99873478e-01 1.51969476e-02 -4.69910197e-03 2.15806111e+01] [-1.52335697e-02 9.99853081e-01 -7.85842119e-03 -2.72838610e-01] [ 4.57898757e-03 7.92901102e-03 9.99958081e-01 -2.23458664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75119381700003 meters Centerline goodness : 0.907996 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.27, Z:-2.23 [[ 9.99839852e-01 1.73057212e-02 -4.55884777e-03 2.15799332e+01] [-1.73362492e-02 9.99826970e-01 -6.74426284e-03 -2.65769417e-01] [ 4.44134462e-03 6.82221608e-03 9.99966865e-01 -2.23353298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78119381700003 meters Centerline goodness : 0.910295 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.26, Z:-2.23 [[ 9.99808687e-01 1.90633939e-02 -4.37914840e-03 2.15788327e+01] [-1.90894234e-02 9.99799890e-01 -5.98111792e-03 -2.59238862e-01] [ 4.26425168e-03 6.06356907e-03 9.99972524e-01 -2.23205825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81119381700003 meters Centerline goodness : 0.910289 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.25, Z:-2.23 [[ 9.99785836e-01 2.01973400e-02 -4.51104617e-03 2.15785969e+01] [-2.02290331e-02 9.99770203e-01 -7.09415740e-03 -2.46096204e-01] [ 4.36672643e-03 7.18389219e-03 9.99964661e-01 -2.23030289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84119381700003 meters Centerline goodness : 0.909413 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.24, Z:-2.23 [[ 9.99736612e-01 2.25174995e-02 -4.43503621e-03 2.15788281e+01] [-2.25422021e-02 9.99730203e-01 -5.60093622e-03 -2.40618785e-01] [ 4.30772057e-03 5.69943648e-03 9.99974480e-01 -2.23022516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87119381700003 meters Centerline goodness : 0.911202 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.23, Z:-2.23 [[ 9.99681442e-01 2.48530331e-02 -4.39779763e-03 2.15790107e+01] [-2.48716691e-02 9.99681682e-01 -4.23486981e-03 -2.34522609e-01] [ 4.29114838e-03 4.34290132e-03 9.99981362e-01 -2.22995460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90119381700003 meters Centerline goodness : 0.912902 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.23, Z:-2.23 [[ 9.99624172e-01 2.70184005e-02 -4.63912637e-03 2.15806735e+01] [-2.70329407e-02 9.99629734e-01 -3.10067038e-03 -2.28066747e-01] [ 4.55363351e-03 3.22491429e-03 9.99984432e-01 -2.23070037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93119381700004 meters Centerline goodness : 0.911438 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.21, Z:-2.23 [[ 9.99481967e-01 3.18833878e-02 -4.38707796e-03 2.15816318e+01] [-3.18844497e-02 9.99491547e-01 -1.72321928e-04 -2.13707065e-01] [ 4.37935313e-03 3.12112227e-04 9.99990362e-01 -2.23108731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96119381700004 meters Centerline goodness : 0.911571 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.21, Z:-2.23 [[ 9.99377962e-01 3.49935129e-02 -4.37526075e-03 2.15822668e+01] [-3.49868440e-02 9.99386506e-01 1.59160792e-03 -2.07191744e-01] [ 4.42827251e-03 -1.43754132e-03 9.99989162e-01 -2.23114312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99119381700004 meters Centerline goodness : 0.912835 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.20, Z:-2.23 [[ 9.99268172e-01 3.79906871e-02 -4.45290235e-03 2.15830379e+01] [-3.79757356e-02 9.99272893e-01 3.39550366e-03 -2.01447849e-01] [ 4.57866213e-03 -3.22391650e-03 9.99984321e-01 -2.23117337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02119381700004 meters Centerline goodness : 0.912468 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.19, Z:-2.23 [[ 9.99017367e-01 4.40926088e-02 -4.48801775e-03 2.15850493e+01] [-4.40601061e-02 9.99003651e-01 7.10022825e-03 -1.91273206e-01] [ 4.79661370e-03 -6.89550880e-03 9.99964722e-01 -2.23192543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.051193817 meters Centerline goodness : 0.912118 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.19, Z:-2.23 [[ 9.98868010e-01 4.73447544e-02 -4.60132482e-03 2.15864008e+01] [-4.73010076e-02 9.98838387e-01 9.19187696e-03 -1.86198513e-01] [ 5.03116702e-03 -8.96382455e-03 9.99947167e-01 -2.23255652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.081193817 meters Centerline goodness : 0.909702 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.18, Z:-2.23 [[ 9.98705540e-01 5.06415373e-02 -4.76223074e-03 2.15876483e+01] [-5.05852437e-02 9.98656052e-01 1.12792840e-02 -1.80908144e-01] [ 5.32703084e-03 -1.10237849e-02 9.99925047e-01 -2.23292694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11119381700001 meters Centerline goodness : 0.911843 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.18, Z:-2.23 [[ 9.98537531e-01 5.38544255e-02 -4.74351058e-03 2.15889408e+01] [-5.37864767e-02 9.98461936e-01 1.34453812e-02 -1.75722143e-01] [ 5.46030804e-03 -1.31705810e-02 9.99898355e-01 -2.23368863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14119381700002 meters Centerline goodness : 0.911481 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.17, Z:-2.23 [[ 9.98383596e-01 5.66449109e-02 -4.64209421e-03 2.15885404e+01] [-5.65741833e-02 9.98297898e-01 1.41657801e-02 -1.66260503e-01] [ 5.43661224e-03 -1.38802598e-02 9.99888885e-01 -2.23189771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17119381700002 meters Centerline goodness : 0.908823 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.16, Z:-2.23 [[ 9.98382347e-01 5.66082127e-02 -5.31031729e-03 2.15900556e+01] [-5.65347141e-02 9.98314721e-01 1.30974443e-02 -1.63051228e-01] [ 6.04279084e-03 -1.27760399e-02 9.99900124e-01 -2.23192721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters Centerline goodness : 0.910685 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.16, Z:-2.23 [[ 9.98357012e-01 5.69880460e-02 -5.96988813e-03 2.15925167e+01] [-5.69072815e-02 9.98295834e-01 1.29224266e-02 -1.61541664e-01] [ 6.69613829e-03 -1.25614651e-02 9.99898681e-01 -2.23310219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23119381700002 meters Centerline goodness : 0.906361 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.16, Z:-2.24 [[ 9.98455867e-01 5.52431105e-02 -5.83788055e-03 2.16052420e+01] [-5.51024841e-02 9.98238440e-01 2.19939289e-02 -1.61861304e-01] [ 7.04260982e-03 -2.16382856e-02 9.99741060e-01 -2.23542340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26119381700002 meters Centerline goodness : 0.907767 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.16, Z:-2.24 [[ 9.98451945e-01 5.52535503e-02 -6.38428169e-03 2.16075733e+01] [-5.51098250e-02 9.98262783e-01 2.08404057e-02 -1.56449158e-01] [ 7.52469722e-03 -2.04563069e-02 9.99762431e-01 -2.23659655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29119381700002 meters Centerline goodness : 0.907109 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.15, Z:-2.24 [[ 9.98409679e-01 5.59404429e-02 -6.98430778e-03 2.16100992e+01] [-5.57841280e-02 9.98224823e-01 2.08646765e-02 -1.54039086e-01] [ 8.13908864e-03 -2.04418814e-02 9.99757913e-01 -2.23774103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32119381700002 meters Centerline goodness : 0.909970 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.15, Z:-2.24 [[ 9.98408796e-01 5.59143407e-02 -7.31176848e-03 2.16111965e+01] [-5.57577787e-02 9.98241939e-01 2.01022660e-02 -1.51608738e-01] [ 8.42291890e-03 -1.96625913e-02 9.99771192e-01 -2.23791136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35119381700002 meters Centerline goodness : 0.908221 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.15, Z:-2.24 [[ 9.98554234e-01 5.34608773e-02 -5.60141388e-03 2.16299634e+01] [-5.33564528e-02 9.98424343e-01 1.73758753e-02 -1.47223295e-01] [ 6.52151751e-03 -1.70518822e-02 9.99833338e-01 -2.23670370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38119381700002 meters Centerline goodness : 0.908602 Centerline is valid? [False, False] Translation: X:21.63, Y:-0.15, Z:-2.24 [[ 9.98496039e-01 5.44858269e-02 -6.07912448e-03 2.16324241e+01] [-5.43697423e-02 9.98361167e-01 1.78580696e-02 -1.45831952e-01] [ 7.04217350e-03 -1.75006913e-02 9.99822051e-01 -2.23801614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41119381700003 meters Centerline goodness : 0.908522 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.14, Z:-2.24 [[ 9.98395945e-01 5.62169340e-02 -6.72261056e-03 2.16357432e+01] [-5.60808075e-02 9.98246122e-01 1.89637014e-02 -1.44558757e-01] [ 7.77690107e-03 -1.85562732e-02 9.99797572e-01 -2.23987664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44119381700003 meters Centerline goodness : 0.910082 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.14, Z:-2.24 [[ 9.98344914e-01 5.70752513e-02 -7.06029158e-03 2.16375523e+01] [-5.69346539e-02 9.98202246e-01 1.87275407e-02 -1.42045107e-01] [ 8.11647800e-03 -1.82945697e-02 9.99799696e-01 -2.24080053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47119381700003 meters Centerline goodness : 0.909106 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.14, Z:-2.24 [[ 9.97882191e-01 6.46667315e-02 -7.02470480e-03 2.16409428e+01] [-6.44700284e-02 9.97598175e-01 2.53277765e-02 -1.39808303e-01] [ 8.64569721e-03 -2.48212542e-02 9.99654519e-01 -2.24335066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50119381700003 meters Centerline goodness : 0.908740 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.14, Z:-2.25 [[ 9.97774445e-01 6.62595948e-02 -7.47144248e-03 2.16437175e+01] [-6.60445242e-02 9.97475939e-01 2.60743585e-02 -1.37950420e-01] [ 9.18026053e-03 -2.55228807e-02 9.99632085e-01 -2.24502850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53119381700003 meters Centerline goodness : 0.908779 Centerline is valid? [False, False] Translation: X:21.65, Y:-0.14, Z:-2.25 [[ 9.97725634e-01 6.69568759e-02 -7.76760537e-03 2.16450152e+01] [-6.67352313e-02 9.97433233e-01 2.59490755e-02 -1.36399216e-01] [ 9.48513676e-03 -2.53716849e-02 9.99633088e-01 -2.24548713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56119381700003 meters Centerline goodness : 0.908986 Centerline is valid? [False, False] Translation: X:21.65, Y:-0.14, Z:-2.25 [[ 9.97648818e-01 6.80315840e-02 -8.27889191e-03 2.16469477e+01] [-6.77901036e-02 9.97344890e-01 2.66021082e-02 -1.36259421e-01] [ 1.00666941e-02 -2.59783349e-02 9.99611819e-01 -2.24626503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59119381700003 meters Centerline goodness : 0.910218 Centerline is valid? [False, False] Translation: X:21.65, Y:-0.14, Z:-2.25 [[ 9.97598749e-01 6.87858333e-02 -8.07743119e-03 2.16465491e+01] [-6.85450975e-02 9.97281721e-01 2.70321878e-02 -1.37272433e-01] [ 9.91490603e-03 -2.64136084e-02 9.99601929e-01 -2.24575724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62119381700003 meters Centerline goodness : 0.912315 Centerline is valid? [False, False] Translation: X:21.66, Y:-0.14, Z:-2.25 [[ 9.97794921e-01 6.61838223e-02 -4.99968241e-03 2.16639084e+01] [-6.60204624e-02 9.97431263e-01 2.77880314e-02 -1.39588202e-01] [ 6.82595767e-03 -2.73966753e-02 9.99601335e-01 -2.24541463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65119381700003 meters Centerline goodness : 0.912402 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.14, Z:-2.25 [[ 9.97967637e-01 6.36811602e-02 -2.30340914e-03 2.16817368e+01] [-6.35852149e-02 9.97536158e-01 2.96400741e-02 -1.43239682e-01] [ 4.18524821e-03 -2.94333719e-02 9.99557982e-01 -2.24573326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68119381700004 meters Centerline goodness : 0.910738 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.15, Z:-2.25 [[ 9.98236617e-01 5.93600103e-02 -2.12989546e-04 2.17011123e+01] [-5.93256598e-02 9.97768837e-01 3.06237376e-02 -1.51199071e-01] [ 2.03033971e-03 -3.05571005e-02 9.99530961e-01 -2.24771461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71119381700004 meters Centerline goodness : 0.909622 Centerline is valid? [False, False] Translation: X:21.72, Y:-0.16, Z:-2.25 [[ 9.98468070e-01 5.53299712e-02 -3.28670995e-04 2.17214065e+01] [-5.52930754e-02 9.97986792e-01 3.10650583e-02 -1.55654130e-01] [ 2.04683809e-03 -3.09992956e-02 9.99517311e-01 -2.24882887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74119381700004 meters Centerline goodness : 0.909577 Centerline is valid? [False, False] Translation: X:21.72, Y:-0.16, Z:-2.25 [[ 9.98638878e-01 5.21508473e-02 -8.24307510e-04 2.17226270e+01] [-5.21067237e-02 9.98240977e-01 2.82814661e-02 -1.58723039e-01] [ 2.29775995e-03 -2.82000196e-02 9.99599659e-01 -2.24944122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77119381700004 meters Centerline goodness : 0.912446 Centerline is valid? [False, False] Translation: X:21.72, Y:-0.16, Z:-2.25 [[ 9.98807594e-01 4.88037542e-02 -1.25879743e-03 2.17237265e+01] [-4.87566116e-02 9.98492753e-01 2.51995047e-02 -1.61212803e-01] [ 2.48673054e-03 -2.51080820e-02 9.99681650e-01 -2.24998933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters Centerline goodness : 0.912603 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.17, Z:-2.25 [[ 9.98913969e-01 4.65802683e-02 1.07782547e-03 2.17440133e+01] [-4.65917224e-02 9.98472286e-01 2.97036224e-02 -1.71886248e-01] [ 3.07423837e-04 -2.97215811e-02 9.99558169e-01 -2.25367668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.831193817 meters Centerline goodness : 0.912970 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.17, Z:-2.25 [[ 9.99051151e-01 4.35481866e-02 5.94280400e-04 2.17451293e+01] [-4.35485785e-02 9.98697157e-01 2.65990693e-02 -1.73569209e-01] [ 5.64835088e-04 -2.65997109e-02 9.99646006e-01 -2.25399649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters Centerline goodness : 0.911493 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.17, Z:-2.25 [[ 9.99178407e-01 4.05278233e-02 8.63088471e-05 2.17464467e+01] [-4.05187061e-02 9.98903703e-01 2.34441075e-02 -1.74961235e-01] [ 8.63924420e-04 -2.34283431e-02 9.99725145e-01 -2.25442428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89119381700002 meters Centerline goodness : 0.914789 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.18, Z:-2.26 [[ 9.99280883e-01 3.79142024e-02 -4.79222793e-04 2.17481260e+01] [-3.78959160e-02 9.99063096e-01 2.09004699e-02 -1.77195679e-01] [ 1.27119845e-03 -2.08672794e-02 9.99781446e-01 -2.25517409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters Centerline goodness : 0.917909 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.19, Z:-2.26 [[ 9.99394330e-01 3.47300712e-02 2.18959652e-03 2.17678493e+01] [-3.47705447e-02 9.99142873e-01 2.24617348e-02 -1.85942566e-01] [-1.40762211e-03 -2.25242639e-02 9.99745306e-01 -2.25725925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95119381700002 meters Centerline goodness : 0.918819 Centerline is valid? [False, False] Translation: X:21.79, Y:-0.19, Z:-2.26 [[ 9.99422325e-01 3.36974644e-02 4.41550685e-03 2.17867287e+01] [-3.38062712e-02 9.99051062e-01 2.74610847e-02 -1.91901607e-01] [-3.48594788e-03 -2.75944930e-02 9.99613121e-01 -2.25962034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98119381700002 meters Centerline goodness : 0.919280 Centerline is valid? [False, False] Translation: X:21.81, Y:-0.20, Z:-2.26 [[ 9.99458141e-01 3.22743081e-02 6.46481843e-03 2.18057036e+01] [-3.24644786e-02 9.98964874e-01 3.18628119e-02 -1.97781589e-01] [-5.42977631e-03 -3.20554237e-02 9.99471344e-01 -2.26164594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01119381700002 meters Centerline goodness : 0.920312 Centerline is valid? [False, False] Translation: X:21.83, Y:-0.21, Z:-2.26 [[ 9.99587679e-01 2.79656393e-02 6.51109571e-03 2.18250946e+01] [-2.82502217e-02 9.98411951e-01 4.87391144e-02 -2.05423886e-01] [-5.13773527e-03 -4.89029582e-02 9.98790321e-01 -2.26254377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04119381700002 meters Centerline goodness : 0.920419 Centerline is valid? [False, False] Translation: X:21.83, Y:-0.22, Z:-2.26 [[ 9.99833328e-01 1.75591842e-02 4.99920902e-03 2.18323496e+01] [-1.79752072e-02 9.94700351e-01 1.01232921e-01 -2.24650430e-01] [-3.19514745e-03 -1.01305910e-01 9.94850192e-01 -2.25709275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07119381700002 meters Centerline goodness : 0.921315 Centerline is valid? [False, False] Translation: X:21.83, Y:-0.23, Z:-2.26 [[ 9.99893716e-01 1.41130352e-02 3.65769884e-03 2.18339103e+01] [-1.44062844e-02 9.94965064e-01 9.91815477e-02 -2.26781825e-01] [-2.23952989e-03 -9.92237002e-02 9.95062632e-01 -2.25527665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10119381700002 meters Centerline goodness : 0.923117 Centerline is valid? [False, False] Translation: X:21.83, Y:-0.23, Z:-2.25 [[ 9.99942189e-01 1.03530714e-02 2.90400573e-03 2.18347994e+01] [-1.05850578e-02 9.95274733e-01 9.65202719e-02 -2.28903483e-01] [-1.89100225e-03 -9.65454310e-02 9.95326782e-01 -2.25413405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13119381700002 meters Centerline goodness : 0.922915 Centerline is valid? [False, False] Translation: X:21.84, Y:-0.23, Z:-2.25 [[ 9.99976449e-01 6.45899608e-03 2.32027306e-03 2.18354389e+01] [-6.64752480e-03 9.95604480e-01 9.34212481e-02 -2.30410545e-01] [-1.70666678e-03 -9.34344720e-02 9.95623969e-01 -2.25313871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16119381700003 meters Centerline goodness : 0.921313 Centerline is valid? [False, False] Translation: X:21.81, Y:-0.23, Z:-2.25 [[ 9.99995965e-01 2.67283440e-03 9.62119405e-04 2.18052782e+01] [-2.73917465e-03 9.97007722e-01 7.72534714e-02 -2.30095242e-01] [-7.52754740e-04 -7.72557951e-02 9.97011021e-01 -2.24822831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19119381700003 meters Centerline goodness : 0.924857 Centerline is valid? [False, False] Translation: X:21.79, Y:-0.23, Z:-2.25 [[ 9.99997045e-01 2.31077336e-03 7.54752101e-04 2.17899769e+01] [-2.35330790e-03 9.98054521e-01 6.23027727e-02 -2.29400464e-01] [-6.09316160e-04 -6.23043647e-02 9.98057010e-01 -2.24627769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22119381700003 meters Centerline goodness : 0.926623 Centerline is valid? [False, False] Translation: X:21.79, Y:-0.23, Z:-2.25 [[ 9.99997937e-01 -1.42950151e-03 1.44282515e-03 2.17890992e+01] [ 1.34292457e-03 9.98297046e-01 5.83198404e-02 -2.30781271e-01] [-1.52373638e-03 -5.83177825e-02 9.98296907e-01 -2.24627679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25119381700003 meters Centerline goodness : 0.922521 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.23, Z:-2.25 [[ 9.99993711e-01 -3.19112668e-03 -1.54771687e-03 2.17804628e+01] [ 3.25706052e-03 9.98997150e-01 4.46551843e-02 -2.29631986e-01] [ 1.40366440e-03 -4.46599445e-02 9.99001261e-01 -2.24513425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28119381700003 meters Centerline goodness : 0.923578 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.23, Z:-2.24 [[ 9.99985914e-01 -5.01816451e-03 -1.72918970e-03 2.17522342e+01] [ 5.06892588e-03 9.99515134e-01 3.07213839e-02 -2.29069086e-01] [ 1.57418631e-03 -3.07297163e-02 9.99526491e-01 -2.24400208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31119381700003 meters Centerline goodness : 0.924451 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.23, Z:-2.24 [[ 9.99958824e-01 -8.85385751e-03 -1.98977409e-03 2.17529486e+01] [ 8.90423689e-03 9.99597812e-01 2.69244930e-02 -2.29264834e-01] [ 1.75058820e-03 -2.69411018e-02 9.99635490e-01 -2.24408468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34119381700003 meters Centerline goodness : 0.923250 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.23, Z:-2.24 [[ 9.99918330e-01 -1.25884967e-02 -2.20506677e-03 2.17538005e+01] [ 1.26364736e-02 9.99648778e-01 2.32946436e-02 -2.30058573e-01] [ 1.91104776e-03 -2.33206054e-02 9.99726211e-01 -2.24443691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37119381700003 meters Centerline goodness : 0.922997 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.23, Z:-2.24 [[ 9.99878082e-01 -1.39519999e-02 -7.01164883e-03 2.17432932e+01] [ 1.40327162e-02 9.99834277e-01 1.15975050e-02 -2.29297851e-01] [ 6.84867845e-03 -1.16944835e-02 9.99908163e-01 -2.24132366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40119381700003 meters Centerline goodness : 0.922301 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.23, Z:-2.24 [[ 9.99879886e-01 -1.37113852e-02 -7.22568682e-03 2.17439763e+01] [ 1.37935805e-02 9.99839292e-01 1.14510964e-02 -2.27826560e-01] [ 7.06751520e-03 -1.15493891e-02 9.99908327e-01 -2.24146936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43119381700004 meters Centerline goodness : 0.921702 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.23, Z:-2.24 [[ 9.99921164e-01 -1.01447962e-02 -7.39922688e-03 2.17442799e+01] [ 1.02535852e-02 9.99837661e-01 1.48160776e-02 -2.26272783e-01] [ 7.24771961e-03 -1.48907782e-02 9.99862858e-01 -2.24135547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46119381700004 meters Centerline goodness : 0.921702 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.23, Z:-2.24 [[ 9.99921172e-01 -1.01472532e-02 -7.39481196e-03 2.17442733e+01] [ 1.02559340e-02 9.99837723e-01 1.48102483e-02 -2.26257472e-01] [ 7.24332861e-03 -1.48849215e-02 9.99862977e-01 -2.24135783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49119381700004 meters Centerline goodness : 0.922412 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.22, Z:-2.24 [[ 9.99948487e-01 -6.68896740e-03 -7.63420122e-03 2.17446110e+01] [ 6.82378218e-03 9.99818779e-01 1.77720561e-02 -2.23643868e-01] [ 7.51394103e-03 -1.78232348e-02 9.99812919e-01 -2.24112986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52119381700004 meters Centerline goodness : 0.925779 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.22, Z:-2.24 [[ 9.99953594e-01 -5.74358088e-03 -7.73442347e-03 2.17449889e+01] [ 5.87809014e-03 9.99829899e-01 1.74820365e-02 -2.19784524e-01] [ 7.63269834e-03 -1.75266888e-02 9.99817262e-01 -2.24097871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.551193817 meters Centerline goodness : 0.923037 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.21, Z:-2.24 [[ 9.99971818e-01 -1.33576916e-03 -7.38773055e-03 2.17440908e+01] [ 1.48424355e-03 9.99796298e-01 2.01285981e-02 -2.14301138e-01] [ 7.35933849e-03 -2.01389960e-02 9.99770104e-01 -2.24012911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters Centerline goodness : 0.923312 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.21, Z:-2.24 [[ 9.99970596e-01 1.89379206e-03 -7.43106211e-03 2.17439845e+01] [-1.72118868e-03 9.99730166e-01 2.31653270e-02 -2.12385460e-01] [ 7.47292727e-03 -2.31518555e-02 9.99704030e-01 -2.23971881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61119381700001 meters Centerline goodness : 0.921937 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.21, Z:-2.24 [[ 9.99972814e-01 1.22799499e-03 -7.27075025e-03 2.17437142e+01] [-1.07411755e-03 9.99776157e-01 2.11301119e-02 -2.06470336e-01] [ 7.29507042e-03 -2.11217278e-02 9.99750296e-01 -2.23944372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters Centerline goodness : 0.919694 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.20, Z:-2.24 [[ 9.99960639e-01 2.21400244e-04 -8.86965449e-03 2.17266396e+01] [-9.29218291e-05 9.99895112e-01 1.44829599e-02 -2.01373977e-01] [ 8.87193071e-03 -1.44815657e-02 9.99855776e-01 -2.23980923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67119381700002 meters Centerline goodness : 0.921065 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.20, Z:-2.24 [[ 9.99957954e-01 -2.31765440e-04 -9.16711938e-03 2.17278031e+01] [ 3.58788371e-04 9.99903921e-01 1.38571462e-02 -1.99250666e-01] [ 9.16302700e-03 -1.38598526e-02 9.99861962e-01 -2.24052246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters Centerline goodness : 0.919740 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.20, Z:-2.24 [[ 9.99955672e-01 -1.02817304e-03 -9.35935034e-03 2.17287431e+01] [ 1.14893878e-03 9.99916041e-01 1.29069995e-02 -1.97086953e-01] [ 9.34529392e-03 -1.29171806e-02 9.99872898e-01 -2.24122890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73119381700002 meters Centerline goodness : 0.922060 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.19, Z:-2.25 [[ 9.99972901e-01 -1.73881324e-03 -7.15357221e-03 2.17039857e+01] [ 1.84927284e-03 9.99878720e-01 1.54636547e-02 -1.94807318e-01] [ 7.12581622e-03 -1.54764646e-02 9.99854840e-01 -2.24519144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76119381700002 meters Centerline goodness : 0.923704 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.19, Z:-2.24 [[ 9.99956952e-01 -2.89483121e-03 -8.81552815e-03 2.16840036e+01] [ 3.00137848e-03 9.99922322e-01 1.20971684e-02 -1.89698256e-01] [ 8.77982412e-03 -1.21231064e-02 9.99887966e-01 -2.24461278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79119381700002 meters Centerline goodness : 0.921198 Centerline is valid? [False, False] Translation: X:21.68, Y:-0.19, Z:-2.24 [[ 9.99952774e-01 -3.47103987e-03 -9.07753477e-03 2.16846321e+01] [ 3.57327630e-03 9.99930099e-01 1.12707152e-02 -1.87593799e-01] [ 9.03777914e-03 -1.13026194e-02 9.99895279e-01 -2.24466461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82119381700002 meters Centerline goodness : 0.919469 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.18, Z:-2.24 [[ 9.99949817e-01 -3.61018109e-03 -9.34508416e-03 2.16853635e+01] [ 3.70877697e-03 9.99937418e-01 1.05548205e-02 -1.84989003e-01] [ 9.30639452e-03 -1.05889496e-02 9.99900628e-01 -2.24476254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85119381700002 meters Centerline goodness : 0.922526 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.18, Z:-2.24 [[ 9.99948315e-01 -3.46373732e-03 -9.55876215e-03 2.16860445e+01] [ 3.55826706e-03 9.99944761e-01 9.89010533e-03 -1.81936878e-01] [ 9.52397741e-03 -9.92360679e-03 9.99905403e-01 -2.24492321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88119381700002 meters Centerline goodness : 0.922972 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.18, Z:-2.25 [[ 9.99951355e-01 1.20101360e-03 -9.79002636e-03 2.16869010e+01] [-1.07477803e-03 9.99916351e-01 1.28893813e-02 -1.76651105e-01] [ 9.80468776e-03 -1.28782322e-02 9.99869001e-01 -2.24510653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91119381700003 meters Centerline goodness : 0.923270 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.18, Z:-2.25 [[ 9.99916349e-01 8.40703143e-03 -9.82936932e-03 2.16871877e+01] [-8.20791073e-03 9.99763769e-01 2.01255332e-02 -1.75770283e-01] [ 9.99624331e-03 -2.00431711e-02 9.99749142e-01 -2.24531253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94119381700003 meters Centerline goodness : 0.924246 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.17, Z:-2.25 [[ 9.99869531e-01 1.26928716e-02 -9.99058508e-03 2.16878250e+01] [-1.24566789e-02 9.99649534e-01 2.33589410e-02 -1.72287774e-01] [ 1.02835758e-02 -2.32314439e-02 9.99677222e-01 -2.24540638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97119381700003 meters Centerline goodness : 0.925646 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.17, Z:-2.25 [[ 9.99798819e-01 1.72144175e-02 -1.02949273e-02 2.16889863e+01] [-1.69331345e-02 9.99497056e-01 2.68123971e-02 -1.69058516e-01] [ 1.07513093e-02 -2.66326775e-02 9.99587470e-01 -2.24583194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00119381700003 meters Centerline goodness : 0.924927 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.17, Z:-2.25 [[ 9.99706300e-01 2.30852584e-02 -7.37455663e-03 2.16991471e+01] [-2.29199042e-02 9.99500235e-01 2.17706045e-02 -1.65232637e-01] [ 7.87345112e-03 -2.15951864e-02 9.99735793e-01 -2.24675454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03119381700003 meters Centerline goodness : 0.923290 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.16, Z:-2.24 [[ 9.99355856e-01 3.47436399e-02 -8.98619562e-03 2.16982090e+01] [-3.46320497e-02 9.99324573e-01 1.22890012e-02 -1.59892100e-01] [ 9.40709073e-03 -1.19698749e-02 9.99884108e-01 -2.24471137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06119381700003 meters Centerline goodness : 0.925355 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.16, Z:-2.25 [[ 9.99318474e-01 3.57191732e-02 -9.31278002e-03 2.16993184e+01] [-3.56018849e-02 9.99288251e-01 1.24698378e-02 -1.58789880e-01] [ 9.75156396e-03 -1.21297868e-02 9.99878880e-01 -2.24504576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09119381700003 meters Centerline goodness : 0.925902 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.16, Z:-2.25 [[ 9.99295520e-01 3.62674808e-02 -9.65053069e-03 2.17003406e+01] [-3.61453632e-02 9.99267849e-01 1.25410668e-02 -1.58053924e-01] [ 1.00982979e-02 -1.21834099e-02 9.99874787e-01 -2.24535535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12119381700003 meters Centerline goodness : 0.924149 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.16, Z:-2.25 [[ 9.99238605e-01 3.77070596e-02 -1.00193931e-02 2.17019422e+01] [-3.75648233e-02 9.99195781e-01 1.40241291e-02 -1.60711267e-01] [ 1.05401440e-02 -1.36370745e-02 9.99851457e-01 -2.24627833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15119381700003 meters Centerline goodness : 0.918904 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.16, Z:-2.25 [[ 9.99341231e-01 3.47211864e-02 -1.05613692e-02 2.17032759e+01] [-3.46079753e-02 9.99343473e-01 1.07196672e-02 -1.61370338e-01] [ 1.09266349e-02 -1.03470979e-02 9.99886767e-01 -2.24673073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18119381700004 meters Centerline goodness : 0.921829 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.16, Z:-2.25 [[ 9.99404767e-01 3.26313528e-02 -1.11940670e-02 2.17056215e+01] [-3.25376638e-02 9.99434772e-01 8.45200729e-03 -1.63170261e-01] [ 1.14635403e-02 -8.08274758e-03 9.99901623e-01 -2.24806984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21119381700004 meters Centerline goodness : 0.922041 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.16, Z:-2.25 [[ 9.99489381e-01 2.97963684e-02 -1.15392055e-02 2.17064672e+01] [-2.97369727e-02 9.99543786e-01 5.28515457e-03 -1.64249453e-01] [ 1.16914196e-02 -4.93931483e-03 9.99919454e-01 -2.24835361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24119381700004 meters Centerline goodness : 0.921857 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.17, Z:-2.25 [[ 9.99505520e-01 2.90945363e-02 -1.19257362e-02 2.17082640e+01] [-2.90418815e-02 9.99567772e-01 4.56490849e-03 -1.69689830e-01] [ 1.20533955e-02 -4.21630542e-03 9.99918466e-01 -2.24956486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27119381700004 meters Centerline goodness : 0.923676 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.17, Z:-2.25 [[ 9.99530767e-01 2.79404994e-02 -1.25528784e-02 2.17107619e+01] [-2.79028011e-02 9.99605620e-01 3.16836686e-03 -1.72041264e-01] [ 1.26364536e-02 -2.81661969e-03 9.99916190e-01 -2.25096599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters Centerline goodness : 0.920125 Centerline is valid? [False, False] Translation: X:21.71, Y:-0.18, Z:-2.25 [[ 9.99498055e-01 2.89743205e-02 -1.28111849e-02 2.17121444e+01] [-2.89132109e-02 9.99569769e-01 4.92981646e-03 -1.76559827e-01] [ 1.29485112e-02 -4.55692947e-03 9.99905781e-01 -2.25205012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.331193817 meters Centerline goodness : 0.918936 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.19, Z:-2.26 [[ 9.99630199e-01 2.59239117e-02 -8.21078700e-03 2.17262275e+01] [-2.58357778e-02 9.99609319e-01 1.06640307e-02 -1.89145706e-01] [ 8.48403260e-03 -1.04479550e-02 9.99909427e-01 -2.25511732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters Centerline goodness : 0.923350 Centerline is valid? [False, False] Translation: X:21.74, Y:-0.20, Z:-2.26 [[ 9.99782441e-01 2.07509340e-02 -2.11412418e-03 2.17378357e+01] [-2.07166574e-02 9.99671098e-01 1.51167369e-02 -1.96538477e-01] [ 2.42711526e-03 -1.50696506e-02 9.99883501e-01 -2.25878018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39119381700002 meters Centerline goodness : 0.922472 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.20, Z:-2.26 [[ 9.99881160e-01 1.50687766e-02 3.25539366e-03 2.17512352e+01] [-1.51262884e-02 9.99715719e-01 1.84303232e-02 -2.04226019e-01] [-2.97674579e-03 -1.84773750e-02 9.99824847e-01 -2.26251569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters Centerline goodness : 0.924192 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.21, Z:-2.26 [[ 9.99934372e-01 9.91727974e-03 5.73570966e-03 2.17688460e+01] [-1.00288676e-02 9.99754355e-01 1.97649210e-02 -2.11912404e-01] [-5.53828645e-03 -1.98211466e-02 9.99788202e-01 -2.26381672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45119381700002 meters Centerline goodness : 0.921608 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.25, Z:-2.26 [[ 9.99868902e-01 -1.01972832e-02 1.25775252e-02 2.17820421e+01] [ 8.80689538e-03 9.94323408e-01 1.06034897e-01 -2.46887785e-01] [-1.35873956e-02 -1.05910227e-01 9.94282860e-01 -2.26078949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48119381700002 meters Centerline goodness : 0.922837 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.25, Z:-2.26 [[ 9.99782762e-01 -1.62408545e-02 1.30638434e-02 2.17801353e+01] [ 1.48195477e-02 9.94635545e-01 1.02374378e-01 -2.51561847e-01] [-1.46564104e-02 -1.02158538e-01 9.94660154e-01 -2.25747363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51119381700002 meters Centerline goodness : 0.921826 Centerline is valid? [False, False] Translation: X:21.76, Y:-0.25, Z:-2.25 [[ 9.99769252e-01 -1.83059656e-02 1.12398710e-02 2.17584571e+01] [ 1.72964498e-02 9.96303010e-01 8.41495420e-02 -2.53526530e-01] [-1.27387559e-02 -8.39357147e-02 9.96389743e-01 -2.25237117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54119381700002 meters Centerline goodness : 0.922642 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.26, Z:-2.25 [[ 9.99658459e-01 -2.50656518e-02 7.39452459e-03 2.17716427e+01] [ 2.44933894e-02 9.97292181e-01 6.93424757e-02 -2.60318803e-01] [-9.11261590e-03 -6.91376754e-02 9.97565508e-01 -2.24923738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57119381700002 meters Centerline goodness : 0.922699 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.26, Z:-2.25 [[ 9.99540344e-01 -2.93265571e-02 7.68467059e-03 2.17708544e+01] [ 2.87612239e-02 9.97437493e-01 6.55075552e-02 -2.62301330e-01] [-9.58608962e-03 -6.52564237e-02 9.97822482e-01 -2.24819466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60119381700002 meters Centerline goodness : 0.918874 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.25 [[ 9.99437520e-01 -3.18663107e-02 1.04490011e-02 2.17762710e+01] [ 3.12990353e-02 9.98229664e-01 5.05757731e-02 -2.61253097e-01] [-1.20421662e-02 -5.02202816e-02 9.98665564e-01 -2.24698649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63119381700002 meters Centerline goodness : 0.919874 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.25 [[ 9.99376316e-01 -3.43401590e-02 8.22995366e-03 2.17803631e+01] [ 3.39113708e-02 9.98293115e-01 4.75486729e-02 -2.63256733e-01] [-9.84873505e-03 -4.72399286e-02 9.98835017e-01 -2.24627996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66119381700003 meters Centerline goodness : 0.920214 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.25 [[ 9.99387179e-01 -3.40869758e-02 7.95887133e-03 2.17802871e+01] [ 3.38603463e-02 9.99060245e-01 2.70574038e-02 -2.62579451e-01] [-8.87369701e-03 -2.67713323e-02 9.99602198e-01 -2.24603321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69119381700003 meters Centerline goodness : 0.919844 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.25 [[ 9.99390296e-01 -3.40749979e-02 7.61126298e-03 2.17813430e+01] [ 3.38538221e-02 9.99048122e-01 2.75094137e-02 -2.64135433e-01] [-8.54140120e-03 -2.72349707e-02 9.99592567e-01 -2.24639303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72119381700003 meters Centerline goodness : 0.921056 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.27, Z:-2.25 [[ 9.99395791e-01 -3.39538943e-02 7.42866916e-03 2.17817940e+01] [ 3.37351547e-02 9.99043598e-01 2.78177835e-02 -2.65045789e-01] [-8.36608644e-03 -2.75503685e-02 9.99585407e-01 -2.24641464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75119381700003 meters Centerline goodness : 0.917114 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.27, Z:-2.25 [[ 9.99408076e-01 -3.36734187e-02 7.04257301e-03 2.17827591e+01] [ 3.34628432e-02 9.99043717e-01 2.81405186e-02 -2.65408607e-01] [-7.98342579e-03 -2.78881970e-02 9.99579168e-01 -2.24655626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78119381700003 meters Centerline goodness : 0.918950 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.26, Z:-2.24 [[ 9.99526541e-01 -3.06114250e-02 3.10381901e-03 2.17729448e+01] [ 3.05467869e-02 9.99351112e-01 1.90852944e-02 -2.63084363e-01] [-3.68603304e-03 -1.89814466e-02 9.99813041e-01 -2.24450980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81119381700003 meters Centerline goodness : 0.918718 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.26, Z:-2.25 [[ 9.99535548e-01 -3.03579163e-02 2.66174885e-03 2.17744311e+01] [ 3.03014247e-02 9.99356853e-01 1.91755880e-02 -2.62820087e-01] [-3.24216785e-03 -1.90860271e-02 9.99812588e-01 -2.24535751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84119381700003 meters Centerline goodness : 0.918022 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.26, Z:-2.25 [[ 9.99533269e-01 -3.04472925e-02 2.49119472e-03 2.17749608e+01] [ 3.03949260e-02 9.99359507e-01 1.88871246e-02 -2.62472138e-01] [-3.06466094e-03 -1.88025898e-02 9.99818519e-01 -2.24558972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87119381700003 meters Centerline goodness : 0.913782 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.25 [[ 9.99542152e-01 -3.01802331e-02 2.15416858e-03 2.17756394e+01] [ 3.01331505e-02 9.99359727e-01 1.92906747e-02 -2.62780792e-01] [-2.73498638e-03 -1.92169306e-02 9.99811597e-01 -2.24550251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90119381700003 meters Centerline goodness : 0.919276 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99503132e-01 -3.11865248e-02 4.57061305e-03 2.17795816e+01] [ 3.11563215e-02 9.99493149e-01 6.53675254e-03 -2.59737792e-01] [-4.77215502e-03 -6.39110115e-03 9.99968190e-01 -2.24210192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93119381700004 meters Centerline goodness : 0.920669 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99492507e-01 -3.15977234e-02 4.03890686e-03 2.17804166e+01] [ 3.15695455e-02 9.99478018e-01 6.85971102e-03 -2.60748052e-01] [-4.25354988e-03 -6.72872331e-03 9.99968315e-01 -2.24170962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96119381700004 meters Centerline goodness : 0.920779 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99362599e-01 -3.54552997e-02 4.16132360e-03 2.17800849e+01] [ 3.54443943e-02 9.99368095e-01 2.66581751e-03 -2.59258511e-01] [-4.25321140e-03 -2.51662272e-03 9.99987788e-01 -2.24120107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99119381700004 meters Centerline goodness : 0.920983 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99322706e-01 -3.66235094e-02 3.58443742e-03 2.17812515e+01] [ 3.66154045e-02 9.99326782e-01 2.30123248e-03 -2.60137382e-01] [-3.66630352e-03 -2.16842824e-03 9.99990928e-01 -2.24117377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02119381700004 meters Centerline goodness : 0.913325 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99168676e-01 -4.06190360e-02 3.47133155e-03 2.17817414e+01] [ 4.06251411e-02 9.99173001e-01 -1.70668452e-03 -2.59693224e-01] [-3.39913688e-03 1.84628905e-03 9.99992519e-01 -2.24104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.051193817 meters Centerline goodness : 0.921225 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.98967243e-01 -4.53088861e-02 3.39873296e-03 2.17825469e+01] [ 4.53285179e-02 9.98954471e-01 -5.94049335e-03 -2.60583346e-01] [-3.12602235e-03 6.08841780e-03 9.99976579e-01 -2.24132401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters Centerline goodness : 0.911653 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.98961160e-01 -4.54602054e-02 3.15767773e-03 2.17834692e+01] [ 4.54780686e-02 9.98948287e-01 -5.83650448e-03 -2.60970246e-01] [-2.88902807e-03 5.97404637e-03 9.99977982e-01 -2.24190357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11119381700001 meters Centerline goodness : 0.913789 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99100487e-01 -4.23153462e-02 2.76195644e-03 2.17843667e+01] [ 4.23206510e-02 9.99102290e-01 -1.89130208e-03 -2.62070046e-01] [-2.67944590e-03 2.00648862e-03 9.99994397e-01 -2.24242570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters Centerline goodness : 0.911987 Centerline is valid? [False, False] Translation: X:21.79, Y:-0.26, Z:-2.24 [[ 9.99273801e-01 -3.80329657e-02 2.31613104e-03 2.17853863e+01] [ 3.80288199e-02 9.99275006e-01 1.80845819e-03 -2.59820300e-01] [-2.38323289e-03 -1.71906516e-03 9.99995682e-01 -2.24308136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17119381700002 meters Centerline goodness : 0.913472 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99478021e-01 -3.19881595e-02 -4.52131968e-03 2.17761588e+01] [ 3.19809214e-02 9.99487094e-01 -1.66422692e-03 -2.57454353e-01] [ 4.57223622e-03 1.51876226e-03 9.99988394e-01 -2.23967974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters Centerline goodness : 0.911514 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99689978e-01 -2.43472688e-02 -5.21143754e-03 2.17777790e+01] [ 2.43810816e-02 9.99681436e-01 6.52607805e-03 -2.58315940e-01] [ 5.05088518e-03 -6.65111530e-03 9.99965125e-01 -2.24061432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23119381700002 meters Centerline goodness : 0.910132 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.26, Z:-2.24 [[ 9.99787376e-01 -1.99054951e-02 -5.38278970e-03 2.17782817e+01] [ 1.99594200e-02 9.99749196e-01 1.01570714e-02 -2.56172501e-01] [ 5.17925815e-03 -1.02623491e-02 9.99933928e-01 -2.24123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26119381700002 meters Centerline goodness : 0.911252 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.25, Z:-2.24 [[ 9.99937840e-01 -8.47153886e-03 -7.24906516e-03 2.17694547e+01] [ 8.52531660e-03 9.99936128e-01 7.42011553e-03 -2.50564391e-01] [ 7.18574236e-03 -7.48145487e-03 9.99946195e-01 -2.24249317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29119381700002 meters Centerline goodness : 0.912114 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.25, Z:-2.24 [[ 9.99965585e-01 -3.94202466e-03 -7.29998296e-03 2.17695031e+01] [ 4.02457092e-03 9.99927739e-01 1.13277807e-02 -2.49243092e-01] [ 7.25480107e-03 -1.13567702e-02 9.99909192e-01 -2.24245766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32119381700002 meters Centerline goodness : 0.913282 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.25, Z:-2.24 [[ 9.99970045e-01 -2.87422081e-03 -7.18660091e-03 2.17694304e+01] [ 2.95517397e-03 9.99932020e-01 1.12793268e-02 -2.47025333e-01] [ 7.15369308e-03 -1.13002266e-02 9.99910561e-01 -2.24247494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35119381700002 meters Centerline goodness : 0.913282 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.25, Z:-2.24 [[ 9.99970489e-01 -2.83313188e-03 -7.14101103e-03 2.17693699e+01] [ 2.91342933e-03 9.99932367e-01 1.12593419e-02 -2.46975834e-01] [ 7.10862886e-03 -1.12798144e-02 9.99911113e-01 -2.24248342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38119381700002 meters Centerline goodness : 0.910493 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.24, Z:-2.24 [[ 9.99979770e-01 2.28244874e-03 -5.93713685e-03 2.17774786e+01] [-2.25135890e-03 9.99983748e-01 5.23792755e-03 -2.44962930e-01] [ 5.94899565e-03 -5.22445496e-03 9.99968657e-01 -2.24070075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41119381700003 meters Centerline goodness : 0.912360 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.24, Z:-2.24 [[ 9.99976777e-01 2.88356051e-03 -6.17499106e-03 2.17783335e+01] [-2.84873870e-03 9.99980034e-01 5.64055769e-03 -2.44985824e-01] [ 6.19113266e-03 -5.62283576e-03 9.99965026e-01 -2.24117333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44119381700003 meters Centerline goodness : 0.911618 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.25, Z:-2.24 [[ 9.99975633e-01 3.10401993e-03 -6.25291568e-03 2.17787719e+01] [-3.06764707e-03 9.99978369e-01 5.81816024e-03 -2.45433615e-01] [ 6.27084011e-03 -5.79883673e-03 9.99963524e-01 -2.24148588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47119381700003 meters Centerline goodness : 0.911150 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.25, Z:-2.24 [[ 9.99974243e-01 3.12506593e-03 -6.46124211e-03 2.17795116e+01] [-3.08494951e-03 9.99975963e-01 6.20945011e-03 -2.47033865e-01] [ 6.48049174e-03 -6.18935756e-03 9.99959847e-01 -2.24185863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50119381700003 meters Centerline goodness : 0.912331 Centerline is valid? [False, False] Translation: X:21.80, Y:-0.26, Z:-2.24 [[ 9.99981193e-01 3.47581797e-04 -6.12314381e-03 2.18039647e+01] [-2.36448093e-04 9.99835408e-01 1.81411615e-02 -2.56877002e-01] [ 6.12844153e-03 -1.81393725e-02 9.99816686e-01 -2.23916901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53119381700003 meters Centerline goodness : 0.913297 Centerline is valid? [False, False] Translation: X:21.82, Y:-0.26, Z:-2.24 [[ 9.99993098e-01 -4.35580720e-04 -3.68983812e-03 2.18222240e+01] [ 5.16800177e-04 9.99756970e-01 2.20393812e-02 -2.63000358e-01] [ 3.67934145e-03 -2.20411360e-02 9.99750294e-01 -2.23963379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56119381700003 meters Centerline goodness : 0.911026 Centerline is valid? [False, False] Translation: X:21.84, Y:-0.27, Z:-2.24 [[ 9.99998690e-01 -1.21625527e-03 -1.06818861e-03 2.18398435e+01] [ 1.24436758e-03 9.99642082e-01 2.67237495e-02 -2.69616673e-01] [ 1.03530339e-03 -2.67250437e-02 9.99642286e-01 -2.23987733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59119381700003 meters Centerline goodness : 0.914119 Centerline is valid? [False, False] Translation: X:21.86, Y:-0.28, Z:-2.24 [[ 9.99991958e-01 -3.61115934e-03 -1.74454185e-03 2.18637358e+01] [ 3.67356309e-03 9.99301062e-01 3.72007023e-02 -2.76829928e-01] [ 1.60898486e-03 -3.72068118e-02 9.99306292e-01 -2.23691704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62119381700003 meters Centerline goodness : 0.911657 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.31, Z:-2.22 [[ 9.99902929e-01 -1.34346335e-02 -3.69369710e-03 2.18732602e+01] [ 1.37755052e-02 9.92984528e-01 1.17439190e-01 -3.06798621e-01] [ 2.09003160e-03 -1.17478672e-01 9.93073206e-01 -2.22269086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65119381700003 meters Centerline goodness : 0.911163 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.30, Z:-2.22 [[ 9.99859960e-01 -1.67301427e-02 -4.02438622e-04 2.18745756e+01] [ 1.66937050e-02 9.95417374e-01 9.41571617e-02 -3.04984348e-01] [-1.17466835e-03 -9.41506942e-02 9.95557265e-01 -2.22427209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68119381700004 meters Centerline goodness : 0.914013 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.30, Z:-2.22 [[ 9.99824805e-01 -1.86088446e-02 2.01770574e-03 2.18708521e+01] [ 1.84172230e-02 9.97275036e-01 7.14374475e-02 -3.03236259e-01] [-3.34157592e-03 -7.13877714e-02 9.97443041e-01 -2.22339133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71119381700004 meters Centerline goodness : 0.912166 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.31, Z:-2.22 [[ 9.99841946e-01 -1.77536195e-02 -9.44282860e-04 2.18724660e+01] [ 1.77786891e-02 9.98340172e-01 5.47797337e-02 -3.08712112e-01] [-2.98230352e-05 -5.47878636e-02 9.98498017e-01 -2.22279606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74119381700004 meters Centerline goodness : 0.913173 Centerline is valid? [False, False] Translation: X:21.88, Y:-0.31, Z:-2.22 [[ 9.99883974e-01 -1.41382338e-02 -5.67005508e-03 2.18756491e+01] [ 1.43663349e-02 9.98995758e-01 4.24391675e-02 -3.10911417e-01] [ 5.06434610e-03 -4.25157014e-02 9.99082963e-01 -2.22469995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77119381700004 meters Centerline goodness : 0.914023 Centerline is valid? [False, False] Translation: X:21.88, Y:-0.31, Z:-2.23 [[ 9.99884640e-01 -1.00484186e-02 -1.13901453e-02 2.18782636e+01] [ 1.03906605e-02 9.99483887e-01 3.03972695e-02 -3.12312601e-01] [ 1.10788222e-02 -3.05121140e-02 9.99472996e-01 -2.22549560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80119381700004 meters Centerline goodness : 0.909522 Centerline is valid? [False, False] Translation: X:21.88, Y:-0.31, Z:-2.23 [[ 9.99839489e-01 -5.55561698e-03 -1.70332588e-02 2.18813539e+01] [ 5.87706095e-03 9.99804485e-01 1.88799368e-02 -3.13111232e-01] [ 1.69250389e-02 -1.89770119e-02 9.99676656e-01 -2.22690093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.831193817 meters Centerline goodness : 0.905776 Centerline is valid? [False, False] Translation: X:21.89, Y:-0.32, Z:-2.23 [[ 9.99706335e-01 7.28017023e-04 -2.42221818e-02 2.18935088e+01] [ 9.04964598e-05 9.99429503e-01 3.37736535e-02 -3.22858370e-01] [ 2.42329509e-02 -3.37659274e-02 9.99135940e-01 -2.22616300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters Centerline goodness : 0.907920 Centerline is valid? [False, False] Translation: X:21.89, Y:-0.33, Z:-2.23 [[ 9.99676846e-01 4.71709264e-03 -2.49790606e-02 2.18949258e+01] [-3.72322075e-03 9.99205252e-01 3.96862871e-02 -3.27590007e-01] [ 2.51464124e-02 -3.95804598e-02 9.98899917e-01 -2.22518910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89119381700002 meters Centerline goodness : 0.906502 Centerline is valid? [False, False] Translation: X:21.90, Y:-0.33, Z:-2.23 [[ 9.99756254e-01 6.07904353e-03 -2.12244779e-02 2.19037972e+01] [-4.94479644e-03 9.98577495e-01 5.30898763e-02 -3.34173358e-01] [ 2.15170216e-02 -5.29719851e-02 9.98364155e-01 -2.22574459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters Centerline goodness : 0.908112 Centerline is valid? [False, False] Translation: X:21.90, Y:-0.35, Z:-2.21 [[ 9.99742447e-01 9.31901045e-03 -2.06928993e-02 2.19046454e+01] [-7.83107277e-03 9.97455717e-01 7.08573688e-02 -3.46582742e-01] [ 2.13005713e-02 -7.06770717e-02 9.97271797e-01 -2.21391532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95119381700002 meters Centerline goodness : 0.909437 Centerline is valid? [False, False] Translation: X:21.90, Y:-0.35, Z:-2.21 [[ 9.99733805e-01 9.84610760e-03 -2.08655817e-02 2.19046419e+01] [-8.31889066e-03 9.97365877e-01 7.20562480e-02 -3.49536776e-01] [ 2.15200927e-02 -7.18634885e-02 9.97182293e-01 -2.21276116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98119381700002 meters Centerline goodness : 0.909522 Centerline is valid? [False, False] Translation: X:21.91, Y:-0.35, Z:-2.21 [[ 9.99829743e-01 1.04071692e-02 -1.52373073e-02 2.19066751e+01] [-9.50283447e-03 9.98255922e-01 5.82650014e-02 -3.50176787e-01] [ 1.58171060e-02 -5.81102837e-02 9.98184860e-01 -2.21344821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01119381700002 meters Centerline goodness : 0.911517 Centerline is valid? [False, False] Translation: X:21.92, Y:-0.36, Z:-2.21 [[ 9.99768389e-01 1.11425023e-02 -1.84122830e-02 2.19162321e+01] [-1.01889051e-02 9.98641692e-01 5.10975220e-02 -3.56431579e-01] [ 1.89566277e-02 -5.08980863e-02 9.98523926e-01 -2.21037941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04119381700002 meters Centerline goodness : 0.911627 Centerline is valid? [False, False] Translation: X:21.92, Y:-0.36, Z:-2.21 [[ 9.99800765e-01 1.18453057e-02 -1.60661080e-02 2.19234847e+01] [-1.11884295e-02 9.99121867e-01 4.03771487e-02 -3.57748409e-01] [ 1.65302795e-02 -4.01893496e-02 9.99055337e-01 -2.20955890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07119381700002 meters Centerline goodness : 0.913626 Centerline is valid? [False, False] Translation: X:21.92, Y:-0.36, Z:-2.21 [[ 9.99821904e-01 1.02449929e-02 -1.58493101e-02 2.19219181e+01] [-9.62385066e-03 9.99201336e-01 3.87823734e-02 -3.60317608e-01] [ 1.62339770e-02 -3.86229350e-02 9.99121978e-01 -2.20812044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10119381700002 meters Centerline goodness : 0.911782 Centerline is valid? [False, False] Translation: X:21.93, Y:-0.36, Z:-2.21 [[ 9.99767843e-01 9.83805126e-03 -1.91695695e-02 2.19273628e+01] [-9.16022654e-03 9.99340699e-01 3.51319883e-02 -3.63683343e-01] [ 1.95025613e-02 -3.49482346e-02 9.99198815e-01 -2.20563037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13119381700002 meters Centerline goodness : 0.914801 Centerline is valid? [False, False] Translation: X:21.93, Y:-0.37, Z:-2.21 [[ 9.99869629e-01 8.25293740e-03 -1.38785173e-02 2.19300110e+01] [-7.96783584e-03 9.99758636e-01 2.04739715e-02 -3.71135216e-01] [ 1.40441379e-02 -2.03607205e-02 9.99694055e-01 -2.20581640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16119381700003 meters Centerline goodness : 0.915647 Centerline is valid? [False, False] Translation: X:21.94, Y:-0.38, Z:-2.20 [[ 9.99804481e-01 7.48464525e-03 -1.83024423e-02 2.19391253e+01] [-7.21421107e-03 9.99864485e-01 1.47975013e-02 -3.75414799e-01] [ 1.84107161e-02 -1.46625704e-02 9.99722989e-01 -2.20399450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19119381700003 meters Centerline goodness : 0.916993 Centerline is valid? [False, False] Translation: X:21.94, Y:-0.38, Z:-2.21 [[ 9.99809093e-01 5.26431473e-03 -1.88165898e-02 2.19414730e+01] [-5.01578636e-03 9.99899889e-01 1.32308194e-02 -3.79507609e-01] [ 1.88843572e-02 -1.31339136e-02 9.99735406e-01 -2.20554301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22119381700003 meters Centerline goodness : 0.916935 Centerline is valid? [False, False] Translation: X:21.94, Y:-0.39, Z:-2.21 [[ 9.99810442e-01 1.09053996e-03 -1.94394127e-02 2.19440284e+01] [-8.95965224e-04 9.99949445e-01 1.00151913e-02 -3.88594924e-01] [ 1.94493520e-02 -9.99587585e-03 9.99760874e-01 -2.20711725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25119381700003 meters Centerline goodness : 0.917495 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.39, Z:-2.21 [[ 9.99889205e-01 1.87413858e-04 -1.48843343e-02 2.19542386e+01] [-2.13022048e-04 9.99998500e-01 -1.71891258e-03 -3.91284515e-01] [ 1.48839899e-02 1.72189282e-03 9.99887745e-01 -2.21036108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28119381700003 meters Centerline goodness : 0.918681 Centerline is valid? [False, False] Translation: X:21.96, Y:-0.39, Z:-2.21 [[ 9.99943716e-01 1.26743503e-03 -1.05337166e-02 2.19642639e+01] [-1.38384035e-03 9.99937980e-01 -1.10508039e-02 -3.94567239e-01] [ 1.05190571e-02 1.10647589e-02 9.99883453e-01 -2.21307724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31119381700003 meters Centerline goodness : 0.918955 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.40, Z:-2.22 [[ 9.99988049e-01 4.48962826e-04 -4.86835051e-03 2.19754343e+01] [-4.63405697e-04 9.99995494e-01 -2.96596467e-03 -4.00916847e-01] [ 4.86699696e-03 2.96818524e-03 9.99983751e-01 -2.21666667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34119381700003 meters Centerline goodness : 0.918408 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.41, Z:-2.22 [[ 9.99984466e-01 1.97302234e-03 -5.21303126e-03 2.19768429e+01] [-1.97354322e-03 9.99998048e-01 -9.47767812e-05 -4.09154377e-01] [ 5.21283409e-03 1.05063451e-04 9.99986408e-01 -2.21746344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37119381700003 meters Centerline goodness : 0.919163 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.41, Z:-2.22 [[ 9.99981709e-01 2.48348368e-03 -5.51487689e-03 2.19780190e+01] [-2.47773433e-03 9.99996380e-01 1.04910354e-03 -4.12637568e-01] [ 5.51746236e-03 -1.03541995e-03 9.99984243e-01 -2.21817232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40119381700003 meters Centerline goodness : 0.918372 Centerline is valid? [False, False] Translation: X:21.99, Y:-0.41, Z:-2.22 [[ 9.99994660e-01 2.60951204e-03 -1.96713565e-03 2.19892412e+01] [-2.62894725e-03 9.99947111e-01 -9.94297976e-03 -4.13869656e-01] [ 1.94108528e-03 9.94809816e-03 9.99948632e-01 -2.22171298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43119381700004 meters Centerline goodness : 0.920593 Centerline is valid? [False, False] Translation: X:21.99, Y:-0.42, Z:-2.22 [[ 9.99995834e-01 1.21807459e-03 -2.61689532e-03 2.19919939e+01] [-1.24633097e-03 9.99940649e-01 -1.08233177e-02 -4.18377289e-01] [ 2.60355640e-03 1.08265341e-02 9.99938002e-01 -2.22358262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46119381700004 meters Centerline goodness : 0.918621 Centerline is valid? [False, False] Translation: X:21.99, Y:-0.42, Z:-2.22 [[ 9.99994180e-01 -1.88661873e-03 -2.84274550e-03 2.19926080e+01] [ 1.84889728e-03 9.99910981e-01 -1.32140791e-02 -4.22599513e-01] [ 2.86742237e-03 1.32087463e-02 9.99908649e-01 -2.22375494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49119381700004 meters Centerline goodness : 0.920268 Centerline is valid? [False, False] Translation: X:21.99, Y:-0.43, Z:-2.22 [[ 9.99960440e-01 -8.28713342e-03 -3.23152888e-03 2.19944421e+01] [ 8.22873255e-03 9.99809746e-01 -1.76850435e-02 -4.31994527e-01] [ 3.37747239e-03 1.76577525e-02 9.99838385e-01 -2.22497907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52119381700004 meters Centerline goodness : 0.922731 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.44, Z:-2.23 [[ 9.99920143e-01 -1.21379379e-02 -3.51837699e-03 2.19955263e+01] [ 1.20641272e-02 9.99721326e-01 -2.02910646e-02 -4.36959387e-01] [ 3.76368820e-03 2.02469981e-02 9.99787924e-01 -2.22547883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55119381700004 meters Centerline goodness : 0.919322 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.44, Z:-2.23 [[ 9.99863336e-01 -1.60997737e-02 -3.75589012e-03 2.19961826e+01] [ 1.60102291e-02 9.99612676e-01 -2.27633777e-02 -4.42292862e-01] [ 4.12092060e-03 2.27001341e-02 9.99733826e-01 -2.22544431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters Centerline goodness : 0.920533 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.45, Z:-2.23 [[ 9.99782515e-01 -2.04721583e-02 -3.97666782e-03 2.19968315e+01] [ 2.03639464e-02 9.99465503e-01 -2.55737947e-02 -4.47255611e-01] [ 4.49809308e-03 2.54872521e-02 9.99665027e-01 -2.22529386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61119381700001 meters Centerline goodness : 0.927435 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.46, Z:-2.22 [[ 9.99385961e-01 -3.50013761e-02 -1.61391292e-03 2.19959159e+01] [ 3.49648175e-02 9.99210911e-01 -1.88418721e-02 -4.57689629e-01] [ 2.27213085e-03 1.87738723e-02 9.99821174e-01 -2.22422848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters Centerline goodness : 0.925862 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.46, Z:-2.22 [[ 9.99224837e-01 -3.93337617e-02 -1.60654846e-03 2.19964106e+01] [ 3.92892610e-02 9.98988201e-01 -2.18844091e-02 -4.61392768e-01] [ 2.46571909e-03 2.18043250e-02 9.99759217e-01 -2.22427087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67119381700002 meters Centerline goodness : 0.925296 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.46, Z:-2.22 [[ 9.99048844e-01 -4.35737717e-02 -1.65330000e-03 2.19969088e+01] [ 4.35186839e-02 9.98737619e-01 -2.50856945e-02 -4.64524991e-01] [ 2.74429123e-03 2.49898846e-02 9.99683937e-01 -2.22422764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70119381700002 meters Centerline goodness : 0.927029 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.47, Z:-2.22 [[ 9.98843141e-01 -4.80478688e-02 -1.94484625e-03 2.19984401e+01] [ 4.79721247e-02 9.98433761e-01 -2.87871687e-02 -4.66910508e-01] [ 3.32496226e-03 2.86605676e-02 9.99583672e-01 -2.22492177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73119381700002 meters Centerline goodness : 0.926281 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.47, Z:-2.22 [[ 9.98293490e-01 -5.81540153e-02 -5.31215327e-03 2.19989835e+01] [ 5.80357940e-02 9.98109961e-01 -2.02077427e-02 -4.72459568e-01] [ 6.47727447e-03 1.98649629e-02 9.99781690e-01 -2.22448623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76119381700002 meters Centerline goodness : 0.924958 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.47, Z:-2.22 [[ 9.98265702e-01 -5.85992837e-02 -5.63132852e-03 2.20001134e+01] [ 5.84762735e-02 9.98089075e-01 -1.99680611e-02 -4.74160503e-01] [ 6.79068155e-03 1.96041314e-02 9.99784759e-01 -2.22498099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79119381700002 meters Centerline goodness : 0.924436 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.47, Z:-2.23 [[ 9.98249842e-01 -5.88407788e-02 -5.91748811e-03 2.20012114e+01] [ 5.87118453e-02 9.98074473e-01 -2.00066321e-02 -4.74526587e-01] [ 7.08329964e-03 1.96241907e-02 9.99782335e-01 -2.22560898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82119381700002 meters Centerline goodness : 0.923362 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.47, Z:-2.23 [[ 9.98237769e-01 -5.90183030e-02 -6.18028429e-03 2.20021458e+01] [ 5.88818887e-02 9.98058157e-01 -2.03184077e-02 -4.73748939e-01] [ 7.36744110e-03 1.99186952e-02 9.99774458e-01 -2.22615741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85119381700002 meters Centerline goodness : 0.921170 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.47, Z:-2.23 [[ 9.98539866e-01 -5.32722438e-02 -8.95571458e-03 2.20250174e+01] [ 5.31130843e-02 9.98441082e-01 -1.71582818e-02 -4.72156266e-01] [ 9.85581353e-03 1.66575628e-02 9.99812677e-01 -2.22762763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88119381700002 meters Centerline goodness : 0.921141 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.47, Z:-2.23 [[ 9.98720601e-01 -4.96537117e-02 -9.57442264e-03 2.20260742e+01] [ 4.95217678e-02 9.98681018e-01 -1.35579615e-02 -4.71663345e-01] [ 1.02349973e-02 1.30664731e-02 9.99862247e-01 -2.22781883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91119381700003 meters Centerline goodness : 0.922610 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.47, Z:-2.23 [[ 9.98789953e-01 -4.80622058e-02 -1.04237632e-02 2.20282508e+01] [ 4.79293144e-02 9.98770691e-01 -1.26446454e-02 -4.70342396e-01] [ 1.10186788e-02 1.21297410e-02 9.99865720e-01 -2.22875120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94119381700003 meters Centerline goodness : 0.921904 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.47, Z:-2.23 [[ 9.98985683e-01 -4.36847687e-02 -1.09200057e-02 2.20288608e+01] [ 4.35817514e-02 9.99004692e-01 -9.50029136e-03 -4.66328260e-01] [ 1.13241550e-02 9.01474208e-03 9.99895243e-01 -2.22898164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97119381700003 meters Centerline goodness : 0.922363 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.46, Z:-2.23 [[ 9.99136446e-01 -3.99728456e-02 -1.13372825e-02 2.20297772e+01] [ 3.99020182e-02 9.99183061e-01 -6.40625541e-03 -4.63319735e-01] [ 1.15840969e-02 5.94834280e-03 9.99915209e-01 -2.22952416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00119381700003 meters Centerline goodness : 0.922862 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.46, Z:-2.23 [[ 9.99394653e-01 -3.41105174e-02 -6.84104354e-03 2.20428372e+01] [ 3.40364543e-02 9.99363683e-01 -1.06653076e-02 -4.58647625e-01] [ 7.20048963e-03 1.04260065e-02 9.99919722e-01 -2.23379415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03119381700003 meters Centerline goodness : 0.920567 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.46, Z:-2.23 [[ 9.99525095e-01 -2.99372511e-02 -7.30374085e-03 2.20432770e+01] [ 2.98854233e-02 9.99528079e-01 -7.10492882e-03 -4.56493299e-01] [ 7.51299611e-03 6.88327927e-03 9.99948086e-01 -2.23352785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06119381700003 meters Centerline goodness : 0.922230 Centerline is valid? [False, False] Translation: X:22.07, Y:-0.45, Z:-2.23 [[ 9.99772489e-01 -2.06315519e-02 -5.41384074e-03 2.20660194e+01] [ 2.05327568e-02 9.99632309e-01 -1.77102546e-02 -4.50088334e-01] [ 5.77724016e-03 1.75950642e-02 9.99828504e-01 -2.23491547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09119381700003 meters Centerline goodness : 0.923074 Centerline is valid? [False, False] Translation: X:22.08, Y:-0.45, Z:-2.24 [[ 9.99852898e-01 -1.71190869e-02 1.05776046e-03 2.20782381e+01] [ 1.71384128e-02 9.99604783e-01 -2.22834738e-02 -4.46217227e-01] [-6.75869696e-04 2.22983242e-02 9.99751133e-01 -2.23845765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12119381700003 meters Centerline goodness : 0.926852 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.44, Z:-2.24 [[ 9.99876355e-01 -1.47207719e-02 5.52936779e-03 2.20945360e+01] [ 1.48409448e-02 9.99639810e-01 -2.23606213e-02 -4.43817706e-01] [-5.19821056e-03 2.24399176e-02 9.99734679e-01 -2.23812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15119381700003 meters Centerline goodness : 0.932802 Centerline is valid? [False, False] Translation: X:22.11, Y:-0.44, Z:-2.24 [[ 9.99836656e-01 -1.46136762e-02 1.06349142e-02 2.21097882e+01] [ 1.48657334e-02 9.99600922e-01 -2.40209728e-02 -4.39071007e-01] [-1.02796353e-02 2.41751449e-02 9.99654886e-01 -2.23701889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18119381700004 meters Centerline goodness : 0.933397 Centerline is valid? [False, False] Translation: X:22.11, Y:-0.44, Z:-2.24 [[ 9.99820442e-01 -1.58009444e-02 1.04601169e-02 2.21100915e+01] [ 1.60567456e-02 9.99562477e-01 -2.48401961e-02 -4.38002205e-01] [-1.00630418e-02 2.50036913e-02 9.99636709e-01 -2.23675772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21119381700004 meters Centerline goodness : 0.934925 Centerline is valid? [False, False] Translation: X:22.11, Y:-0.44, Z:-2.24 [[ 9.99794359e-01 -1.76315945e-02 1.00183532e-02 2.21112868e+01] [ 1.78868251e-02 9.99502295e-01 -2.59850721e-02 -4.37463875e-01] [-9.55520872e-03 2.61589250e-02 9.99612129e-01 -2.23690688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24119381700004 meters Centerline goodness : 0.925766 Centerline is valid? [False, False] Translation: X:22.11, Y:-0.44, Z:-2.24 [[ 9.99697746e-01 -2.24869103e-02 9.93760834e-03 2.21120510e+01] [ 2.27856977e-02 9.99258009e-01 -3.10522835e-02 -4.35333591e-01] [-9.23196480e-03 3.12693332e-02 9.99468358e-01 -2.23738578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27119381700004 meters Centerline goodness : 0.925766 Centerline is valid? [False, False] Translation: X:22.11, Y:-0.44, Z:-2.24 [[ 9.99697746e-01 -2.24869103e-02 9.93760834e-03 2.21120510e+01] [ 2.27856977e-02 9.99258009e-01 -3.10522835e-02 -4.35333591e-01] [-9.23196480e-03 3.12693332e-02 9.99468358e-01 -2.23738578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30119381700004 meters Centerline goodness : 0.928555 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.43, Z:-2.24 [[ 9.99455392e-01 -3.16113920e-02 9.46780547e-03 2.21165229e+01] [ 3.19675049e-02 9.98681033e-01 -4.01780079e-02 -4.30474398e-01] [-8.18523500e-03 4.04587888e-02 9.99147681e-01 -2.24097459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.331193817 meters Centerline goodness : 0.929936 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.43, Z:-2.24 [[ 9.99375645e-01 -3.42057261e-02 8.84802822e-03 2.21198355e+01] [ 3.45523470e-02 9.98496765e-01 -4.25481500e-02 -4.28177236e-01] [-7.37933719e-03 4.28273050e-02 9.99055237e-01 -2.24332774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36119381700001 meters Centerline goodness : 0.923246 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.43, Z:-2.24 [[ 9.99321507e-01 -3.58596969e-02 8.40278588e-03 2.21220898e+01] [ 3.61978014e-02 9.98362081e-01 -4.43043337e-02 -4.25395847e-01] [-6.80028282e-03 4.45784360e-02 9.98982742e-01 -2.24492675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39119381700002 meters Centerline goodness : 0.921529 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.42, Z:-2.25 [[ 9.99287337e-01 -3.68534192e-02 8.16352277e-03 2.21233631e+01] [ 3.71884604e-02 9.98266365e-01 -4.56210802e-02 -4.22306796e-01] [-6.46807741e-03 4.58921566e-02 9.98925460e-01 -2.24579929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42119381700002 meters Centerline goodness : 0.920923 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.42, Z:-2.25 [[ 9.99321100e-01 -3.61040560e-02 7.33730684e-03 2.21265874e+01] [ 3.64002165e-02 9.98309379e-01 -4.53145414e-02 -4.15820499e-01] [-5.68886349e-03 4.55508569e-02 9.98945822e-01 -2.24767231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45119381700002 meters Centerline goodness : 0.919919 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.41, Z:-2.25 [[ 9.99408135e-01 -3.37624642e-02 6.59367196e-03 2.21290118e+01] [ 3.40151394e-02 9.98497540e-01 -4.29608208e-02 -4.13573381e-01] [-5.13330206e-03 4.31596785e-02 9.99054999e-01 -2.24907487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48119381700002 meters Centerline goodness : 0.917525 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.41, Z:-2.25 [[ 9.99513525e-01 -3.05964963e-02 6.04712896e-03 2.21306201e+01] [ 3.08138573e-02 9.98728476e-01 -3.98990946e-02 -4.11499255e-01] [-4.81866739e-03 4.00660200e-02 9.99185415e-01 -2.24997435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51119381700002 meters Centerline goodness : 0.916082 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.41, Z:-2.25 [[ 9.99598575e-01 -2.78015238e-02 5.45563553e-03 2.21327637e+01] [ 2.79872314e-02 9.98901742e-01 -3.75769246e-02 -4.08042889e-01] [-4.40494807e-03 3.77145284e-02 9.99278845e-01 -2.25131493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54119381700002 meters Centerline goodness : 0.916978 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.40, Z:-2.25 [[ 9.99690899e-01 -2.43416356e-02 5.05872749e-03 2.21338456e+01] [ 2.45028847e-02 9.99096450e-01 -3.47259535e-02 -4.04416526e-01] [-4.20887018e-03 3.48391731e-02 9.99384069e-01 -2.25184257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57119381700002 meters Centerline goodness : 0.913875 Centerline is valid? [False, False] Translation: X:22.15, Y:-0.40, Z:-2.25 [[ 9.99869001e-01 -1.50172628e-02 6.03848686e-03 2.21545674e+01] [ 1.51974962e-02 9.99403828e-01 -3.10003832e-02 -3.95434595e-01] [-5.56934598e-03 3.10880921e-02 9.99501132e-01 -2.25463034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60119381700002 meters Centerline goodness : 0.914348 Centerline is valid? [False, False] Translation: X:22.17, Y:-0.39, Z:-2.26 [[ 9.99921203e-01 -9.32659368e-03 8.40248955e-03 2.21732930e+01] [ 9.56663267e-03 9.99533764e-01 -2.89954016e-02 -3.90843482e-01] [-8.12814368e-03 2.90735004e-02 9.99544229e-01 -2.25557134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63119381700002 meters Centerline goodness : 0.914107 Centerline is valid? [False, False] Translation: X:22.19, Y:-0.39, Z:-2.26 [[ 9.99928754e-01 -3.87671022e-03 1.12897162e-02 2.21916191e+01] [ 4.18557898e-03 9.99614015e-01 -2.74645435e-02 -3.86102927e-01] [-1.11788864e-02 2.75098408e-02 9.99559023e-01 -2.25665572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66119381700003 meters Centerline goodness : 0.917547 Centerline is valid? [False, False] Translation: X:22.22, Y:-0.38, Z:-2.26 [[ 9.99914448e-01 6.53788363e-03 1.13293030e-02 2.22177430e+01] [-6.17296042e-03 9.99470357e-01 -3.19515315e-02 -3.76797262e-01] [-1.15321979e-02 3.18788626e-02 9.99425208e-01 -2.25520931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69119381700003 meters Centerline goodness : 0.913105 Centerline is valid? [False, False] Translation: X:22.24, Y:-0.37, Z:-2.25 [[ 9.99903204e-01 5.67292277e-03 1.27043289e-02 2.22427715e+01] [-5.30492857e-03 9.99570691e-01 -2.88147654e-02 -3.72723412e-01] [-1.28623388e-02 2.87445806e-02 9.99504032e-01 -2.25377890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72119381700003 meters Centerline goodness : 0.913903 Centerline is valid? [False, False] Translation: X:22.27, Y:-0.37, Z:-2.25 [[ 9.99910657e-01 3.74531181e-03 1.28316010e-02 2.22688904e+01] [-3.42367732e-03 9.99681670e-01 -2.49967345e-02 -3.70039904e-01] [-1.29211369e-02 2.49505699e-02 9.99605179e-01 -2.25171100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75119381700003 meters Centerline goodness : 0.919649 Centerline is valid? [False, False] Translation: X:22.29, Y:-0.37, Z:-2.25 [[ 9.99869640e-01 2.58335356e-03 1.59383056e-02 2.22872710e+01] [-2.12810483e-03 9.99591119e-01 -2.85143152e-02 -3.66487138e-01] [-1.60054513e-02 2.84766797e-02 9.99466310e-01 -2.25245235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78119381700003 meters Centerline goodness : 0.915028 Centerline is valid? [False, False] Translation: X:22.31, Y:-0.36, Z:-2.25 [[ 9.99852701e-01 -3.83616225e-03 1.67289932e-02 2.23148054e+01] [ 4.25685411e-03 9.99673749e-01 -2.51848020e-02 -3.63109206e-01] [-1.66269224e-02 2.52523052e-02 9.99542829e-01 -2.25052010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81119381700003 meters Centerline goodness : 0.914474 Centerline is valid? [False, False] Translation: X:22.32, Y:-0.36, Z:-2.25 [[ 9.99851906e-01 -6.14864884e-03 1.60736005e-02 2.23166042e+01] [ 6.58120191e-03 9.99613827e-01 -2.69978638e-02 -3.62092494e-01] [-1.59013929e-02 2.70996492e-02 9.99506255e-01 -2.25108789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84119381700003 meters Centerline goodness : 0.915443 Centerline is valid? [False, False] Translation: X:22.32, Y:-0.36, Z:-2.25 [[ 9.99814371e-01 -1.07977586e-02 1.59571919e-02 2.23170584e+01] [ 1.13051080e-02 9.99422205e-01 -3.20538690e-02 -3.59685791e-01] [-1.56018620e-02 3.22283167e-02 9.99358753e-01 -2.25117178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87119381700003 meters Centerline goodness : 0.913278 Centerline is valid? [False, False] Translation: X:22.32, Y:-0.36, Z:-2.25 [[ 9.99795274e-01 -1.30961360e-02 1.54240645e-02 2.23192195e+01] [ 1.36157263e-02 9.99326418e-01 -3.40781865e-02 -3.57844625e-01] [-1.49673825e-02 3.42812196e-02 9.99300143e-01 -2.25249551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90119381700003 meters Centerline goodness : 0.911536 Centerline is valid? [False, False] Translation: X:22.34, Y:-0.35, Z:-2.25 [[ 9.99708359e-01 -2.03677745e-02 1.29749974e-02 2.23371091e+01] [ 2.06927471e-02 9.99462555e-01 -2.54246113e-02 -3.53844728e-01] [-1.24501813e-02 2.56856848e-02 9.99592536e-01 -2.25068168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93119381700004 meters Centerline goodness : 0.917035 Centerline is valid? [False, False] Translation: X:22.34, Y:-0.35, Z:-2.25 [[ 9.99699019e-01 -2.09784004e-02 1.27191671e-02 2.23380150e+01] [ 2.13103030e-02 9.99420413e-01 -2.65463428e-02 -3.50718332e-01] [-1.21548954e-02 2.68094022e-02 9.99566663e-01 -2.25113357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96119381700004 meters Centerline goodness : 0.910722 Centerline is valid? [False, False] Translation: X:22.34, Y:-0.35, Z:-2.25 [[ 9.99743546e-01 -1.91562118e-02 1.20781467e-02 2.23405773e+01] [ 1.94490292e-02 9.99507893e-01 -2.46111030e-02 -3.48919660e-01] [-1.16007475e-02 2.48396996e-02 9.99624135e-01 -2.25281840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99119381700004 meters Centerline goodness : 0.910291 Centerline is valid? [False, False] Translation: X:22.34, Y:-0.34, Z:-2.26 [[ 9.99818661e-01 -1.52323615e-02 1.14289435e-02 2.23440350e+01] [ 1.54777122e-02 9.99644814e-01 -2.16953005e-02 -3.43735099e-01] [-1.10944135e-02 2.18682602e-02 9.99699301e-01 -2.25558689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02119381700004 meters Centerline goodness : 0.909372 Centerline is valid? [False, False] Translation: X:22.35, Y:-0.34, Z:-2.26 [[ 9.99871187e-01 -1.15964046e-02 1.10965550e-02 2.23451328e+01] [ 1.18011208e-02 9.99758017e-01 -1.85645242e-02 -3.41128933e-01] [-1.08785881e-02 1.86930846e-02 9.99766085e-01 -2.25626916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05119381700004 meters Centerline goodness : 0.910713 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.34, Z:-2.26 [[ 9.99945298e-01 -7.14337914e-03 7.64026784e-03 2.23677074e+01] [ 7.26128241e-03 9.99853237e-01 -1.55170545e-02 -3.38796323e-01] [-7.52830233e-03 1.55716838e-02 9.99850412e-01 -2.25712436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters Centerline goodness : 0.911284 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.34, Z:-2.26 [[ 9.99981019e-01 -3.19790294e-03 5.26644496e-03 2.23908137e+01] [ 3.26874541e-03 9.99903549e-01 -1.34984533e-02 -3.35968164e-01] [-5.22277026e-03 1.35154117e-02 9.99895023e-01 -2.25916166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11119381700001 meters Centerline goodness : 0.912581 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.33, Z:-2.26 [[ 9.99976175e-01 4.48167627e-03 5.25017092e-03 2.23915169e+01] [-4.44417459e-03 9.99964684e-01 -7.13296746e-03 -3.30869119e-01] [-5.28195316e-03 7.10946484e-03 9.99960777e-01 -2.25953525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters Centerline goodness : 0.908978 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.33, Z:-2.26 [[ 9.99953756e-01 8.11511958e-03 5.16050906e-03 2.23919159e+01] [-8.09591547e-03 9.99960266e-01 -3.73142508e-03 -3.29242926e-01] [-5.19058497e-03 3.68947348e-03 9.99979723e-01 -2.25972557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17119381700002 meters Centerline goodness : 0.908495 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.33, Z:-2.26 [[ 9.99918672e-01 1.17048114e-02 5.06434806e-03 2.23919630e+01] [-1.17047950e-02 9.99931496e-01 -3.28718027e-05 -3.28339229e-01] [-5.06438589e-03 -2.64080267e-05 9.99987176e-01 -2.25935740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters Centerline goodness : 0.908269 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.33, Z:-2.26 [[ 9.99919888e-01 1.16856878e-02 4.86442236e-03 2.23924915e+01] [-1.16823936e-02 9.99931510e-01 -7.05072754e-04 -3.25937775e-01] [-4.87232845e-03 6.48188173e-04 9.99987920e-01 -2.25953524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23119381700002 meters Centerline goodness : 0.907208 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.33, Z:-2.26 [[ 9.99877580e-01 1.48906570e-02 4.80563875e-03 2.23928641e+01] [-1.49050866e-02 9.99884470e-01 2.98090737e-03 -3.26191634e-01] [-4.76069588e-03 -3.05217091e-03 9.99984010e-01 -2.25973495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26119381700002 meters Centerline goodness : 0.907726 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.33, Z:-2.26 [[ 9.99876091e-01 1.57109164e-02 9.84565412e-04 2.23806486e+01] [-1.57230149e-02 9.99781121e-01 1.38020708e-02 -3.26186858e-01] [-7.67506731e-04 -1.38158409e-02 9.99904262e-01 -2.25519003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29119381700002 meters Centerline goodness : 0.907260 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.32, Z:-2.26 [[ 9.99877194e-01 1.56452321e-02 9.07969957e-04 2.23807775e+01] [-1.56559045e-02 9.99789448e-01 1.32646859e-02 -3.24468241e-01] [-7.00249693e-04 -1.32772720e-02 9.99911608e-01 -2.25508859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32119381700002 meters Centerline goodness : 0.903249 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.32, Z:-2.25 [[ 9.99875076e-01 1.57874535e-02 7.67362439e-04 2.23808858e+01] [-1.57961834e-02 9.99788738e-01 1.31514027e-02 -3.23259110e-01] [-5.59573166e-04 -1.31618812e-02 9.99913222e-01 -2.25483945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35119381700002 meters Centerline goodness : 0.906484 Centerline is valid? [False, False] Translation: X:22.36, Y:-0.32, Z:-2.25 [[ 9.99930393e-01 1.16381712e-02 -1.93953680e-03 2.23574691e+01] [-1.15858747e-02 9.99618115e-01 2.50876961e-02 -3.23062900e-01] [ 2.23077102e-03 -2.50634786e-02 9.99683373e-01 -2.25087780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38119381700002 meters Centerline goodness : 0.905530 Centerline is valid? [False, False] Translation: X:22.33, Y:-0.32, Z:-2.25 [[ 9.99981646e-01 6.05676965e-03 -1.53134056e-04 2.23297728e+01] [-6.05028849e-03 9.99605259e-01 2.74357457e-02 -3.22219418e-01] [ 3.19245599e-04 -2.74343156e-02 9.99623557e-01 -2.25241728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41119381700003 meters Centerline goodness : 0.905773 Centerline is valid? [False, False] Translation: X:22.33, Y:-0.32, Z:-2.25 [[ 9.99995073e-01 3.13740790e-03 1.02664243e-04 2.23282459e+01] [-3.13896954e-03 9.99705802e-01 2.40511166e-02 -3.20838750e-01] [-2.71758756e-05 -2.40513204e-02 9.99710725e-01 -2.25105667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44119381700003 meters Centerline goodness : 0.907674 Centerline is valid? [False, False] Translation: X:22.33, Y:-0.32, Z:-2.25 [[ 9.99999041e-01 1.36820542e-03 2.13424363e-04 2.23264562e+01] [-1.37261427e-03 9.99751636e-01 2.22436857e-02 -3.19529176e-01] [-1.82937425e-04 -2.22439573e-02 9.99752556e-01 -2.24909906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47119381700003 meters Centerline goodness : 0.908290 Centerline is valid? [False, False] Translation: X:22.32, Y:-0.32, Z:-2.25 [[ 9.99999587e-01 8.80017299e-04 2.25488746e-04 2.23249200e+01] [-8.84658145e-04 9.99768849e-01 2.14817719e-02 -3.18117872e-01] [-2.06532293e-04 -2.14819625e-02 9.99769215e-01 -2.24699123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50119381700003 meters Centerline goodness : 0.908576 Centerline is valid? [False, False] Translation: X:22.30, Y:-0.32, Z:-2.25 [[ 9.99996320e-01 2.63915231e-03 6.28922859e-04 2.23028964e+01] [-2.65250994e-03 9.99748256e-01 2.22797696e-02 -3.16333794e-01] [-5.69964826e-04 -2.22813558e-02 9.99751577e-01 -2.24538452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53119381700003 meters Centerline goodness : 0.906231 Centerline is valid? [False, False] Translation: X:22.28, Y:-0.31, Z:-2.24 [[ 9.99988623e-01 4.74552387e-03 -4.84463601e-04 2.22826912e+01] [-4.73299747e-03 9.99719240e-01 2.32172160e-02 -3.14568779e-01] [ 5.94505435e-04 -2.32146589e-02 9.99730327e-01 -2.24446613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56119381700003 meters Centerline goodness : 0.905085 Centerline is valid? [False, False] Translation: X:22.28, Y:-0.31, Z:-2.24 [[ 9.99963976e-01 8.44504021e-03 -8.53134827e-04 2.22836303e+01] [-8.41865479e-03 9.99593065e-01 2.72549120e-02 -3.14834525e-01] [ 1.08295648e-03 -2.72467479e-02 9.99628152e-01 -2.24464538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59119381700003 meters Centerline goodness : 0.906191 Centerline is valid? [False, False] Translation: X:22.28, Y:-0.32, Z:-2.24 [[ 9.99868590e-01 1.61713518e-02 -1.13563542e-03 2.22844394e+01] [-1.61206948e-02 9.99236228e-01 3.55961182e-02 -3.16195366e-01] [ 1.71040540e-03 -3.55731333e-02 9.99365612e-01 -2.24478892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62119381700003 meters Centerline goodness : 0.904613 Centerline is valid? [False, False] Translation: X:22.28, Y:-0.31, Z:-2.24 [[ 9.99858595e-01 1.67768528e-02 -1.15231654e-03 2.22846511e+01] [-1.67254458e-02 9.99230890e-01 3.54667118e-02 -3.14811170e-01] [ 1.74645008e-03 -3.54424236e-02 9.99370194e-01 -2.24496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65119381700003 meters Centerline goodness : 0.903962 Centerline is valid? [False, False] Translation: X:22.29, Y:-0.32, Z:-2.25 [[ 9.99783440e-01 2.07626728e-02 -1.40839681e-03 2.22855005e+01] [-2.06898723e-02 9.98987586e-01 3.99466175e-02 -3.16370861e-01] [ 2.23636948e-03 -3.99088271e-02 9.99200823e-01 -2.24511530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68119381700004 meters Centerline goodness : 0.905206 Centerline is valid? [False, False] Translation: X:22.29, Y:-0.32, Z:-2.24 [[ 9.99763533e-01 2.16590365e-02 -1.94018708e-03 2.22865371e+01] [-2.15624550e-02 9.98942638e-01 4.06037694e-02 -3.16844893e-01] [ 2.81757412e-03 -4.05523327e-02 9.99173443e-01 -2.24497949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71119381700004 meters Centerline goodness : 0.900893 Centerline is valid? [False, False] Translation: X:22.29, Y:-0.32, Z:-2.25 [[ 9.99712125e-01 2.38853307e-02 -2.27109127e-03 2.22875808e+01] [-2.37654877e-02 9.98789983e-01 4.30554374e-02 -3.21819094e-01] [ 3.29673657e-03 -4.29890692e-02 9.99070103e-01 -2.24517337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74119381700004 meters Centerline goodness : 0.904386 Centerline is valid? [False, False] Translation: X:22.31, Y:-0.32, Z:-2.24 [[ 9.99709795e-01 2.40796699e-02 7.03095610e-04 2.23053698e+01] [-2.40874415e-02 9.98760875e-01 4.35489454e-02 -3.24603497e-01] [ 3.46419844e-04 -4.35532431e-02 9.99051047e-01 -2.24498063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77119381700004 meters Centerline goodness : 0.904650 Centerline is valid? [False, False] Translation: X:22.32, Y:-0.33, Z:-2.24 [[ 9.99707154e-01 2.36141888e-02 5.28927315e-03 2.23210340e+01] [-2.38220591e-02 9.98770690e-01 4.34697411e-02 -3.27540963e-01] [-4.25626832e-03 -4.35830125e-02 9.99040743e-01 -2.24409980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80119381700004 meters Centerline goodness : 0.896597 Centerline is valid? [False, False] Translation: X:22.34, Y:-0.33, Z:-2.24 [[ 9.99656505e-01 2.50929370e-02 7.56410104e-03 2.23389862e+01] [-2.54341777e-02 9.98473859e-01 4.90209800e-02 -3.33761324e-01] [-6.32247679e-03 -4.91965283e-02 9.98769106e-01 -2.24322116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.831193817 meters Centerline goodness : 0.895551 Centerline is valid? [False, False] Translation: X:22.35, Y:-0.35, Z:-2.24 [[ 9.99716769e-01 2.27542964e-02 6.97313105e-03 2.23511475e+01] [-2.31753115e-02 9.97427755e-01 6.78290394e-02 -3.46094260e-01] [-5.41179239e-03 -6.79714326e-02 9.97672590e-01 -2.23540323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters Centerline goodness : 0.903178 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.35, Z:-2.23 [[ 9.99762597e-01 2.05840289e-02 7.14474641e-03 2.23653481e+01] [-2.11218953e-02 9.96082881e-01 8.58647711e-02 -3.52238976e-01] [-5.34931666e-03 -8.59952971e-02 9.96281182e-01 -2.22834667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89119381700002 meters Centerline goodness : 0.897927 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.35, Z:-2.23 [[ 9.99744089e-01 2.12217228e-02 7.83544814e-03 2.23735580e+01] [-2.17520498e-02 9.96923203e-01 7.53058848e-02 -3.53933035e-01] [-6.21321944e-03 -7.54570502e-02 9.97129695e-01 -2.22703440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters Centerline goodness : 0.899251 Centerline is valid? [False, False] Translation: X:22.36, Y:-0.36, Z:-2.23 [[ 9.99661114e-01 2.40287985e-02 1.00136603e-02 2.23632943e+01] [-2.45227256e-02 9.98318139e-01 5.25312171e-02 -3.58480343e-01] [-8.73455672e-03 -5.27589772e-02 9.98569075e-01 -2.22618421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95119381700002 meters Centerline goodness : 0.897570 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.36, Z:-2.22 [[ 9.99678487e-01 2.32560612e-02 1.01033873e-02 2.23721223e+01] [-2.36487494e-02 9.98893039e-01 4.06624408e-02 -3.60072245e-01] [-9.14655503e-03 -4.08882998e-02 9.99121858e-01 -2.22477284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98119381700002 meters Centerline goodness : 0.901218 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.36, Z:-2.22 [[ 9.99756075e-01 1.97291389e-02 9.92734195e-03 2.23723730e+01] [-2.00884564e-02 9.99094680e-01 3.75003253e-02 -3.62485529e-01] [-9.17850540e-03 -3.76906030e-02 9.99247303e-01 -2.22491885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01119381700002 meters Centerline goodness : 0.896821 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.37, Z:-2.23 [[ 9.99824930e-01 1.60327277e-02 9.64682349e-03 2.23731845e+01] [-1.63554462e-02 9.99275671e-01 3.43603423e-02 -3.65063941e-01] [-9.08894600e-03 -3.45121049e-02 9.99362950e-01 -2.22554321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04119381700002 meters Centerline goodness : 0.900699 Centerline is valid? [False, False] Translation: X:22.37, Y:-0.37, Z:-2.23 [[ 9.99918831e-01 8.93614322e-03 9.08171811e-03 2.23743797e+01] [-9.17738066e-03 9.99596596e-01 2.68778876e-02 -3.65742185e-01] [-8.83786985e-03 -2.69590524e-02 9.99597470e-01 -2.22598448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07119381700002 meters Centerline goodness : 0.898200 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.37, Z:-2.23 [[ 9.99960913e-01 -1.22094083e-03 8.75681105e-03 2.23753981e+01] [ 1.06254603e-03 9.99836158e-01 1.80700818e-02 -3.72279542e-01] [-8.77743882e-03 -1.80600710e-02 9.99798375e-01 -2.22698039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10119381700002 meters Centerline goodness : 0.903294 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.38, Z:-2.23 [[ 9.99950817e-01 -5.11913726e-03 8.49460056e-03 2.23762924e+01] [ 4.99274600e-03 9.99877504e-01 1.48340982e-02 -3.75296823e-01] [-8.56949778e-03 -1.47909572e-02 9.99853885e-01 -2.22736888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13119381700002 meters Centerline goodness : 0.899565 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.38, Z:-2.23 [[ 9.99924282e-01 -9.07390948e-03 8.31227930e-03 2.23769908e+01] [ 8.97891129e-03 9.99894755e-01 1.13955595e-02 -3.77596037e-01] [-8.41480675e-03 -1.13200614e-02 9.99900519e-01 -2.22768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16119381700003 meters Centerline goodness : 0.899565 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.38, Z:-2.23 [[ 9.99924282e-01 -9.07390948e-03 8.31227930e-03 2.23769908e+01] [ 8.97891129e-03 9.99894755e-01 1.13955595e-02 -3.77596037e-01] [-8.41480675e-03 -1.13200614e-02 9.99900519e-01 -2.22768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19119381700003 meters Centerline goodness : 0.895783 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.38, Z:-2.23 [[ 9.99885042e-01 -1.28663645e-02 8.02240921e-03 2.23778302e+01] [ 1.28010801e-02 9.99884957e-01 8.13667807e-03 -3.80071736e-01] [-8.12617575e-03 -8.03304719e-03 9.99934716e-01 -2.22790324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22119381700003 meters Centerline goodness : 0.896553 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.38, Z:-2.23 [[ 9.99834979e-01 -1.64199079e-02 7.77189103e-03 2.23785158e+01] [ 1.63806905e-02 9.99852907e-01 5.08310536e-03 -3.82695454e-01] [-7.85421196e-03 -4.95495760e-03 9.99956879e-01 -2.22797063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25119381700003 meters Centerline goodness : 0.901916 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.39, Z:-2.23 [[ 9.99757246e-01 -2.08212324e-02 7.20599319e-03 2.23816745e+01] [ 2.08081465e-02 9.99781708e-01 1.88622068e-03 -3.89318041e-01] [-7.24369362e-03 -1.73581943e-03 9.99972258e-01 -2.23015819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28119381700003 meters Centerline goodness : 0.898252 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.39, Z:-2.23 [[ 9.99718192e-01 -2.27976752e-02 6.61838300e-03 2.23845954e+01] [ 2.27953522e-02 9.99740061e-01 4.26228841e-04 -3.92667618e-01] [-6.62637966e-03 -2.75240354e-04 9.99978007e-01 -2.23222184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31119381700003 meters Centerline goodness : 0.900646 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.40, Z:-2.23 [[ 9.99715089e-01 -2.30684226e-02 6.13101839e-03 2.23862960e+01] [ 2.30610233e-02 9.99733246e-01 1.27483999e-03 -3.96986717e-01] [-6.15879146e-03 -1.13308921e-03 9.99980393e-01 -2.23311619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34119381700003 meters Centerline goodness : 0.901949 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.40, Z:-2.23 [[ 9.99627856e-01 -2.66068782e-02 6.01859006e-03 2.23868266e+01] [ 2.66183587e-02 9.99643984e-01 -1.83550106e-03 -3.99417663e-01] [-5.96761039e-03 1.99502298e-03 9.99980204e-01 -2.23321365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37119381700003 meters Centerline goodness : 0.907189 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.40, Z:-2.23 [[ 9.99515080e-01 -3.05792010e-02 5.87515270e-03 2.23877529e+01] [ 3.06054400e-02 9.99521730e-01 -4.42931456e-03 -4.04026696e-01] [-5.73689789e-03 4.60697833e-03 9.99972932e-01 -2.23359710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40119381700003 meters Centerline goodness : 0.904364 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.41, Z:-2.23 [[ 9.99511352e-01 -3.07645856e-02 5.53147810e-03 2.23886848e+01] [ 3.07863350e-02 9.99518416e-01 -3.89072830e-03 -4.06006287e-01] [-5.40911758e-03 4.05912104e-03 9.99977132e-01 -2.23385199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43119381700004 meters Centerline goodness : 0.903933 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.41, Z:-2.23 [[ 9.99515624e-01 -3.06578150e-02 5.34936339e-03 2.23890846e+01] [ 3.06749341e-02 9.99524456e-01 -3.14804314e-03 -4.08736713e-01] [-5.25030741e-03 3.31060967e-03 9.99980737e-01 -2.23375734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46119381700004 meters Centerline goodness : 0.905378 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.41, Z:-2.23 [[ 9.99528678e-01 -3.02729506e-02 5.09603050e-03 2.23896273e+01] [ 3.02876873e-02 9.99537188e-01 -2.83988373e-03 -4.09233857e-01] [-5.00770034e-03 2.99289221e-03 9.99982983e-01 -2.23380158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49119381700004 meters Centerline goodness : 0.905735 Centerline is valid? [False, False] Translation: X:22.39, Y:-0.41, Z:-2.23 [[ 9.99548583e-01 -2.96342883e-02 4.94353295e-03 2.23898268e+01] [ 2.96481349e-02 9.99556610e-01 -2.75157866e-03 -4.08091237e-01] [-4.85979996e-03 2.89690309e-03 9.99983995e-01 -2.23374131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52119381700004 meters Centerline goodness : 0.909727 Centerline is valid? [False, False] Translation: X:22.40, Y:-0.41, Z:-2.24 [[ 9.99641807e-01 -2.50891927e-02 9.31611631e-03 2.24002825e+01] [ 2.51758130e-02 9.99639779e-01 -9.30003340e-03 -4.05495443e-01] [-9.07943012e-03 9.53124299e-03 9.99913356e-01 -2.23666192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55119381700004 meters Centerline goodness : 0.910162 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.40, Z:-2.24 [[ 9.99809163e-01 -1.59377505e-02 1.12971738e-02 2.24209557e+01] [ 1.61195641e-02 9.99738994e-01 -1.61896406e-02 -4.01661150e-01] [-1.10361987e-02 1.63686565e-02 9.99805116e-01 -2.23727653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters Centerline goodness : 0.910062 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.40, Z:-2.24 [[ 9.99839816e-01 -1.43299993e-02 1.07234715e-02 2.24227427e+01] [ 1.44885563e-02 9.99784648e-01 -1.48573317e-02 -4.00819918e-01] [-1.05082566e-02 1.50103194e-02 9.99832119e-01 -2.23810569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61119381700001 meters Centerline goodness : 0.911948 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.40, Z:-2.24 [[ 9.99842473e-01 -1.41805190e-02 1.06743456e-02 2.24226573e+01] [ 1.43415958e-02 9.99782103e-01 -1.51679092e-02 -3.99326660e-01] [-1.04569309e-02 1.53186070e-02 9.99827982e-01 -2.23779720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters Centerline goodness : 0.911616 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.40, Z:-2.24 [[ 9.99838145e-01 -1.45535103e-02 1.05773231e-02 2.24227792e+01] [ 1.47217288e-02 9.99763547e-01 -1.60037594e-02 -3.97207732e-01] [-1.03419112e-02 1.61568856e-02 9.99815983e-01 -2.23764793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67119381700002 meters Centerline goodness : 0.912772 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.40, Z:-2.24 [[ 9.99835208e-01 -1.48812487e-02 1.03973759e-02 2.24234083e+01] [ 1.50532365e-02 9.99747827e-01 -1.66638065e-02 -3.95183191e-01] [-1.01467757e-02 1.68175746e-02 9.99807087e-01 -2.23798822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters Centerline goodness : 0.908939 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99859036e-01 -1.49238369e-02 7.69335693e-03 2.24460299e+01] [ 1.50602188e-02 9.99724826e-01 -1.79850739e-02 -3.92265409e-01] [-7.42283361e-03 1.80984023e-02 9.99808656e-01 -2.23939562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73119381700002 meters Centerline goodness : 0.910858 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99852832e-01 -1.54644474e-02 7.42728127e-03 2.24471250e+01] [ 1.55991473e-02 9.99708386e-01 -1.84339164e-02 -3.91497002e-01] [-7.14004504e-03 1.85470628e-02 9.99802494e-01 -2.24015122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76119381700002 meters Centerline goodness : 0.909438 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99838716e-01 -1.65563787e-02 6.95909010e-03 2.24492491e+01] [ 1.66895000e-02 9.99670016e-01 -1.95273910e-02 -3.90077242e-01] [-6.63349083e-03 1.96403852e-02 9.99785103e-01 -2.24164942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79119381700002 meters Centerline goodness : 0.910343 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99830042e-01 -1.72044860e-02 6.62522119e-03 2.24504653e+01] [ 1.73343084e-02 9.99648428e-01 -2.00634772e-02 -3.89351974e-01] [-6.27771013e-03 2.01749109e-02 9.99776757e-01 -2.24235440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82119381700002 meters Centerline goodness : 0.910705 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99823547e-01 -1.77148101e-02 6.24988204e-03 2.24515719e+01] [ 1.78385869e-02 9.99633999e-01 -2.03384338e-02 -3.89137956e-01] [-5.88730308e-03 2.04463341e-02 9.99773618e-01 -2.24280966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85119381700002 meters Centerline goodness : 0.909269 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.24 [[ 9.99777357e-01 -2.02688761e-02 5.86586777e-03 2.24538989e+01] [ 2.03955815e-02 9.99540727e-01 -2.24132880e-02 -3.88123325e-01] [-5.40888157e-03 2.25279356e-02 9.99731582e-01 -2.24457880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88119381700002 meters Centerline goodness : 0.910507 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.39, Z:-2.25 [[ 9.99771020e-01 -2.06502580e-02 5.61029339e-03 2.24547487e+01] [ 2.07724732e-02 9.99527011e-01 -2.26772581e-02 -3.87443145e-01] [-5.13934855e-03 2.27886052e-02 9.99727096e-01 -2.24501328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91119381700003 meters Centerline goodness : 0.912276 Centerline is valid? [False, False] Translation: X:22.48, Y:-0.38, Z:-2.25 [[ 9.99803255e-01 -1.94911114e-02 3.68082889e-03 2.24766356e+01] [ 1.95707480e-02 9.99543767e-01 -2.30053153e-02 -3.84697906e-01] [-3.23075041e-03 2.30728257e-02 9.99728567e-01 -2.24590370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94119381700003 meters Centerline goodness : 0.908233 Centerline is valid? [False, False] Translation: X:22.48, Y:-0.38, Z:-2.25 [[ 9.99870679e-01 -1.57562458e-02 3.21957399e-03 2.24774933e+01] [ 1.58147586e-02 9.99693678e-01 -1.90379470e-02 -3.84559907e-01] [-2.91862119e-03 1.90864018e-02 9.99813578e-01 -2.24597860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97119381700003 meters Centerline goodness : 0.908477 Centerline is valid? [False, False] Translation: X:22.50, Y:-0.38, Z:-2.25 [[ 9.99930981e-01 -1.16331426e-02 1.64443721e-03 2.24996529e+01] [ 1.16572595e-02 9.99811788e-01 -1.55079392e-02 -3.84850499e-01] [-1.46372164e-03 1.55260385e-02 9.99878392e-01 -2.24709109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00119381700003 meters Centerline goodness : 0.910093 Centerline is valid? [False, False] Translation: X:22.50, Y:-0.38, Z:-2.25 [[ 9.99969369e-01 -7.69890135e-03 1.41024053e-03 2.25002716e+01] [ 7.71481865e-03 9.99902346e-01 -1.16524894e-02 -3.83989872e-01] [-1.32039145e-03 1.16630122e-02 9.99931113e-01 -2.24737686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03119381700003 meters Centerline goodness : 0.908597 Centerline is valid? [False, False] Translation: X:22.52, Y:-0.38, Z:-2.25 [[ 9.99980910e-01 -1.98268901e-03 5.85218978e-03 2.25156424e+01] [ 2.06951602e-03 9.99887322e-01 -1.48680951e-02 -3.77744702e-01] [-5.82205156e-03 1.48799225e-02 9.99872338e-01 -2.25247566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06119381700003 meters Centerline goodness : 0.909860 Centerline is valid? [False, False] Translation: X:22.54, Y:-0.38, Z:-2.25 [[ 9.99989708e-01 1.07654968e-03 4.40747319e-03 2.25375616e+01] [-1.01636487e-03 9.99906526e-01 -1.36347166e-02 -3.76198364e-01] [-4.42173965e-03 1.36300966e-02 9.99897329e-01 -2.25358465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09119381700003 meters Centerline goodness : 0.907604 Centerline is valid? [False, False] Translation: X:22.54, Y:-0.37, Z:-2.25 [[ 9.99989005e-01 2.39343589e-03 4.03248211e-03 2.25390193e+01] [-2.34006435e-03 9.99910289e-01 -1.31885402e-02 -3.73215283e-01] [-4.06368628e-03 1.31789589e-02 9.99904896e-01 -2.25434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12119381700003 meters Centerline goodness : 0.909463 Centerline is valid? [False, False] Translation: X:22.56, Y:-0.37, Z:-2.26 [[ 9.99980827e-01 3.39895365e-03 5.17618666e-03 2.25589598e+01] [-3.31177313e-03 9.99854072e-01 -1.67590584e-02 -3.68843873e-01] [-5.23239457e-03 1.67415947e-02 9.99846159e-01 -2.25588433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15119381700003 meters Centerline goodness : 0.906943 Centerline is valid? [False, False] Translation: X:22.59, Y:-0.37, Z:-2.25 [[ 9.99963226e-01 7.94705082e-03 3.22345094e-03 2.25870673e+01] [-7.86926246e-03 9.99693652e-01 -2.34665205e-02 -3.65702673e-01] [-3.40895307e-03 2.34402913e-02 9.99719427e-01 -2.25493115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18119381700004 meters Centerline goodness : 0.910555 Centerline is valid? [False, False] Translation: X:22.61, Y:-0.36, Z:-2.25 [[ 9.99887803e-01 1.46992187e-02 2.88349334e-03 2.26147733e+01] [-1.46013321e-02 9.99398670e-01 -3.14499632e-02 -3.59317664e-01] [-3.34404929e-03 3.14043318e-02 9.99501168e-01 -2.25443571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21119381700004 meters Centerline goodness : 0.909632 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.25 [[ 9.99819799e-01 1.87798698e-02 2.77252262e-03 2.26150869e+01] [-1.86964181e-02 9.99445352e-01 -2.75578139e-02 -3.58589495e-01] [-3.28851701e-03 2.75010117e-02 9.99616366e-01 -2.25424022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24119381700004 meters Centerline goodness : 0.911618 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.25 [[ 9.99741137e-01 2.26071760e-02 2.56395725e-03 2.26157298e+01] [-2.25401329e-02 9.99464854e-01 -2.37054546e-02 -3.58286081e-01] [-3.09849854e-03 2.36415262e-02 9.99715698e-01 -2.25431010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27119381700004 meters Centerline goodness : 0.909392 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.25 [[ 9.99648988e-01 2.64038725e-02 2.17641701e-03 2.26166648e+01] [-2.63552568e-02 9.99453411e-01 -1.99569292e-02 -3.58342326e-01] [-2.70216762e-03 1.98925640e-02 9.99798472e-01 -2.25426891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30119381700004 meters Centerline goodness : 0.908897 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.25 [[ 9.99559954e-01 2.96021127e-02 1.90084288e-03 2.26175548e+01] [-2.95686034e-02 9.99438888e-01 -1.57355023e-02 -3.60726375e-01] [-2.36558040e-03 1.56723727e-02 9.99874382e-01 -2.25473700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.331193817 meters Centerline goodness : 0.909551 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.25 [[ 9.99562173e-01 2.95501277e-02 1.50086137e-03 2.26184039e+01] [-2.95232061e-02 9.99442707e-01 -1.55774114e-02 -3.61362475e-01] [-1.96033944e-03 1.55262809e-02 9.99877538e-01 -2.25491585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters Centerline goodness : 0.908407 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.36, Z:-2.26 [[ 9.99565104e-01 2.94648578e-02 1.19409586e-03 2.26192287e+01] [-2.94434278e-02 9.99451754e-01 -1.51418471e-02 -3.63025279e-01] [-1.63959358e-03 1.51001037e-02 9.99884643e-01 -2.25541998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39119381700002 meters Centerline goodness : 0.911711 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.37, Z:-2.26 [[ 9.99566787e-01 2.94195884e-02 8.51864827e-04 2.26200277e+01] [-2.94055690e-02 9.99477970e-01 -1.33828119e-02 -3.68676530e-01] [-1.24513694e-03 1.33519647e-02 9.99910083e-01 -2.25624691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters Centerline goodness : 0.910621 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.37, Z:-2.26 [[ 9.99562535e-01 2.95711200e-02 5.35790866e-04 2.26206517e+01] [-2.95622471e-02 9.99486536e-01 -1.23586944e-02 -3.71436755e-01] [-9.00976193e-04 1.23374488e-02 9.99923485e-01 -2.25656257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45119381700002 meters Centerline goodness : 0.912550 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.37, Z:-2.26 [[ 9.99554455e-01 2.98436123e-02 5.00252933e-04 2.26205666e+01] [-2.98360317e-02 9.99490544e-01 -1.13341469e-02 -3.73696429e-01] [-8.38249962e-04 1.13141714e-02 9.99935641e-01 -2.25654006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48119381700002 meters Centerline goodness : 0.908385 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.37, Z:-2.26 [[ 9.99616767e-01 2.76810949e-02 2.75635175e-04 2.26197281e+01] [-2.76747586e-02 9.99523832e-01 -1.36461475e-02 -3.74829968e-01] [-6.53244230e-04 1.36332897e-02 9.99906849e-01 -2.25514492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51119381700002 meters Centerline goodness : 0.910071 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.38, Z:-2.26 [[ 9.99629573e-01 2.72137920e-02 3.56551549e-04 2.26189821e+01] [-2.72076815e-02 9.99559948e-01 -1.18174949e-02 -3.81401742e-01] [-6.77993496e-04 1.18034164e-02 9.99930107e-01 -2.25503349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54119381700002 meters Centerline goodness : 0.913758 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.38, Z:-2.26 [[ 9.99650379e-01 2.64408079e-02 6.16638780e-05 2.26195708e+01] [-2.64384371e-02 9.99587011e-01 -1.12612833e-02 -3.84560292e-01] [-3.59395839e-04 1.12557158e-02 9.99936588e-01 -2.25552453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57119381700002 meters Centerline goodness : 0.915525 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.39, Z:-2.26 [[ 9.99665127e-01 2.58772184e-02 5.69226099e-05 2.26192582e+01] [-2.58752990e-02 9.99613365e-01 -1.01778457e-02 -3.88345541e-01] [-3.20274939e-04 1.01729646e-02 9.99948203e-01 -2.25555074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60119381700002 meters Centerline goodness : 0.912069 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.39, Z:-2.26 [[ 9.99684917e-01 2.51009112e-02 1.06187474e-04 2.26185867e+01] [-2.50989156e-02 9.99643814e-01 -9.07138855e-03 -3.92442717e-01] [-3.33849770e-04 9.06586512e-03 9.99958848e-01 -2.25531307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63119381700002 meters Centerline goodness : 0.915190 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.39, Z:-2.26 [[ 9.99775211e-01 2.12019460e-02 6.87816524e-05 2.26183099e+01] [-2.11995049e-02 9.99699919e-01 -1.22741035e-02 -3.94388498e-01] [-3.28995892e-04 1.22698863e-02 9.99924668e-01 -2.25532084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66119381700003 meters Centerline goodness : 0.919171 Centerline is valid? [False, False] Translation: X:22.61, Y:-0.40, Z:-2.25 [[ 9.99945480e-01 1.03966813e-02 9.73159316e-04 2.26124008e+01] [-1.03962780e-02 9.99945870e-01 -4.18536249e-04 -4.02318324e-01] [-9.77458027e-04 4.08396195e-04 9.99999439e-01 -2.25416732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69119381700003 meters Centerline goodness : 0.918583 Centerline is valid? [False, False] Translation: X:22.61, Y:-0.40, Z:-2.25 [[ 9.99983596e-01 5.69886032e-03 5.75133230e-04 2.26135875e+01] [-5.69604048e-03 9.99972301e-01 -4.79093988e-03 -4.02672322e-01] [-6.02420196e-04 4.78758530e-03 9.99988358e-01 -2.25477108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72119381700003 meters Centerline goodness : 0.918285 Centerline is valid? [False, False] Translation: X:22.61, Y:-0.40, Z:-2.26 [[ 9.99999154e-01 1.27985315e-03 2.30545893e-04 2.26146249e+01] [-1.27773560e-03 9.99959023e-01 -8.96215397e-03 -4.02946426e-01] [-2.42006687e-04 8.96185182e-03 9.99959813e-01 -2.25524720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75119381700003 meters Centerline goodness : 0.921728 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.40, Z:-2.26 [[ 9.99992651e-01 -3.83376683e-03 -1.27534517e-05 2.26155135e+01] [ 3.83323914e-03 9.99900235e-01 -1.35950613e-02 -4.02789411e-01] [ 6.48724743e-05 1.35949125e-02 9.99907583e-01 -2.25564128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78119381700003 meters Centerline goodness : 0.921620 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.40, Z:-2.26 [[ 9.99990769e-01 -4.29039010e-03 -2.34884765e-04 2.26162515e+01] [ 4.28673035e-03 9.99895120e-01 -1.38337807e-02 -4.02579183e-01] [ 2.94212446e-04 1.38326461e-02 9.99904281e-01 -2.25595500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81119381700003 meters Centerline goodness : 0.919363 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.40, Z:-2.26 [[ 9.99988971e-01 -4.66856075e-03 -5.12371311e-04 2.26170119e+01] [ 4.66079581e-03 9.99887839e-01 -1.42332628e-02 -4.01539129e-01] [ 5.78762695e-04 1.42307178e-02 9.99898571e-01 -2.25615602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84119381700003 meters Centerline goodness : 0.922164 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.40, Z:-2.26 [[ 9.99993460e-01 -3.45339501e-03 -1.07455310e-03 2.26198089e+01] [ 3.43891249e-03 9.99906967e-01 -1.31996574e-02 -3.98020615e-01] [ 1.12003677e-03 1.31958758e-02 9.99912303e-01 -2.25814423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87119381700003 meters Centerline goodness : 0.921915 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.40, Z:-2.26 [[ 9.99997268e-01 -1.69837433e-03 -1.60601646e-03 2.26222582e+01] [ 1.67963892e-03 9.99931353e-01 -1.15960287e-02 -3.95803879e-01] [ 1.62560061e-03 1.15932995e-02 9.99931474e-01 -2.25971702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90119381700003 meters Centerline goodness : 0.923296 Centerline is valid? [False, False] Translation: X:22.64, Y:-0.39, Z:-2.26 [[ 9.99996701e-01 2.77041007e-04 -2.55377282e-03 2.26439763e+01] [-3.05766047e-04 9.99936619e-01 -1.12545605e-02 -3.94171373e-01] [ 2.55049298e-03 1.12553042e-02 9.99933404e-01 -2.26055757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93119381700004 meters Centerline goodness : 0.921652 Centerline is valid? [False, False] Translation: X:22.64, Y:-0.39, Z:-2.26 [[ 9.99990048e-01 3.47761360e-03 -2.79448558e-03 2.26447466e+01] [-3.50066925e-03 9.99959524e-01 -8.28831362e-03 -3.92239485e-01] [ 2.76554892e-03 8.29801371e-03 9.99961747e-01 -2.26082255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96119381700004 meters Centerline goodness : 0.918639 Centerline is valid? [False, False] Translation: X:22.66, Y:-0.38, Z:-2.26 [[ 9.99983305e-01 5.76600988e-03 3.78784544e-04 2.26625223e+01] [-5.76031678e-03 9.99890660e-01 -1.36193772e-02 -3.81203051e-01] [-4.57272590e-04 1.36169679e-02 9.99907180e-01 -2.26406656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99119381700004 meters Centerline goodness : 0.921636 Centerline is valid? [False, False] Translation: X:22.66, Y:-0.38, Z:-2.26 [[ 9.99960945e-01 8.83523677e-03 2.16784242e-04 2.26628776e+01] [-8.83225472e-03 9.99898263e-01 -1.12006406e-02 -3.77031709e-01] [-3.15722499e-04 1.11982885e-02 9.99937247e-01 -2.26385748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02119381700004 meters Centerline goodness : 0.921577 Centerline is valid? [False, False] Translation: X:22.68, Y:-0.37, Z:-2.27 [[ 9.99953806e-01 9.22856432e-03 2.68694469e-03 2.26815268e+01] [-9.18447271e-03 9.99830067e-01 -1.59838234e-02 -3.70029020e-01] [-2.83399583e-03 1.59584068e-02 9.99868640e-01 -2.26587013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05119381700004 meters Centerline goodness : 0.919391 Centerline is valid? [False, False] Translation: X:22.68, Y:-0.37, Z:-2.27 [[ 9.99924722e-01 1.20248696e-02 2.43976352e-03 2.26826979e+01] [-1.19903526e-02 9.99834247e-01 -1.37007204e-02 -3.66165227e-01] [-2.60410849e-03 1.36704354e-02 9.99903164e-01 -2.26648093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters Centerline goodness : 0.919391 Centerline is valid? [False, False] Translation: X:22.68, Y:-0.37, Z:-2.27 [[ 9.99924722e-01 1.20248696e-02 2.43976352e-03 2.26826979e+01] [-1.19903526e-02 9.99834247e-01 -1.37007204e-02 -3.66165227e-01] [-2.60410849e-03 1.36704354e-02 9.99903164e-01 -2.26648093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11119381700001 meters Centerline goodness : 0.921086 Centerline is valid? [False, False] Translation: X:22.70, Y:-0.36, Z:-2.27 [[ 9.99923236e-01 1.15895213e-02 4.38229546e-03 2.27028374e+01] [-1.15004137e-02 9.99737032e-01 -1.98395536e-02 -3.56111048e-01] [-4.61107398e-03 1.97876324e-02 9.99793572e-01 -2.26971995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters Centerline goodness : 0.922723 Centerline is valid? [False, False] Translation: X:22.70, Y:-0.35, Z:-2.27 [[ 9.99931758e-01 1.09189414e-02 4.15393564e-03 2.27038238e+01] [-1.08287279e-02 9.99717601e-01 -2.11531789e-02 -3.52412507e-01] [-4.38373289e-03 2.11067535e-02 9.99767617e-01 -2.27024559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17119381700002 meters Centerline goodness : 0.921494 Centerline is valid? [False, False] Translation: X:22.70, Y:-0.35, Z:-2.27 [[ 9.99941984e-01 1.00164787e-02 3.96217616e-03 2.27047371e+01] [-9.92416134e-03 9.99693728e-01 -2.26707166e-02 -3.48138032e-01] [-4.18804341e-03 2.26300801e-02 9.99735135e-01 -2.27075262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20119381700002 meters Centerline goodness : 0.922027 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.34, Z:-2.27 [[ 9.99969099e-01 7.06201933e-03 3.45374343e-03 2.27067311e+01] [-6.96841918e-03 9.99627144e-01 -2.64010231e-02 -3.38362419e-01] [-3.63890021e-03 2.63761401e-02 9.99645466e-01 -2.27155759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23119381700002 meters Centerline goodness : 0.923091 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.33, Z:-2.27 [[ 9.99978270e-01 5.83354789e-03 3.07086627e-03 2.27083169e+01] [-5.74484940e-03 9.99587460e-01 -2.81408401e-02 -3.34115902e-01] [-3.23376036e-03 2.81225869e-02 9.99599251e-01 -2.27246522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26119381700002 meters Centerline goodness : 0.918784 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.33, Z:-2.27 [[ 9.99986685e-01 4.38948389e-03 2.71341598e-03 2.27102797e+01] [-4.30585986e-03 9.99537852e-01 -3.00922394e-02 -3.29964671e-01] [-2.84425138e-03 3.00801551e-02 9.99543443e-01 -2.27388169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29119381700002 meters Centerline goodness : 0.920447 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.33, Z:-2.27 [[ 9.99995733e-01 -5.40569389e-04 2.87074378e-03 2.27308842e+01] [ 5.93262668e-04 9.99830783e-01 -1.83862532e-02 -3.27960044e-01] [-2.86031896e-03 1.83878779e-02 9.99826837e-01 -2.27494126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32119381700002 meters Centerline goodness : 0.919392 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.32, Z:-2.28 [[ 9.99995776e-01 -1.39147505e-03 2.55175291e-03 2.27322382e+01] [ 1.44239987e-03 9.99797642e-01 -2.00647578e-02 -3.23084389e-01] [-2.52331693e-03 2.00683537e-02 9.99795426e-01 -2.27566387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35119381700002 meters Centerline goodness : 0.917683 Centerline is valid? [False, False] Translation: X:22.76, Y:-0.31, Z:-2.28 [[ 9.99999225e-01 1.12923943e-03 5.24918112e-04 2.27556432e+01] [-1.11869779e-03 9.99805966e-01 -1.96666900e-02 -3.14152229e-01] [-5.47024662e-04 1.96660875e-02 9.99806454e-01 -2.27751395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38119381700002 meters Centerline goodness : 0.919245 Centerline is valid? [False, False] Translation: X:22.76, Y:-0.31, Z:-2.28 [[ 9.99990812e-01 4.28173084e-03 2.06425718e-04 2.27567672e+01] [-4.27746307e-03 9.99837729e-01 -1.74991323e-02 -3.09105137e-01] [-2.81318795e-04 1.74980885e-02 9.99846857e-01 -2.27786065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41119381700003 meters Centerline goodness : 0.919075 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.30, Z:-2.28 [[ 9.99973644e-01 7.25595907e-03 2.51333466e-04 2.27782623e+01] [-7.25048280e-03 9.99822092e-01 -1.74130474e-02 -3.02508517e-01] [-3.77637111e-04 1.74107662e-02 9.99848350e-01 -2.27920025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44119381700003 meters Centerline goodness : 0.919623 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.30, Z:-2.28 [[ 9.99904151e-01 1.38416302e-02 3.12024919e-04 2.27782152e+01] [-1.38370192e-02 9.99835468e-01 -1.17292226e-02 -2.96915505e-01] [-4.74325142e-04 1.17237809e-02 9.99931162e-01 -2.27889941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47119381700003 meters Centerline goodness : 0.921507 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.29, Z:-2.28 [[ 9.99791459e-01 2.04169787e-02 4.29938725e-04 2.27778251e+01] [-2.04140343e-02 9.99773611e-01 -5.99948378e-03 -2.91651346e-01] [-5.52332724e-04 5.98945586e-03 9.99981911e-01 -2.27824023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50119381700003 meters Centerline goodness : 0.922420 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.28, Z:-2.28 [[ 9.99599924e-01 2.82655870e-02 1.02443346e-03 2.27762275e+01] [-2.82634519e-02 9.99598423e-01 -2.04198831e-03 -2.81023560e-01] [-1.08174007e-03 2.01221733e-03 9.99997390e-01 -2.27553072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53119381700003 meters Centerline goodness : 0.923429 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.28, Z:-2.27 [[ 9.99495225e-01 3.17488152e-02 1.14324311e-03 2.27759250e+01] [-3.17491506e-02 9.99495830e-01 2.76427415e-04 -2.76133547e-01] [-1.13389048e-03 -3.12584880e-04 9.99999308e-01 -2.27483466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56119381700003 meters Centerline goodness : 0.928259 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.27, Z:-2.27 [[ 9.99392202e-01 3.48353430e-02 1.31340085e-03 2.27751499e+01] [-3.48383031e-02 9.99390310e-01 2.30257240e-03 -2.70905292e-01] [-1.23238918e-03 -2.34692956e-03 9.99996487e-01 -2.27373502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59119381700003 meters Centerline goodness : 0.927539 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.27, Z:-2.27 [[ 9.99274410e-01 3.80626393e-02 1.37476512e-03 2.27748881e+01] [-3.80687976e-02 9.99263726e-01 4.77200383e-03 -2.66586360e-01] [-1.19211785e-03 -4.82087697e-03 9.99987669e-01 -2.27300012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62119381700003 meters Centerline goodness : 0.927272 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.26, Z:-2.27 [[ 9.99148943e-01 4.12213768e-02 1.47900527e-03 2.27744295e+01] [-4.12304895e-02 9.99126681e-01 6.77657569e-03 -2.60916008e-01] [-1.19837385e-03 -6.83178855e-03 9.99975945e-01 -2.27212499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65119381700003 meters Centerline goodness : 0.927441 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.26, Z:-2.27 [[ 9.99146420e-01 4.12934191e-02 1.13343712e-03 2.27754923e+01] [-4.12996751e-02 9.99127555e-01 6.20212140e-03 -2.58695845e-01] [-8.76341458e-04 -6.24363798e-03 9.99980124e-01 -2.27248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68119381700004 meters Centerline goodness : 0.926227 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.26, Z:-2.27 [[ 9.99154431e-01 4.11021220e-02 1.01896151e-03 2.27758918e+01] [-4.11070141e-02 9.99140344e-01 5.36528311e-03 -2.55560801e-01] [-7.97561037e-04 -5.40263286e-03 9.99985088e-01 -2.27259226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71119381700004 meters Centerline goodness : 0.924704 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.26, Z:-2.27 [[ 9.99247703e-01 3.86855133e-02 -2.73104997e-03 2.27786870e+01] [-3.86259318e-02 9.99068172e-01 1.92568213e-02 -2.56028527e-01] [ 3.47346512e-03 -1.91368451e-02 9.99810840e-01 -2.27384107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74119381700004 meters Centerline goodness : 0.922726 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.25, Z:-2.27 [[ 9.99249418e-01 3.86038000e-02 -3.21667249e-03 2.27803523e+01] [-3.85364773e-02 9.99079031e-01 1.88687408e-02 -2.54864171e-01] [ 3.94211513e-03 -1.87306191e-02 9.99816795e-01 -2.27477652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77119381700004 meters Centerline goodness : 0.921614 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.25, Z:-2.28 [[ 9.99224437e-01 3.91892283e-02 -3.83786311e-03 2.27830838e+01] [-3.91084664e-02 9.99049674e-01 1.92426003e-02 -2.54580854e-01] [ 4.58831855e-03 -1.90775835e-02 9.99807478e-01 -2.27659758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80119381700004 meters Centerline goodness : 0.918140 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.25, Z:-2.28 [[ 9.99204400e-01 3.96244827e-02 -4.52409363e-03 2.27856564e+01] [-3.95291178e-02 9.99027816e-01 1.95159528e-02 -2.53885631e-01] [ 5.29300491e-03 -1.93215924e-02 9.99799310e-01 -2.27818687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.831193817 meters Centerline goodness : 0.916584 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.25, Z:-2.28 [[ 9.99229410e-01 3.82672698e-02 -8.72937908e-03 2.27952551e+01] [-3.80447601e-02 9.98978793e-01 2.43714641e-02 -2.52991835e-01] [ 9.65309396e-03 -2.40205765e-02 9.99664859e-01 -2.27685373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters Centerline goodness : 0.915104 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.25, Z:-2.28 [[ 9.99234044e-01 3.79968739e-02 -9.35749168e-03 2.27969016e+01] [-3.77638361e-02 9.99000016e-01 2.39345076e-02 -2.52207182e-01] [ 1.02575708e-02 -2.35628001e-02 9.99669734e-01 -2.27746269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89119381700002 meters Centerline goodness : 0.914833 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.25, Z:-2.28 [[ 9.99233355e-01 3.78351592e-02 -1.00600068e-02 2.27989256e+01] [-3.75880280e-02 9.99011905e-01 2.37140140e-02 -2.51884106e-01] [ 1.09472900e-02 -2.33176979e-02 9.99668166e-01 -2.27844641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters Centerline goodness : 0.913838 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.25, Z:-2.28 [[ 9.99281287e-01 3.56948915e-02 -1.27587018e-02 2.27984073e+01] [-3.52478278e-02 9.98810339e-01 3.36971523e-02 -2.52598573e-01] [ 1.39463395e-02 -3.32232172e-02 9.99350648e-01 -2.28120064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95119381700002 meters Centerline goodness : 0.913193 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.25, Z:-2.28 [[ 9.99244251e-01 3.64858121e-02 -1.34056723e-02 2.28007159e+01] [-3.60013803e-02 9.98747171e-01 3.47561348e-02 -2.52706269e-01] [ 1.46569830e-02 -3.42472452e-02 9.99305909e-01 -2.28230340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98119381700002 meters Centerline goodness : 0.912886 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.25, Z:-2.28 [[ 9.99309303e-01 3.55126006e-02 -1.09440198e-02 2.28083563e+01] [-3.49731839e-02 9.98326082e-01 4.60641884e-02 -2.54263304e-01] [ 1.25615596e-02 -4.56496248e-02 9.98878531e-01 -2.28104687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01119381700002 meters Centerline goodness : 0.913755 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.25, Z:-2.28 [[ 9.99428442e-01 3.18548467e-02 -1.13162307e-02 2.28084641e+01] [-3.13616129e-02 9.98651405e-01 4.13741547e-02 -2.51559235e-01] [ 1.26189371e-02 -4.09956118e-02 9.99079638e-01 -2.28033894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04119381700002 meters Centerline goodness : 0.913803 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.25, Z:-2.28 [[ 9.99430666e-01 3.17332642e-02 -1.14605316e-02 2.28080882e+01] [-3.12336525e-02 9.98653611e-01 4.14176828e-02 -2.51743603e-01] [ 1.27594196e-02 -4.10361480e-02 9.99076189e-01 -2.27922869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07119381700002 meters Centerline goodness : 0.914726 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.25, Z:-2.28 [[ 9.99503262e-01 2.97387713e-02 -1.04323873e-02 2.28144168e+01] [-2.91611344e-02 9.98235374e-01 5.17278091e-02 -2.54266739e-01] [ 1.19522995e-02 -5.13978937e-02 9.98606729e-01 -2.27575437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10119381700002 meters Centerline goodness : 0.915937 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.26, Z:-2.27 [[ 9.99669546e-01 2.42357683e-02 -8.56892873e-03 2.27979562e+01] [-2.35771559e-02 9.97265769e-01 7.00364509e-02 -2.56884384e-01] [ 1.02428865e-02 -6.98112761e-02 9.97507629e-01 -2.27230222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13119381700002 meters Centerline goodness : 0.916994 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.26, Z:-2.27 [[ 9.99710439e-01 2.25207368e-02 -8.47673051e-03 2.27961973e+01] [-2.18898154e-02 9.97422602e-01 6.83299993e-02 -2.55831315e-01] [ 9.99372453e-03 -6.81246595e-02 9.97626762e-01 -2.27014996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16119381700003 meters Centerline goodness : 0.914417 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.25, Z:-2.27 [[ 9.99782509e-01 1.90969183e-02 -8.38107457e-03 2.27762128e+01] [-1.85625465e-02 9.98039354e-01 5.97735646e-02 -2.52073178e-01] [ 9.50613314e-03 -5.96049903e-02 9.98176777e-01 -2.26853272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19119381700003 meters Centerline goodness : 0.916777 Centerline is valid? [False, False] Translation: X:22.75, Y:-0.25, Z:-2.27 [[ 9.99838133e-01 1.67049947e-02 -6.68214847e-03 2.27525479e+01] [-1.62977145e-02 9.98243731e-01 5.69546996e-02 -2.52245170e-01] [ 7.62184077e-03 -5.68365767e-02 9.98354402e-01 -2.26596031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22119381700003 meters Centerline goodness : 0.918129 Centerline is valid? [False, False] Translation: X:22.74, Y:-0.25, Z:-2.26 [[ 9.99811490e-01 1.52640897e-02 -1.19996523e-02 2.27417420e+01] [-1.47109948e-02 9.98883037e-01 4.49028490e-02 -2.49265907e-01] [ 1.26716502e-02 -4.47178576e-02 9.98919287e-01 -2.26201644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25119381700003 meters Centerline goodness : 0.913847 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.25, Z:-2.26 [[ 9.99833324e-01 1.09067807e-02 -1.46412613e-02 2.27241512e+01] [-1.03821422e-02 9.99317775e-01 3.54428578e-02 -2.45861655e-01] [ 1.50178401e-02 -3.52849427e-02 9.99264448e-01 -2.26125965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28119381700003 meters Centerline goodness : 0.918022 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.25, Z:-2.26 [[ 9.99864970e-01 7.08849044e-03 -1.48255036e-02 2.27248011e+01] [-6.61876408e-03 9.99481955e-01 3.14962613e-02 -2.45592448e-01] [ 1.50410843e-02 -3.13938818e-02 9.99393911e-01 -2.26166742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31119381700003 meters Centerline goodness : 0.918671 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.25, Z:-2.26 [[ 9.99882031e-01 2.85768991e-03 -1.50916443e-02 2.27260855e+01] [-2.44318941e-03 9.99621209e-01 2.74129342e-02 -2.45536134e-01] [ 1.51642654e-02 -2.73728286e-02 9.99510267e-01 -2.26270294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34119381700003 meters Centerline goodness : 0.914901 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99883955e-01 -8.85476582e-04 -1.52083071e-02 2.27267571e+01] [ 1.23888737e-03 9.99729046e-01 2.32443326e-02 -2.43947944e-01] [ 1.51836040e-02 -2.32604766e-02 9.99614130e-01 -2.26315698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37119381700003 meters Centerline goodness : 0.917084 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99879254e-01 -1.65735427e-03 -1.54509199e-02 2.27274984e+01] [ 2.01010866e-03 9.99737041e-01 2.28431375e-02 -2.44278029e-01] [ 1.54089977e-02 -2.28714373e-02 9.99619658e-01 -2.26353390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40119381700003 meters Centerline goodness : 0.916190 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99863139e-01 -5.95809600e-03 -1.54338717e-02 2.27278638e+01] [ 6.23768662e-03 9.99816161e-01 1.81310468e-02 -2.42445166e-01] [ 1.53230078e-02 -1.82248370e-02 9.99716490e-01 -2.26397089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43119381700004 meters Centerline goodness : 0.916565 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99855729e-01 -6.91723770e-03 -1.55136274e-02 2.27279948e+01] [ 7.18404631e-03 9.99826104e-01 1.72090668e-02 -2.41001773e-01] [ 1.53918904e-02 -1.73180347e-02 9.99731552e-01 -2.26392002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46119381700004 meters Centerline goodness : 0.916438 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99847788e-01 -7.92659920e-03 -1.55424977e-02 2.27278228e+01] [ 8.17720806e-03 9.99836507e-01 1.61274036e-02 -2.39141906e-01] [ 1.54121212e-02 -1.62520431e-02 9.99749137e-01 -2.26360609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49119381700004 meters Centerline goodness : 0.919924 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.24, Z:-2.26 [[ 9.99838748e-01 -9.03626956e-03 -1.55185195e-02 2.27274648e+01] [ 9.26774678e-03 9.99845894e-01 1.49096255e-02 -2.36797883e-01] [ 1.53814006e-02 -1.50510429e-02 9.99768412e-01 -2.26318294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52119381700004 meters Centerline goodness : 0.923886 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.23, Z:-2.26 [[ 9.99821120e-01 -1.18108858e-02 -1.47726713e-02 2.27239273e+01] [ 1.19814740e-02 9.99861940e-01 1.15128521e-02 -2.31377661e-01] [ 1.46346548e-02 -1.16877911e-02 9.99824596e-01 -2.26029474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55119381700004 meters Centerline goodness : 0.925898 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.23, Z:-2.26 [[ 9.99810165e-01 -1.29410519e-02 -1.45658486e-02 2.27227322e+01] [ 1.30878386e-02 9.99864068e-01 1.00276475e-02 -2.28752560e-01] [ 1.44341003e-02 -1.02163794e-02 9.99843629e-01 -2.25920021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters Centerline goodness : 0.929585 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.23, Z:-2.26 [[ 9.99800473e-01 -1.36251981e-02 -1.46071565e-02 2.27226561e+01] [ 1.37603443e-02 9.99863072e-01 9.19181654e-03 -2.26835518e-01] [ 1.44799160e-02 -9.39098202e-03 9.99851060e-01 -2.25892567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61119381700001 meters Centerline goodness : 0.928610 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.22, Z:-2.26 [[ 9.99793546e-01 -1.41537072e-02 -1.45786955e-02 2.27227599e+01] [ 1.42767849e-02 9.99863023e-01 8.37310166e-03 -2.24668160e-01] [ 1.44581881e-02 -8.57950990e-03 9.99858666e-01 -2.25906842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters Centerline goodness : 0.930578 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.22, Z:-2.26 [[ 9.99779572e-01 -1.49476384e-02 -1.47436724e-02 2.27233579e+01] [ 1.50531029e-02 9.99861712e-01 7.06835156e-03 -2.21734200e-01] [ 1.46359784e-02 -7.28873151e-03 9.99866322e-01 -2.25934082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67119381700002 meters Centerline goodness : 0.935310 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.22, Z:-2.26 [[ 9.99814672e-01 -1.26949617e-02 -1.44726906e-02 2.27226599e+01] [ 1.28158426e-02 9.99883505e-01 8.29041794e-03 -2.15882545e-01] [ 1.43657581e-02 -8.47436122e-03 9.99860895e-01 -2.25931792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70119381700002 meters Centerline goodness : 0.932971 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.21, Z:-2.26 [[ 9.99846817e-01 -9.56419774e-03 -1.46584273e-02 2.27230277e+01] [ 9.72649886e-03 9.99891738e-01 1.10411997e-02 -2.13046380e-01] [ 1.45512401e-02 -1.11820836e-02 9.99831597e-01 -2.25944075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73119381700002 meters Centerline goodness : 0.932265 Centerline is valid? [False, False] Translation: X:22.72, Y:-0.21, Z:-2.26 [[ 9.99866498e-01 -6.41864278e-03 -1.50262500e-02 2.27242660e+01] [ 6.62430381e-03 9.99884519e-01 1.36772585e-02 -2.09817178e-01] [ 1.49367253e-02 -1.37749710e-02 9.99793551e-01 -2.26019754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76119381700002 meters Centerline goodness : 0.930340 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.21, Z:-2.26 [[ 9.99877243e-01 -3.09298815e-03 -1.53601150e-02 2.27253054e+01] [ 3.34477390e-03 9.99860021e-01 1.63936338e-02 -2.06119671e-01] [ 1.53072596e-02 -1.64429974e-02 9.99747626e-01 -2.26077878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79119381700002 meters Centerline goodness : 0.928694 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.20, Z:-2.26 [[ 9.99872233e-01 2.83231923e-03 -1.57320205e-02 2.27271086e+01] [-2.50175493e-03 9.99776508e-01 2.09922772e-02 -1.98675760e-01] [ 1.57879614e-02 -2.09502375e-02 9.99655855e-01 -2.26209841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82119381700002 meters Centerline goodness : 0.929568 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.19, Z:-2.26 [[ 9.99810144e-01 4.66592091e-03 -1.89183704e-02 2.27100143e+01] [-4.35706648e-03 9.99857096e-01 1.63341161e-02 -1.91335481e-01] [ 1.89918806e-02 -1.62485864e-02 9.99687597e-01 -2.26080971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85119381700002 meters Centerline goodness : 0.929043 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.19, Z:-2.26 [[ 9.99785765e-01 7.84625119e-03 -1.91536074e-02 2.27106265e+01] [-7.48322538e-03 9.99792389e-01 1.89520445e-02 -1.88053716e-01] [ 1.92983334e-02 -1.88046536e-02 9.99636914e-01 -2.26096192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88119381700002 meters Centerline goodness : 0.928931 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.18, Z:-2.26 [[ 9.99758439e-01 1.07742139e-02 -1.91567097e-02 2.27105071e+01] [-1.03645689e-02 9.99718207e-01 2.13560997e-02 -1.84626778e-01] [ 1.93814066e-02 -2.11523899e-02 9.99588384e-01 -2.26071640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91119381700003 meters Centerline goodness : 0.929563 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.18, Z:-2.26 [[ 9.99736442e-01 1.30908996e-02 -1.88593457e-02 2.27089294e+01] [-1.26793008e-02 9.99682353e-01 2.17813605e-02 -1.75763281e-01] [ 1.91384927e-02 -2.15364966e-02 9.99584863e-01 -2.25906163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94119381700003 meters Centerline goodness : 0.932670 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.17, Z:-2.26 [[ 9.99707412e-01 1.52210447e-02 -1.87991976e-02 2.27080019e+01] [-1.47786688e-02 9.99615758e-01 2.34505416e-02 -1.71570214e-01] [ 1.91489159e-02 -2.31658531e-02 9.99548229e-01 -2.25807920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97119381700003 meters Centerline goodness : 0.932670 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.17, Z:-2.26 [[ 9.99707367e-01 1.51337648e-02 -1.88719404e-02 2.27080423e+01] [-1.46924984e-02 9.99620418e-01 2.33055711e-02 -1.71016484e-01] [ 1.92174780e-02 -2.30214751e-02 9.99550249e-01 -2.25795187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00119381700003 meters Centerline goodness : 0.930598 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.17, Z:-2.26 [[ 9.99714803e-01 1.46083019e-02 -1.88920815e-02 2.27082404e+01] [-1.41967879e-02 9.99662941e-01 2.17360391e-02 -1.65847070e-01] [ 1.92032404e-02 -2.14616332e-02 9.99585231e-01 -2.25800291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03119381700003 meters Centerline goodness : 0.930714 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.16, Z:-2.26 [[ 9.99726566e-01 1.36039601e-02 -1.90190767e-02 2.27082513e+01] [-1.32257241e-02 9.99715022e-01 1.98734981e-02 -1.60726503e-01] [ 1.92840150e-02 -1.96165230e-02 9.99621588e-01 -2.25760127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06119381700003 meters Centerline goodness : 0.930376 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.15, Z:-2.26 [[ 9.99758021e-01 1.10584673e-02 -1.90160257e-02 2.27077244e+01] [-1.07529857e-02 9.99812688e-01 1.60923314e-02 -1.52433869e-01] [ 1.91904203e-02 -1.58839583e-02 9.99689666e-01 -2.25681119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09119381700003 meters Centerline goodness : 0.931639 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.15, Z:-2.26 [[ 9.99765202e-01 1.01956609e-02 -1.91203990e-02 2.27080600e+01] [-9.91696479e-03 9.99844024e-01 1.46144580e-02 -1.48750615e-01] [ 1.92664207e-02 -1.44214103e-02 9.99710372e-01 -2.25690462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12119381700003 meters Centerline goodness : 0.932625 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.15, Z:-2.26 [[ 9.99770245e-01 9.39768531e-03 -1.92649994e-02 2.27083822e+01] [-9.14685078e-03 9.99872783e-01 1.30672475e-02 -1.45048572e-01] [ 1.93853505e-02 -1.28880312e-02 9.99729017e-01 -2.25690594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15119381700003 meters Centerline goodness : 0.929713 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.14, Z:-2.26 [[ 9.99772497e-01 8.73524200e-03 -1.94589427e-02 2.27088223e+01] [-8.51157493e-03 9.99897097e-01 1.15476264e-02 -1.41050753e-01] [ 1.95578116e-02 -1.13793730e-02 9.99743968e-01 -2.25688372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18119381700004 meters Centerline goodness : 0.932695 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.13, Z:-2.26 [[ 9.99748546e-01 1.12680983e-02 -1.93875047e-02 2.27088237e+01] [-1.10264498e-02 9.99860746e-01 1.25262107e-02 -1.33020000e-01] [ 1.95259515e-02 -1.23092856e-02 9.99733574e-01 -2.25675997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21119381700004 meters Centerline goodness : 0.931574 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.13, Z:-2.26 [[ 9.99704451e-01 1.46296715e-02 -1.94160414e-02 2.27090842e+01] [-1.43348096e-02 9.99781107e-01 1.52397774e-02 -1.29507395e-01] [ 1.96347443e-02 -1.49569480e-02 9.99695337e-01 -2.25691819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24119381700004 meters Centerline goodness : 0.932821 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.13, Z:-2.26 [[ 9.99649396e-01 1.79409953e-02 -1.94731909e-02 2.27092715e+01] [-1.75910820e-02 9.99683336e-01 1.79939411e-02 -1.26507573e-01] [ 1.97898537e-02 -1.76450779e-02 9.99648445e-01 -2.25688355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27119381700004 meters Centerline goodness : 0.930830 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.12, Z:-2.26 [[ 9.99636132e-01 1.81945319e-02 -1.99138676e-02 2.27105166e+01] [-1.78534051e-02 9.99693075e-01 1.71759085e-02 -1.22795497e-01] [ 2.02202631e-02 -1.68141284e-02 9.99654153e-01 -2.25717728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30119381700004 meters Centerline goodness : 0.930850 Centerline is valid? [False, False] Translation: X:22.71, Y:-0.12, Z:-2.26 [[ 9.99560497e-01 2.18601171e-02 -2.00237136e-02 2.27108680e+01] [-2.14666532e-02 9.99576274e-01 1.96584813e-02 -1.18557613e-01] [ 2.04449657e-02 -1.92199992e-02 9.99606220e-01 -2.25712758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.331193817 meters Centerline goodness : 0.931067 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.12, Z:-2.26 [[ 9.99594959e-01 2.11466398e-02 -1.90456601e-02 2.27256480e+01] [-2.06119209e-02 9.99399655e-01 2.78474071e-02 -1.17571463e-01] [ 1.96231052e-02 -2.74435602e-02 9.99430730e-01 -2.26117615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters Centerline goodness : 0.929261 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.11, Z:-2.26 [[ 9.99559042e-01 2.21706696e-02 -1.97530645e-02 2.27283166e+01] [-2.16119313e-02 9.99372464e-01 2.80642754e-02 -1.14954815e-01] [ 2.03628725e-02 -2.76249984e-02 9.99410933e-01 -2.26255118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39119381700002 meters Centerline goodness : 0.925642 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.11, Z:-2.26 [[ 9.99514542e-01 2.34238242e-02 -2.05427385e-02 2.27313192e+01] [-2.28374684e-02 9.99337774e-01 2.83277946e-02 -1.12471973e-01] [ 2.11926799e-02 -2.78448985e-02 9.99387578e-01 -2.26424503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters Centerline goodness : 0.924358 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.11, Z:-2.27 [[ 9.99432800e-01 2.64828313e-02 -2.08023547e-02 2.27331717e+01] [-2.58365724e-02 9.99193310e-01 3.07441132e-02 -1.08959727e-01] [ 2.15997648e-02 -3.01892136e-02 9.99310793e-01 -2.26567880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45119381700002 meters Centerline goodness : 0.923886 Centerline is valid? [False, False] Translation: X:22.73, Y:-0.11, Z:-2.27 [[ 9.99428351e-01 2.63101903e-02 -2.12307549e-02 2.27340291e+01] [-2.56620464e-02 9.99213062e-01 3.02442895e-02 -1.07660323e-01] [ 2.20097807e-02 -2.96821758e-02 9.99317036e-01 -2.26574963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48119381700002 meters Centerline goodness : 0.923224 Centerline is valid? [False, False] Translation: X:22.75, Y:-0.11, Z:-2.27 [[ 9.99566409e-01 2.17680334e-02 -1.98279416e-02 2.27531875e+01] [-2.12030171e-02 9.99375317e-01 2.82738189e-02 -1.06312897e-01] [ 2.04310208e-02 -2.78411475e-02 9.99403544e-01 -2.26551808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51119381700002 meters Centerline goodness : 0.922806 Centerline is valid? [False, False] Translation: X:22.75, Y:-0.10, Z:-2.27 [[ 9.99633206e-01 1.77592300e-02 -2.04466128e-02 2.27540229e+01] [-1.72706433e-02 9.99566850e-01 2.38293294e-02 -1.04709887e-01] [ 2.08609469e-02 -2.34674627e-02 9.99506928e-01 -2.26507817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54119381700002 meters Centerline goodness : 0.921683 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.11, Z:-2.27 [[ 9.99817212e-01 8.80860389e-03 -1.69691366e-02 2.27762254e+01] [-8.24241707e-03 9.99416350e-01 3.31514978e-02 -1.05557762e-01] [ 1.72512510e-02 -3.30055714e-02 9.99306273e-01 -2.26649384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57119381700002 meters Centerline goodness : 0.926974 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.11, Z:-2.27 [[ 9.99883109e-01 6.12694209e-03 -1.40081587e-02 2.27945578e+01] [-5.63589423e-03 9.99377390e-01 3.48291279e-02 -1.05808104e-01] [ 1.42128332e-02 -3.47461082e-02 9.99295103e-01 -2.26764618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60119381700002 meters Centerline goodness : 0.923713 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.11, Z:-2.27 [[ 9.99911272e-01 1.37676308e-03 -1.32496023e-02 2.28140556e+01] [-7.45428107e-04 9.98869207e-01 4.75368444e-02 -1.07221290e-01] [ 1.33000667e-02 -4.75227499e-02 9.98781606e-01 -2.26825793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63119381700002 meters Centerline goodness : 0.927221 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.11, Z:-2.27 [[ 9.99946545e-01 -2.06455240e-03 -1.01313358e-02 2.28228627e+01] [ 2.62397904e-03 9.98454204e-01 5.55186167e-02 -1.07698708e-01] [ 1.00010537e-02 -5.55422334e-02 9.98406250e-01 -2.26945598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66119381700003 meters Centerline goodness : 0.923554 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.11, Z:-2.27 [[ 9.99938738e-01 -3.12721805e-03 -1.06179312e-02 2.28240904e+01] [ 3.70842535e-03 9.98470231e-01 5.51674363e-02 -1.08621222e-01] [ 1.04291676e-02 -5.52034325e-02 9.98420660e-01 -2.27018369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69119381700003 meters Centerline goodness : 0.928020 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.11, Z:-2.27 [[ 9.99916381e-01 -7.25923670e-03 -1.07020986e-02 2.28245108e+01] [ 7.78811660e-03 9.98707086e-01 5.02344684e-02 -1.05982647e-01] [ 1.03235978e-02 -5.03136170e-02 9.98680111e-01 -2.27033167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72119381700003 meters Centerline goodness : 0.927450 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.10, Z:-2.27 [[ 9.99873402e-01 -1.14916318e-02 -1.10055992e-02 2.28249237e+01] [ 1.19791922e-02 9.98901114e-01 4.53107388e-02 -1.02888757e-01] [ 1.04728110e-02 -4.54368407e-02 9.98912315e-01 -2.26990045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75119381700003 meters Centerline goodness : 0.924234 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.10, Z:-2.27 [[ 9.99881990e-01 -1.12779667e-02 -1.04314004e-02 2.28052328e+01] [ 1.16879184e-02 9.99126846e-01 4.01115666e-02 -9.96763967e-02] [ 9.96991532e-03 -4.02287544e-02 9.99140755e-01 -2.26939985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78119381700003 meters Centerline goodness : 0.924002 Centerline is valid? [False, False] Translation: X:22.81, Y:-0.10, Z:-2.27 [[ 9.99827902e-01 -1.50377617e-02 -1.08642427e-02 2.28061750e+01] [ 1.54142448e-02 9.99252801e-01 3.54434748e-02 -9.64433225e-02] [ 1.03231344e-02 -3.56048391e-02 9.99312628e-01 -2.26917238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81119381700003 meters Centerline goodness : 0.923948 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.09, Z:-2.27 [[ 9.99792208e-01 -1.53533763e-02 -1.34095071e-02 2.27891588e+01] [ 1.57090819e-02 9.99516392e-01 2.68366633e-02 -9.00699673e-02] [ 1.29909888e-02 -2.70417379e-02 9.99549888e-01 -2.26678797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84119381700003 meters Centerline goodness : 0.923353 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.09, Z:-2.27 [[ 9.99821227e-01 -1.34690660e-02 -1.32701773e-02 2.27877021e+01] [ 1.38469649e-02 9.99489009e-01 2.88094171e-02 -8.88608053e-02] [ 1.28753604e-02 -2.89880184e-02 9.99496833e-01 -2.26566117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87119381700003 meters Centerline goodness : 0.922612 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.09, Z:-2.27 [[ 9.99895220e-01 -1.09416230e-02 -9.47790185e-03 2.27681933e+01] [ 1.11708728e-02 9.99637846e-01 2.44824002e-02 -8.59678435e-02] [ 9.20659220e-03 -2.45857113e-02 9.99655331e-01 -2.26630442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90119381700003 meters Centerline goodness : 0.924319 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.08, Z:-2.27 [[ 9.99922172e-01 -8.46420436e-03 -9.16557522e-03 2.27666000e+01] [ 8.70902231e-03 9.99597264e-01 2.70085588e-02 -8.48916817e-02] [ 8.93327796e-03 -2.70862799e-02 9.99593182e-01 -2.26525989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93119381700004 meters Centerline goodness : 0.923617 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.08, Z:-2.27 [[ 9.99945058e-01 -5.15447944e-03 -9.12754418e-03 2.27665180e+01] [ 5.42380329e-03 9.99543190e-01 2.97320362e-02 -8.18952035e-02] [ 8.97012145e-03 -2.97799086e-02 9.99516230e-01 -2.26537842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96119381700004 meters Centerline goodness : 0.921560 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.08, Z:-2.27 [[ 9.99955269e-01 -2.18097361e-03 -9.20346729e-03 2.27665578e+01] [ 2.48118943e-03 9.99460969e-01 3.27355370e-02 -8.03869221e-02] [ 9.12711099e-03 -3.27569083e-02 9.99421673e-01 -2.26553436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99119381700004 meters Centerline goodness : 0.922031 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.08, Z:-2.27 [[ 9.99952995e-01 -2.28606642e-03 -9.42236401e-03 2.27672209e+01] [ 2.58667322e-03 9.99484015e-01 3.20158291e-02 -7.79368772e-02] [ 9.34431190e-03 -3.20386967e-02 9.99442948e-01 -2.26577285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02119381700004 meters Centerline goodness : 0.917689 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.08, Z:-2.27 [[ 9.99954871e-01 2.49901802e-04 -9.49702527e-03 2.27674346e+01] [ 7.56620478e-05 9.99412786e-01 3.42648019e-02 -7.57659732e-02] [ 9.50001132e-03 -3.42639741e-02 9.99367665e-01 -2.26621301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05119381700004 meters Centerline goodness : 0.921410 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.07, Z:-2.27 [[ 9.99950895e-01 9.78213681e-05 -9.90944164e-03 2.27684288e+01] [ 2.32418608e-04 9.99444736e-01 3.33191575e-02 -7.30241198e-02] [ 9.90719861e-03 -3.33198245e-02 9.99395636e-01 -2.26649278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters Centerline goodness : 0.923169 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.07, Z:-2.27 [[ 9.99945196e-01 3.12770109e-04 -1.04645853e-02 2.27701167e+01] [ 2.86382366e-05 9.99468182e-01 3.26090742e-02 -6.99718081e-02] [ 1.04692192e-02 -3.26075867e-02 9.99413398e-01 -2.26728118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11119381700001 meters Centerline goodness : 0.920824 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.07, Z:-2.27 [[ 9.99937269e-01 1.45353449e-03 -1.11060654e-02 2.27727448e+01] [-1.08811198e-03 9.99460080e-01 3.28384503e-02 -6.69686352e-02] [ 1.11478009e-02 -3.28243056e-02 9.99398965e-01 -2.26873220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters Centerline goodness : 0.918612 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.06, Z:-2.27 [[ 9.99837863e-01 9.82226673e-03 -1.50920506e-02 2.27692676e+01] [-9.47236375e-03 9.99688660e-01 2.30837238e-02 -5.85689019e-02] [ 1.53140863e-02 -2.29370237e-02 9.99619614e-01 -2.26587908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17119381700002 meters Centerline goodness : 0.920844 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.05, Z:-2.27 [[ 9.99820029e-01 1.09303673e-02 -1.55060466e-02 2.27708592e+01] [-1.05737391e-02 9.99681893e-01 2.28977876e-02 -5.45977704e-02] [ 1.57513953e-02 -2.27297097e-02 9.99617554e-01 -2.26636499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20119381700002 meters Centerline goodness : 0.923471 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.05, Z:-2.27 [[ 9.99803996e-01 1.19291488e-02 -1.58007954e-02 2.27718439e+01] [-1.15713163e-02 9.99678805e-01 2.25475323e-02 -5.04012627e-02] [ 1.60646931e-02 -2.23602769e-02 9.99620900e-01 -2.26630023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23119381700002 meters Centerline goodness : 0.930478 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.05, Z:-2.26 [[ 9.99694465e-01 1.93357985e-02 -1.53981384e-02 2.27702817e+01] [-1.88888476e-02 9.99410703e-01 2.86610946e-02 -4.58748639e-02] [ 1.59432495e-02 -2.83614846e-02 9.99470579e-01 -2.26485150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26119381700002 meters Centerline goodness : 0.929588 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.26 [[ 9.99680142e-01 1.97753822e-02 -1.57654250e-02 2.27710896e+01] [-1.93285029e-02 9.99420727e-01 2.80110643e-02 -4.29031234e-02] [ 1.63102221e-02 -2.76973826e-02 9.99483282e-01 -2.26468535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29119381700002 meters Centerline goodness : 0.930527 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.26 [[ 9.99663576e-01 2.02755704e-02 -1.61751739e-02 2.27722157e+01] [-1.98226862e-02 9.99420156e-01 2.76841744e-02 -4.10256182e-02] [ 1.67271073e-02 -2.73542254e-02 9.99485843e-01 -2.26485056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32119381700002 meters Centerline goodness : 0.931161 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.27 [[ 9.99658268e-01 2.03277616e-02 -1.64356336e-02 2.27729412e+01] [-1.98758602e-02 9.99432224e-01 2.72062516e-02 -3.95742583e-02] [ 1.69793440e-02 -2.68702820e-02 9.99494717e-01 -2.26504172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35119381700002 meters Centerline goodness : 0.931392 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.26 [[ 9.99661017e-01 2.01530042e-02 -1.64835511e-02 2.27726396e+01] [-1.97111333e-02 9.99453301e-01 2.65437391e-02 -3.75567376e-02] [ 1.70094756e-02 -2.62098317e-02 9.99511742e-01 -2.26439057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38119381700002 meters Centerline goodness : 0.932450 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.26 [[ 9.99718121e-01 1.66626069e-02 -1.69126101e-02 2.27732689e+01] [-1.62809371e-02 9.99615179e-01 2.24593925e-02 -3.62064452e-02] [ 1.72803338e-02 -2.21777085e-02 9.99604692e-01 -2.26395076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41119381700003 meters Centerline goodness : 0.933847 Centerline is valid? [False, False] Translation: X:22.77, Y:-0.04, Z:-2.26 [[ 9.99771832e-01 1.26880812e-02 -1.71841940e-02 2.27734226e+01] [-1.23713913e-02 9.99753948e-01 1.84117282e-02 -3.63321963e-02] [ 1.74135753e-02 -1.81949348e-02 9.99682806e-01 -2.26347926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44119381700003 meters Centerline goodness : 0.933038 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.04, Z:-2.26 [[ 9.99873362e-01 7.83294652e-03 -1.38529440e-02 2.27896955e+01] [-7.55062975e-03 9.99765101e-01 2.03157554e-02 -3.98686786e-02] [ 1.40088221e-02 -2.02085842e-02 9.99697637e-01 -2.26474433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47119381700003 meters Centerline goodness : 0.933556 Centerline is valid? [False, False] Translation: X:22.79, Y:-0.04, Z:-2.26 [[ 9.99893139e-01 3.74293223e-03 -1.41315523e-02 2.27900621e+01] [-3.50773467e-03 9.99855531e-01 1.66316943e-02 -4.15186876e-02] [ 1.41917620e-02 -1.65803473e-02 9.99761815e-01 -2.26453264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50119381700003 meters Centerline goodness : 0.931121 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.05, Z:-2.27 [[ 9.99934802e-01 -3.78662783e-03 -1.07727758e-02 2.28210885e+01] [ 4.07650470e-03 9.99626721e-01 2.70148162e-02 -5.03166595e-02] [ 1.06664595e-02 -2.70569702e-02 9.99576984e-01 -2.26907798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53119381700003 meters Centerline goodness : 0.930018 Centerline is valid? [False, False] Translation: X:22.82, Y:-0.05, Z:-2.27 [[ 9.99911431e-01 -7.16527112e-03 -1.12155670e-02 2.28228484e+01] [ 7.43374050e-03 9.99682362e-01 2.40814351e-02 -5.27235963e-02] [ 1.10394545e-02 -2.41626758e-02 9.99647085e-01 -2.27003468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56119381700003 meters Centerline goodness : 0.928692 Centerline is valid? [False, False] Translation: X:22.85, Y:-0.06, Z:-2.27 [[ 9.99870464e-01 -1.11775229e-02 -1.15809133e-02 2.28519228e+01] [ 1.16142899e-02 9.99196487e-01 3.83599929e-02 -5.95759793e-02] [ 1.11428382e-02 -3.84895280e-02 9.99196874e-01 -2.27350584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59119381700003 meters Centerline goodness : 0.928217 Centerline is valid? [False, False] Translation: X:22.87, Y:-0.06, Z:-2.28 [[ 9.99883970e-01 -1.20424601e-02 -9.32878671e-03 2.28706263e+01] [ 1.24524787e-02 9.98899544e-01 4.52176668e-02 -6.47727542e-02] [ 8.77398884e-03 -4.53285867e-02 9.98933600e-01 -2.27721535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62119381700003 meters Centerline goodness : 0.932086 Centerline is valid? [False, False] Translation: X:22.87, Y:-0.07, Z:-2.28 [[ 9.99883843e-01 -1.19954668e-02 -9.40258878e-03 2.28703758e+01] [ 1.24092714e-02 9.98898067e-01 4.52621492e-02 -6.50040182e-02] [ 8.84928714e-03 -4.53735710e-02 9.98930893e-01 -2.27651517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65119381700003 meters Centerline goodness : 0.931314 Centerline is valid? [False, False] Translation: X:22.87, Y:-0.06, Z:-2.28 [[ 9.99884610e-01 -1.15792003e-02 -9.83303747e-03 2.28712538e+01] [ 1.20133703e-02 9.98900847e-01 4.53075739e-02 -6.42269737e-02] [ 9.29760398e-03 -4.54204738e-02 9.98924689e-01 -2.27645744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68119381700004 meters Centerline goodness : 0.930884 Centerline is valid? [False, False] Translation: X:22.87, Y:-0.06, Z:-2.28 [[ 9.99885717e-01 -1.12047639e-02 -1.01492401e-02 2.28721992e+01] [ 1.16540193e-02 9.98903438e-01 4.53443029e-02 -6.38278690e-02] [ 9.63003860e-03 -4.54574003e-02 9.98919860e-01 -2.27677651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71119381700004 meters Centerline goodness : 0.931858 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99855372e-01 -1.14291902e-02 -1.25939829e-02 2.28785017e+01] [ 1.19545312e-02 9.99026659e-01 4.24596815e-02 -6.32880789e-02] [ 1.20964449e-02 -4.26040958e-02 9.99018802e-01 -2.27705743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74119381700004 meters Centerline goodness : 0.928942 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99858351e-01 -1.08846208e-02 -1.28375587e-02 2.28795782e+01] [ 1.14233192e-02 9.99024168e-01 4.26640217e-02 -6.35317173e-02] [ 1.23606497e-02 -4.28046259e-02 9.99006996e-01 -2.27773546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77119381700004 meters Centerline goodness : 0.930570 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99851570e-01 -1.11238119e-02 -1.31567327e-02 2.28801939e+01] [ 1.16694808e-02 9.99043062e-01 4.21519195e-02 -6.28453799e-02] [ 1.26752525e-02 -4.22991951e-02 9.99024582e-01 -2.27775052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80119381700004 meters Centerline goodness : 0.929863 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99805405e-01 -1.42836497e-02 -1.36062662e-02 2.28812960e+01] [ 1.47936845e-02 9.99162397e-01 3.81530113e-02 -6.06118603e-02] [ 1.30499053e-02 -3.83468737e-02 9.99179272e-01 -2.27767622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.831193817 meters Centerline goodness : 0.931489 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99743710e-01 -1.78232343e-02 -1.39587237e-02 2.28820843e+01] [ 1.82904708e-02 9.99251286e-01 3.40928987e-02 -5.91667217e-02] [ 1.33406269e-02 -3.43394727e-02 9.99321184e-01 -2.27743429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters Centerline goodness : 0.928533 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99687360e-01 -2.02865279e-02 -1.46164190e-02 2.28846124e+01] [ 2.07338340e-02 9.99300249e-01 3.11307002e-02 -5.79275973e-02] [ 1.39746574e-02 -3.14240219e-02 9.99408445e-01 -2.27857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89119381700002 meters Centerline goodness : 0.928533 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.06, Z:-2.28 [[ 9.99687360e-01 -2.02865279e-02 -1.46164190e-02 2.28846124e+01] [ 2.07338340e-02 9.99300249e-01 3.11307002e-02 -5.79275973e-02] [ 1.39746574e-02 -3.14240219e-02 9.99408445e-01 -2.27857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters Centerline goodness : 0.927359 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99683291e-01 -2.02648113e-02 -1.49216072e-02 2.28855972e+01] [ 2.07224092e-02 9.99298980e-01 3.11790142e-02 -5.79644080e-02] [ 1.42793100e-02 -3.14783512e-02 9.99402429e-01 -2.27903204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95119381700002 meters Centerline goodness : 0.929226 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99700473e-01 -1.89493050e-02 -1.54883410e-02 2.28873003e+01] [ 1.94396575e-02 9.99294080e-01 3.21471789e-02 -5.88250283e-02] [ 1.48682408e-02 -3.24386379e-02 9.99363132e-01 -2.27961364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98119381700002 meters Centerline goodness : 0.930078 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99709162e-01 -1.81116289e-02 -1.59235595e-02 2.28883691e+01] [ 1.86219837e-02 9.99297957e-01 3.25086866e-02 -5.87377880e-02] [ 1.53235952e-02 -3.27957601e-02 9.99344598e-01 -2.27975463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01119381700002 meters Centerline goodness : 0.929802 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99719567e-01 -1.70829810e-02 -1.63999473e-02 2.28894590e+01] [ 1.76163510e-02 9.99301779e-01 3.29487352e-02 -5.84136971e-02] [ 1.58256339e-02 -3.32284026e-02 9.99322482e-01 -2.27976456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04119381700002 meters Centerline goodness : 0.932571 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99732377e-01 -1.59173214e-02 -1.67873070e-02 2.28906150e+01] [ 1.64722075e-02 9.99304618e-01 3.34506564e-02 -5.79123141e-02] [ 1.62431886e-02 -3.37182283e-02 9.99299375e-01 -2.28004991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07119381700002 meters Centerline goodness : 0.931307 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99850779e-01 -6.82026673e-03 -1.58714835e-02 2.28903533e+01] [ 7.17838503e-03 9.99718428e-01 2.26171380e-02 -5.65221755e-02] [ 1.57127596e-02 -2.27276946e-02 9.99618208e-01 -2.27901483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10119381700002 meters Centerline goodness : 0.934022 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99852165e-01 -5.24772800e-03 -1.63740719e-02 2.28922474e+01] [ 5.63531142e-03 9.99702879e-01 2.37149038e-02 -5.68141876e-02] [ 1.62447574e-02 -2.38036709e-02 9.99584660e-01 -2.27993496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13119381700002 meters Centerline goodness : 0.934219 Centerline is valid? [False, False] Translation: X:22.89, Y:-0.06, Z:-2.28 [[ 9.99848008e-01 -3.68270020e-03 -1.70410649e-02 2.28942617e+01] [ 4.10706357e-03 9.99680643e-01 2.49347808e-02 -5.79026012e-02] [ 1.69437954e-02 -2.50009797e-02 9.99543825e-01 -2.28064387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16119381700003 meters Centerline goodness : 0.933844 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.06, Z:-2.28 [[ 9.99842625e-01 -2.38818733e-03 -1.75790299e-02 2.28959825e+01] [ 2.84650474e-03 9.99655463e-01 2.60931495e-02 -5.95341024e-02] [ 1.75106580e-02 -2.61390819e-02 9.99504940e-01 -2.28133190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19119381700003 meters Centerline goodness : 0.933320 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.06, Z:-2.28 [[ 9.99837069e-01 -5.31673784e-04 -1.80430980e-02 2.28973037e+01] [ 1.04269231e-03 9.99598236e-01 2.83245287e-02 -6.49246498e-02] [ 1.80207895e-02 -2.83387272e-02 9.99435925e-01 -2.28164851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22119381700003 meters Centerline goodness : 0.934404 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.07, Z:-2.28 [[ 9.99820558e-01 -2.72050514e-03 -1.87470383e-02 2.28992198e+01] [ 3.20320563e-03 9.99662860e-01 2.57663576e-02 -6.65380539e-02] [ 1.86706204e-02 -2.58217846e-02 9.99492193e-01 -2.28194869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25119381700003 meters Centerline goodness : 0.937510 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.07, Z:-2.28 [[ 9.99798414e-01 -5.30571122e-03 -1.93644295e-02 2.29006854e+01] [ 5.75423760e-03 9.99714733e-01 2.31806443e-02 -6.88010863e-02] [ 1.92359157e-02 -2.32873989e-02 9.99543734e-01 -2.28194183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28119381700003 meters Centerline goodness : 0.936205 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.07, Z:-2.28 [[ 9.99769932e-01 -8.21945146e-03 -1.98122242e-02 2.29017873e+01] [ 8.62643112e-03 9.99751720e-01 2.05446754e-02 -7.15707867e-02] [ 1.96384392e-02 -2.07108575e-02 9.99592613e-01 -2.28192499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31119381700003 meters Centerline goodness : 0.936585 Centerline is valid? [False, False] Translation: X:22.90, Y:-0.07, Z:-2.28 [[ 9.99730344e-01 -1.13892126e-02 -2.02367105e-02 2.29026248e+01] [ 1.17518101e-02 9.99770892e-01 1.78901565e-02 -7.49407673e-02] [ 2.00283193e-02 -1.81231502e-02 9.99635142e-01 -2.28159802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34119381700003 meters Centerline goodness : 0.935147 Centerline is valid? [False, False] Translation: X:22.92, Y:-0.09, Z:-2.28 [[ 9.99733461e-01 -1.71309909e-02 -1.54769849e-02 2.29165601e+01] [ 1.74596024e-02 9.99619540e-01 2.13527093e-02 -8.72385660e-02] [ 1.51053035e-02 -2.16172400e-02 9.99652202e-01 -2.28347118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37119381700003 meters Centerline goodness : 0.938770 Centerline is valid? [False, False] Translation: X:22.92, Y:-0.09, Z:-2.28 [[ 9.99664119e-01 -2.05769941e-02 -1.57555027e-02 2.29175296e+01] [ 2.08741421e-02 9.99602814e-01 1.89336838e-02 -9.24986521e-02] [ 1.53596466e-02 -1.92562069e-02 9.99696594e-01 -2.28367923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40119381700003 meters Centerline goodness : 0.938432 Centerline is valid? [False, False] Translation: X:22.92, Y:-0.10, Z:-2.28 [[ 9.99590799e-01 -2.35692444e-02 -1.62088327e-02 2.29193644e+01] [ 2.38428790e-02 9.99572845e-01 1.69010193e-02 -9.77487507e-02] [ 1.58035648e-02 -1.72805687e-02 9.99725777e-01 -2.28450275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43119381700004 meters Centerline goodness : 0.935423 Centerline is valid? [False, False] Translation: X:22.92, Y:-0.10, Z:-2.29 [[ 9.99513777e-01 -2.62031192e-02 -1.68998975e-02 2.29222787e+01] [ 2.64602351e-02 9.99534691e-01 1.51742243e-02 -1.02740076e-01] [ 1.64944218e-02 -1.56140215e-02 9.99742035e-01 -2.28595857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46119381700004 meters Centerline goodness : 0.930860 Centerline is valid? [False, False] Translation: X:22.96, Y:-0.12, Z:-2.29 [[ 9.99392113e-01 -3.05667336e-02 -1.67654031e-02 2.29590557e+01] [ 3.10056964e-02 9.99165741e-01 2.65794638e-02 -1.16458529e-01] [ 1.59389691e-02 -2.70831295e-02 9.99506105e-01 -2.29119549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49119381700004 meters Centerline goodness : 0.929003 Centerline is valid? [False, False] Translation: X:22.98, Y:-0.12, Z:-2.29 [[ 9.99323579e-01 -3.31954358e-02 -1.58255136e-02 2.29797507e+01] [ 3.36578703e-02 9.98985766e-01 2.99096494e-02 -1.22654533e-01] [ 1.48165990e-02 -3.04220710e-02 9.99427319e-01 -2.29344016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52119381700004 meters Centerline goodness : 0.930014 Centerline is valid? [False, False] Translation: X:23.00, Y:-0.13, Z:-2.30 [[ 9.99274968e-01 -3.53778645e-02 -1.40693221e-02 2.29988479e+01] [ 3.58529348e-02 9.98741029e-01 3.50845234e-02 -1.29512198e-01] [ 1.28103938e-02 -3.55635125e-02 9.99285310e-01 -2.29547931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55119381700004 meters Centerline goodness : 0.930725 Centerline is valid? [False, False] Translation: X:23.02, Y:-0.14, Z:-2.30 [[ 9.99081286e-01 -4.07203271e-02 -1.33580788e-02 2.30200271e+01] [ 4.13651716e-02 9.97779733e-01 5.21970096e-02 -1.37010836e-01] [ 1.12029410e-02 -5.27016147e-02 9.98547462e-01 -2.29675831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.581193817 meters Centerline goodness : 0.931972 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.15, Z:-2.30 [[ 9.98664841e-01 -5.01199350e-02 -1.25111062e-02 2.30416447e+01] [ 5.09963769e-02 9.95159945e-01 8.40003159e-02 -1.54904991e-01] [ 8.24046134e-03 -8.45261832e-02 9.96387183e-01 -2.29598076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61119381700001 meters Centerline goodness : 0.931174 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.30 [[ 9.98318527e-01 -5.66167980e-02 -1.24361253e-02 2.30427797e+01] [ 5.74177452e-02 9.95293019e-01 7.80705361e-02 -1.57993162e-01] [ 7.95748489e-03 -7.86533169e-02 9.96870269e-01 -2.29599397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64119381700002 meters Centerline goodness : 0.930553 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.30 [[ 9.97933980e-01 -6.30932562e-02 -1.21248344e-02 2.30433951e+01] [ 6.38037310e-02 9.95377941e-01 7.17763070e-02 -1.60278864e-01] [ 7.54019174e-03 -7.24016254e-02 9.97347056e-01 -2.29596664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67119381700002 meters Centerline goodness : 0.931406 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.30 [[ 9.97471901e-01 -7.01230923e-02 -1.15133780e-02 2.30429934e+01] [ 7.07238680e-02 9.95395883e-01 6.46928898e-02 -1.61372194e-01] [ 6.92390356e-03 -6.53436104e-02 9.97838801e-01 -2.29542750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70119381700002 meters Centerline goodness : 0.931900 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.29 [[ 9.96920782e-01 -7.76052366e-02 -1.12419564e-02 2.30434960e+01] [ 7.81377612e-02 9.95181557e-01 5.92297069e-02 -1.67434480e-01] [ 6.59125225e-03 -5.99257470e-02 9.98181076e-01 -2.29402919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73119381700002 meters Centerline goodness : 0.932130 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.17, Z:-2.29 [[ 9.96615336e-01 -8.11856117e-02 -1.29138976e-02 2.30460362e+01] [ 8.17801523e-02 9.95113748e-01 5.53230002e-02 -1.68758253e-01] [ 8.35936546e-03 -5.61918510e-02 9.98384994e-01 -2.29192645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76119381700002 meters Centerline goodness : 0.938449 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.29 [[ 9.96701979e-01 -8.01499614e-02 -1.26944748e-02 2.30448297e+01] [ 8.07499931e-02 9.95084718e-01 5.73222768e-02 -1.72939495e-01] [ 8.03769964e-03 -5.81583054e-02 9.98275016e-01 -2.29013112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79119381700002 meters Centerline goodness : 0.938864 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.17, Z:-2.29 [[ 9.96792657e-01 -7.84088758e-02 -1.60139873e-02 2.30492001e+01] [ 7.91668742e-02 9.95396846e-01 5.40159787e-02 -1.70452044e-01] [ 1.17049402e-02 -5.51105082e-02 9.98411652e-01 -2.28526940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82119381700002 meters Centerline goodness : 0.939094 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.17, Z:-2.28 [[ 9.97138489e-01 -7.38002670e-02 -1.63815500e-02 2.30489495e+01] [ 7.46409426e-02 9.95486339e-01 5.86146618e-02 -1.71110869e-01] [ 1.19818315e-02 -5.96696696e-02 9.98146265e-01 -2.28468321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85119381700002 meters Centerline goodness : 0.937871 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.29 [[ 9.97698324e-01 -6.63052482e-02 -1.42010241e-02 2.30381860e+01] [ 6.69879429e-02 9.96252497e-01 5.47136026e-02 -1.70766681e-01] [ 1.05200067e-02 -5.55389670e-02 9.98401098e-01 -2.28595572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88119381700002 meters Centerline goodness : 0.942008 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.28 [[ 9.97983236e-01 -6.23995548e-02 -1.16514852e-02 2.30406388e+01] [ 6.28638487e-02 9.97007336e-01 4.49945479e-02 -1.65582826e-01] [ 8.80897645e-03 -4.56362617e-02 9.98919283e-01 -2.28370792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91119381700003 meters Centerline goodness : 0.943834 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98419632e-01 -5.54901571e-02 -8.89274198e-03 2.30428958e+01] [ 5.57907012e-02 9.97713365e-01 3.81502063e-02 -1.61723986e-01] [ 6.75544658e-03 -3.85860472e-02 9.99232446e-01 -2.28161658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94119381700003 meters Centerline goodness : 0.944914 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98658666e-01 -5.03281633e-02 -1.21632340e-02 2.30391044e+01] [ 5.06326155e-02 9.98374322e-01 2.61734994e-02 -1.59546478e-01] [ 1.08261963e-02 -2.67542484e-02 9.99583415e-01 -2.27951607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97119381700003 meters Centerline goodness : 0.946187 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98698315e-01 -4.94350270e-02 -1.25639776e-02 2.30402761e+01] [ 4.97548939e-02 9.98408026e-01 2.65680888e-02 -1.59694964e-01] [ 1.12305819e-02 -2.71586248e-02 9.99568048e-01 -2.28027564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00119381700003 meters Centerline goodness : 0.942135 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98892332e-01 -4.38447986e-02 -1.70804949e-02 2.30391047e+01] [ 4.41060777e-02 9.98910715e-01 1.52327963e-02 -1.57976148e-01] [ 1.63940104e-02 -1.59692771e-02 9.99738075e-01 -2.28025257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03119381700003 meters Centerline goodness : 0.940663 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98904133e-01 -4.34185317e-02 -1.74746651e-02 2.30402584e+01] [ 4.36926773e-02 9.98922832e-01 1.56245232e-02 -1.58272267e-01] [ 1.67774481e-02 -1.63709157e-02 9.99725217e-01 -2.28081453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06119381700003 meters Centerline goodness : 0.942369 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98910058e-01 -4.31797434e-02 -1.77258525e-02 2.30408045e+01] [ 4.34644555e-02 9.98926785e-01 1.60037172e-02 -1.59073744e-01] [ 1.70157924e-02 -1.67567186e-02 9.99714797e-01 -2.28078647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09119381700003 meters Centerline goodness : 0.944176 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.16, Z:-2.28 [[ 9.98932116e-01 -4.25697730e-02 -1.79566858e-02 2.30407368e+01] [ 4.28957680e-02 9.98914173e-01 1.81776702e-02 -1.64221691e-01] [ 1.71633687e-02 -1.89285244e-02 9.99673512e-01 -2.27936248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12119381700003 meters Centerline goodness : 0.942643 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.28 [[ 9.98945721e-01 -4.22289821e-02 -1.80044356e-02 2.30408421e+01] [ 4.25808813e-02 9.98900132e-01 1.96314594e-02 -1.67866565e-01] [ 1.71556166e-02 -2.03774071e-02 9.99645160e-01 -2.27884350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15119381700003 meters Centerline goodness : 0.942243 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.28 [[ 9.98961676e-01 -4.17849631e-02 -1.81545166e-02 2.30414523e+01] [ 4.21643893e-02 9.98889011e-01 2.10453738e-02 -1.71385377e-01] [ 1.72549670e-02 -2.17889960e-02 9.99613678e-01 -2.27881330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18119381700004 meters Centerline goodness : 0.942026 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:-2.28 [[ 9.98986317e-01 -4.12028911e-02 -1.81290103e-02 2.30418421e+01] [ 4.16047534e-02 9.98883512e-01 2.23779868e-02 -1.74581925e-01] [ 1.71867317e-02 -2.31095556e-02 9.99585196e-01 -2.27901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21119381700004 meters Centerline goodness : 0.942388 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.18, Z:-2.28 [[ 9.99063261e-01 -3.93653828e-02 -1.79713099e-02 2.30421885e+01] [ 3.98206937e-02 9.98875700e-01 2.57225434e-02 -1.82468234e-01] [ 1.69385270e-02 -2.64140781e-02 9.99507570e-01 -2.27900453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24119381700004 meters Centerline goodness : 0.939224 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.19, Z:-2.28 [[ 9.99102866e-01 -3.82635227e-02 -1.81484462e-02 2.30430436e+01] [ 3.87571509e-02 9.98865320e-01 2.76759063e-02 -1.86714576e-01] [ 1.70688759e-02 -2.83544593e-02 9.99452189e-01 -2.27920649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27119381700004 meters Centerline goodness : 0.938114 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.19, Z:-2.28 [[ 9.99126867e-01 -3.75327631e-02 -1.83519864e-02 2.30438404e+01] [ 3.80629116e-02 9.98841390e-01 2.94464252e-02 -1.90690513e-01] [ 1.72255179e-02 -3.01192446e-02 9.99397875e-01 -2.27923209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30119381700004 meters Centerline goodness : 0.936599 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.19, Z:-2.28 [[ 9.99033810e-01 -4.01119506e-02 -1.79576462e-02 2.30434739e+01] [ 4.05854451e-02 9.98815819e-01 2.68287419e-02 -1.92808036e-01] [ 1.68602279e-02 -2.75316393e-02 9.99478735e-01 -2.27921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.331193817 meters Centerline goodness : 0.937220 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.20, Z:-2.28 [[ 9.98956361e-01 -4.18842672e-02 -1.82180201e-02 2.30445049e+01] [ 4.23727590e-02 9.98728565e-01 2.73093903e-02 -2.02394629e-01] [ 1.70510232e-02 -2.80528369e-02 9.99461005e-01 -2.27832361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters Centerline goodness : 0.936660 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.21, Z:-2.28 [[ 9.98813024e-01 -4.51738188e-02 -1.82172662e-02 2.30450119e+01] [ 4.56211121e-02 9.98647581e-01 2.49343709e-02 -2.06348542e-01] [ 1.70662481e-02 -2.57358664e-02 9.99523090e-01 -2.27805841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39119381700002 meters Centerline goodness : 0.936057 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.21, Z:-2.28 [[ 9.98800699e-01 -4.49979778e-02 -1.92962729e-02 2.30473977e+01] [ 4.55255765e-02 9.98575308e-01 2.78348111e-02 -2.13243557e-01] [ 1.80162714e-02 -2.86799027e-02 9.99426274e-01 -2.27739917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters Centerline goodness : 0.935412 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.22, Z:-2.28 [[ 9.98507021e-01 -5.09783121e-02 -1.96198822e-02 2.30495236e+01] [ 5.14518209e-02 9.98376444e-01 2.44373790e-02 -2.23208971e-01] [ 1.83422519e-02 -2.54103732e-02 9.99508817e-01 -2.27722316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45119381700002 meters Centerline goodness : 0.935194 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.23, Z:-2.28 [[ 9.98323532e-01 -5.42963052e-02 -2.00508615e-02 2.30509803e+01] [ 5.47428191e-02 9.98248410e-01 2.24351533e-02 -2.27920227e-01] [ 1.87975947e-02 -2.34951821e-02 9.99547211e-01 -2.27698306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48119381700002 meters Centerline goodness : 0.936237 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.23, Z:-2.28 [[ 9.98112171e-01 -5.79791058e-02 -2.02612353e-02 2.30519126e+01] [ 5.83795436e-02 9.98098785e-01 1.97647324e-02 -2.31719549e-01] [ 1.90767729e-02 -2.09102616e-02 9.99599339e-01 -2.27671512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51119381700002 meters Centerline goodness : 0.935400 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.24, Z:-2.28 [[ 9.97722107e-01 -6.43279170e-02 -2.03105049e-02 2.30528052e+01] [ 6.46346510e-02 9.97798873e-01 1.48247003e-02 -2.39324650e-01] [ 1.93121568e-02 -1.61036936e-02 9.99683806e-01 -2.27615206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54119381700002 meters Centerline goodness : 0.936940 Centerline is valid? [False, False] Translation: X:23.05, Y:-0.24, Z:-2.28 [[ 9.97476784e-01 -6.79642399e-02 -2.05165265e-02 2.30538799e+01] [ 6.82189030e-02 9.97598469e-01 1.19781617e-02 -2.42903933e-01] [ 1.96531687e-02 -1.33475531e-02 9.99717758e-01 -2.27615958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57119381700002 meters Centerline goodness : 0.936423 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.25, Z:-2.28 [[ 9.97222064e-01 -7.15738843e-02 -2.06236522e-02 2.30550141e+01] [ 7.17751122e-02 9.97378530e-01 9.18702655e-03 -2.46791090e-01] [ 1.99120368e-02 -1.06417705e-02 9.99745099e-01 -2.27637052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60119381700002 meters Centerline goodness : 0.935163 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.25, Z:-2.28 [[ 9.96963384e-01 -7.50387709e-02 -2.08132867e-02 2.30564999e+01] [ 7.51884805e-02 9.97148121e-01 6.50510567e-03 -2.50641006e-01] [ 2.02657946e-02 -8.05027157e-03 9.99762217e-01 -2.27684451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63119381700002 meters Centerline goodness : 0.935683 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.25, Z:-2.28 [[ 9.96702683e-01 -7.84219919e-02 -2.08267251e-02 2.30576634e+01] [ 7.85186900e-02 9.96905148e-01 3.86530328e-03 -2.54301810e-01] [ 2.04591447e-02 -5.48784532e-03 9.99775628e-01 -2.27734850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66119381700003 meters Centerline goodness : 0.937590 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.26, Z:-2.28 [[ 9.96476472e-01 -8.11943823e-02 -2.10264756e-02 2.30594462e+01] [ 8.12665869e-02 9.96689007e-01 2.60117815e-03 -2.61395388e-01] [ 2.07456560e-02 -4.30076273e-03 9.99775535e-01 -2.27812855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69119381700003 meters Centerline goodness : 0.935054 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.26, Z:-2.28 [[ 9.96324601e-01 -8.28859758e-02 -2.16149112e-02 2.30621092e+01] [ 8.29280360e-02 9.96554979e-01 1.05531199e-03 -2.63914249e-01] [ 2.14529769e-02 -2.84391544e-03 9.99765814e-01 -2.27929978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72119381700003 meters Centerline goodness : 0.937800 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.27, Z:-2.28 [[ 9.96175275e-01 -8.45427117e-02 -2.20760145e-02 2.30645027e+01] [ 8.45526744e-02 9.96418894e-01 -4.83401012e-04 -2.66462242e-01] [ 2.20378260e-02 -1.38503393e-03 9.99756178e-01 -2.28039746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75119381700003 meters Centerline goodness : 0.942209 Centerline is valid? [False, False] Translation: X:23.07, Y:-0.27, Z:-2.28 [[ 9.95999787e-01 -8.64376259e-02 -2.26486486e-02 2.30669471e+01] [ 8.64103184e-02 9.96257241e-01 -2.18343771e-03 -2.69265802e-01] [ 2.27526113e-02 2.17626555e-04 9.99741102e-01 -2.28132280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78119381700003 meters Centerline goodness : 0.942209 Centerline is valid? [False, False] Translation: X:23.07, Y:-0.27, Z:-2.28 [[ 9.95999787e-01 -8.64376259e-02 -2.26486486e-02 2.30669471e+01] [ 8.64103184e-02 9.96257241e-01 -2.18343771e-03 -2.69265802e-01] [ 2.27526113e-02 2.17626555e-04 9.99741102e-01 -2.28132280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81119381700003 meters Centerline goodness : 0.943075 Centerline is valid? [False, False] Translation: X:23.07, Y:-0.27, Z:-2.28 [[ 9.95780189e-01 -8.89049342e-02 -2.27536476e-02 2.30681187e+01] [ 8.88447490e-02 9.96038819e-01 -3.64445616e-03 -2.74995555e-01] [ 2.29875264e-02 1.60753513e-03 9.99734459e-01 -2.28154398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84119381700003 meters Centerline goodness : 0.942000 Centerline is valid? [False, False] Translation: X:23.07, Y:-0.28, Z:-2.28 [[ 9.95555301e-01 -9.12691945e-02 -2.32288031e-02 2.30705507e+01] [ 9.11566805e-02 9.95819323e-01 -5.85958149e-03 -2.76565409e-01] [ 2.36664902e-02 3.71607684e-03 9.99713003e-01 -2.28266136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87119381700003 meters Centerline goodness : 0.946001 Centerline is valid? [False, False] Translation: X:23.07, Y:-0.28, Z:-2.28 [[ 9.95380955e-01 -9.30279598e-02 -2.37181910e-02 2.30730744e+01] [ 9.28770390e-02 9.95650164e-01 -7.38958889e-03 -2.78212698e-01] [ 2.43024592e-02 5.15258069e-03 9.99691373e-01 -2.28387797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90119381700003 meters Centerline goodness : 0.944490 Centerline is valid? [False, False] Translation: X:23.09, Y:-0.28, Z:-2.29 [[ 9.95504976e-01 -9.28803523e-02 -1.85224776e-02 2.30854661e+01] [ 9.25959458e-02 9.95580540e-01 -1.56645645e-02 -2.77772075e-01] [ 1.98955486e-02 1.38790456e-02 9.99705726e-01 -2.28742167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93119381700004 meters Centerline goodness : 0.944711 Centerline is valid? [False, False] Translation: X:23.09, Y:-0.28, Z:-2.29 [[ 9.95501631e-01 -9.28601533e-02 -1.88014579e-02 2.30859747e+01] [ 9.25862196e-02 9.95592393e-01 -1.49525471e-02 -2.80080965e-01] [ 2.01070843e-02 1.31445292e-02 9.99711422e-01 -2.28724842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96119381700004 meters Centerline goodness : 0.948352 Centerline is valid? [False, False] Translation: X:23.10, Y:-0.28, Z:-2.29 [[ 9.95566060e-01 -9.25495126e-02 -1.68168994e-02 2.31047583e+01] [ 9.23778642e-02 9.95666383e-01 -1.07137550e-02 -2.84106650e-01] [ 1.77355742e-02 9.11274159e-03 9.99801184e-01 -2.28754738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99119381700004 meters Centerline goodness : 0.951282 Centerline is valid? [False, True] Translation: X:23.11, Y:-0.29, Z:-2.29 [[ 9.95556998e-01 -9.25949985e-02 -1.71005560e-02 2.31055802e+01] [ 9.24255267e-02 9.95664765e-01 -1.04498051e-02 -2.85005035e-01] [ 1.79940207e-02 8.82284875e-03 9.99799166e-01 -2.28779639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02119381700004 meters Centerline goodness : 0.945943 Centerline is valid? [True, False] Translation: X:23.11, Y:-0.29, Z:-2.29 [[ 9.95551495e-01 -9.26045577e-02 -1.73671435e-02 2.31064018e+01] [ 9.24349359e-02 9.95665148e-01 -1.03293955e-02 -2.85559356e-01] [ 1.82484086e-02 8.67811436e-03 9.99795822e-01 -2.28808573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05119381700004 meters Centerline goodness : 0.947783 Centerline is valid? [False, False] Translation: X:23.12, Y:-0.28, Z:-2.29 [[ 9.95906738e-01 -8.93477934e-02 -1.36653260e-02 2.31197631e+01] [ 8.91296198e-02 9.95894400e-01 -1.58194656e-02 -2.82371822e-01] [ 1.50226560e-02 1.45367270e-02 9.99781478e-01 -2.29221304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters Centerline goodness : 0.947238 Centerline is valid? [False, False] Translation: X:23.12, Y:-0.28, Z:-2.29 [[ 9.95996148e-01 -8.82437369e-02 -1.43079320e-02 2.31221972e+01] [ 8.80293910e-02 9.96005276e-01 -1.49772279e-02 -2.81088240e-01] [ 1.55724224e-02 1.36577427e-02 9.99785460e-01 -2.29382222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11119381700001 meters Centerline goodness : 0.947938 Centerline is valid? [False, False] Translation: X:23.13, Y:-0.28, Z:-2.30 [[ 9.96346403e-01 -8.48656192e-02 -9.57452042e-03 2.31346933e+01] [ 8.46572381e-02 9.96201311e-01 -2.03985506e-02 -2.78049933e-01] [ 1.12692854e-02 1.95134700e-02 9.99746082e-01 -2.29754964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters Centerline goodness : 0.946134 Centerline is valid? [False, False] Translation: X:23.15, Y:-0.27, Z:-2.30 [[ 9.96651806e-01 -8.16625350e-02 -4.05056043e-03 2.31472797e+01] [ 8.15335286e-02 9.96343600e-01 -2.55287012e-02 -2.74709546e-01] [ 6.12048842e-03 2.51129697e-02 9.99665883e-01 -2.30149869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17119381700002 meters Centerline goodness : 0.947286 Centerline is valid? [False, False] Translation: X:23.17, Y:-0.27, Z:-2.30 [[ 9.96896257e-01 -7.87112135e-02 -1.54815715e-03 2.31655766e+01] [ 7.86485729e-02 9.96592095e-01 -2.48716313e-02 -2.70877964e-01] [ 3.50055746e-03 2.46726758e-02 9.99689454e-01 -2.30164250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20119381700002 meters Centerline goodness : 0.945187 Centerline is valid? [False, False] Translation: X:23.17, Y:-0.27, Z:-2.30 [[ 9.97028156e-01 -7.70049842e-02 -2.25567549e-03 2.31678609e+01] [ 7.69307835e-02 9.96757827e-01 -2.35687921e-02 -2.70266798e-01] [ 4.06327667e-03 2.33252184e-02 9.99719673e-01 -2.30295275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23119381700002 meters Centerline goodness : 0.946008 Centerline is valid? [False, False] Translation: X:23.20, Y:-0.27, Z:-2.30 [[ 9.97380059e-01 -7.21970962e-02 -4.53844208e-03 2.31960925e+01] [ 7.20445376e-02 9.97015804e-01 -2.77321412e-02 -2.67672370e-01] [ 6.52707855e-03 2.73325147e-02 9.99605087e-01 -2.30137766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26119381700002 meters Centerline goodness : 0.947398 Centerline is valid? [False, False] Translation: X:23.21, Y:-0.26, Z:-2.31 [[ 9.97692610e-01 -6.78926956e-02 1.95017983e-04 2.32088681e+01] [ 6.78626203e-02 9.97156535e-01 -3.27644549e-02 -2.64623632e-01] [ 2.03000371e-03 3.27020890e-02 9.99463082e-01 -2.30578685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29119381700002 meters Centerline goodness : 0.946579 Centerline is valid? [False, False] Translation: X:23.24, Y:-0.25, Z:-2.30 [[ 9.98195053e-01 -5.99380900e-02 3.74989554e-03 2.32416417e+01] [ 6.00551089e-02 9.96392418e-01 -5.99627711e-02 -2.53946910e-01] [-1.42313514e-04 6.00797418e-02 9.98193571e-01 -2.30383352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32119381700002 meters Centerline goodness : 0.945758 Centerline is valid? [False, False] Translation: X:23.26, Y:-0.25, Z:-2.30 [[ 9.98277440e-01 -5.85719923e-02 3.38743991e-03 2.32631521e+01] [ 5.86697506e-02 9.96496295e-01 -5.96070017e-02 -2.52559751e-01] [ 1.15729525e-04 5.97030653e-02 9.98216174e-01 -2.30492886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35119381700002 meters Centerline goodness : 0.944247 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.26, Z:-2.31 [[ 9.98474562e-01 -5.49226526e-02 5.66140500e-03 2.32763338e+01] [ 5.51206819e-02 9.97487537e-01 -4.45008245e-02 -2.56865582e-01] [-3.20307760e-03 4.47450017e-02 9.98993306e-01 -2.30918534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38119381700002 meters Centerline goodness : 0.942426 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.26, Z:-2.31 [[ 9.98532280e-01 -5.39544520e-02 4.71195024e-03 2.32792475e+01] [ 5.41080815e-02 9.97597605e-01 -4.32589248e-02 -2.58223392e-01] [-2.36661869e-03 4.34503875e-02 9.99052783e-01 -2.31075929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41119381700003 meters Centerline goodness : 0.942016 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.26, Z:-2.31 [[ 9.98595868e-01 -5.28272120e-02 3.94681329e-03 2.32818655e+01] [ 5.29461142e-02 9.97724189e-01 -4.17510594e-02 -2.60242256e-01] [-1.73223902e-03 4.19014038e-02 9.99120249e-01 -2.31237808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44119381700003 meters Centerline goodness : 0.939755 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.26, Z:-2.31 [[ 9.98637510e-01 -5.20692957e-02 3.45150248e-03 2.32833916e+01] [ 5.21666996e-02 9.97810144e-01 -4.06639020e-02 -2.62569820e-01] [-1.32660345e-03 4.07885514e-02 9.99166920e-01 -2.31315416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47119381700003 meters Centerline goodness : 0.940039 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.27, Z:-2.31 [[ 9.98833145e-01 -4.82068916e-02 2.90571094e-03 2.32847036e+01] [ 4.82799167e-02 9.98197536e-01 -3.56472787e-02 -2.67428280e-01] [-1.18202900e-03 3.57459710e-02 9.99360210e-01 -2.31374669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50119381700003 meters Centerline goodness : 0.940385 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.27, Z:-2.31 [[ 9.99028362e-01 -4.40144125e-02 2.25002476e-03 2.32859340e+01] [ 4.40624081e-02 9.98569725e-01 -3.02821541e-02 -2.72016849e-01] [-9.13955382e-04 3.03518724e-02 9.99538858e-01 -2.31402593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53119381700003 meters Centerline goodness : 0.943924 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.28, Z:-2.31 [[ 9.99224274e-01 -3.93456735e-02 1.66399335e-03 2.32866847e+01] [ 3.93745825e-02 9.98926608e-01 -2.43982343e-02 -2.76903507e-01] [-7.02242274e-04 2.44448270e-02 9.99700934e-01 -2.31378371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56119381700003 meters Centerline goodness : 0.942267 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.28, Z:-2.31 [[ 9.99255178e-01 -3.85641687e-02 1.37630848e-03 2.32870117e+01] [ 3.85856892e-02 9.98987995e-01 -2.31112596e-02 -2.79456595e-01] [-4.83649135e-04 2.31471516e-02 9.99731952e-01 -2.31349105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59119381700003 meters Centerline goodness : 0.943166 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.28, Z:-2.31 [[ 9.99284330e-01 -3.78133913e-02 9.87219518e-04 2.32877089e+01] [ 3.78258559e-02 9.99055859e-01 -2.13680979e-02 -2.83821435e-01] [-1.78287197e-04 2.13901478e-02 9.99771189e-01 -2.31337069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62119381700003 meters Centerline goodness : 0.944532 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.29, Z:-2.31 [[ 9.99299486e-01 -3.74193432e-02 5.74055666e-04 2.32883988e+01] [ 3.74234181e-02 9.99108913e-01 -1.95158458e-02 -2.89667378e-01] [ 1.56726000e-04 1.95236578e-02 9.99809383e-01 -2.31300149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65119381700003 meters Centerline goodness : 0.947704 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.30, Z:-2.31 [[ 9.99041476e-01 -4.37656843e-02 8.33461791e-04 2.32873319e+01] [ 4.37730723e-02 9.98752659e-01 -2.40217550e-02 -2.99492855e-01] [ 2.18906364e-04 2.40352127e-02 9.99711089e-01 -2.31131290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68119381700004 meters Centerline goodness : 0.949122 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.30, Z:-2.31 [[ 9.98881967e-01 -4.72688380e-02 6.87012031e-04 2.32879354e+01] [ 4.72704490e-02 9.98531231e-01 -2.64742375e-02 -3.04029460e-01] [ 5.65403475e-04 2.64771138e-02 9.99649260e-01 -2.31116430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71119381700004 meters Centerline goodness : 0.950729 Centerline is valid? [False, True] Translation: X:23.29, Y:-0.31, Z:-2.31 [[ 9.98702660e-01 -5.09178496e-02 6.07758368e-04 2.32884284e+01] [ 5.09139293e-02 9.98278031e-01 -2.91332347e-02 -3.07708719e-01] [ 8.76689835e-04 2.91263823e-02 9.99575352e-01 -2.31107778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74119381700004 meters Centerline goodness : 0.953149 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.32, Z:-2.31 [[ 9.98449757e-01 -5.56542522e-02 -8.29055032e-04 2.33170828e+01] [ 5.56542374e-02 9.98450101e-01 -4.09354043e-05 -3.20945210e-01] [ 8.30048310e-04 -5.26848117e-06 9.99999655e-01 -2.30833100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77119381700004 meters Centerline goodness : 0.955196 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.33, Z:-2.31 [[ 9.97932294e-01 -6.42685655e-02 -8.29050990e-04 2.33466850e+01] [ 6.42685536e-02 9.97932639e-01 -4.10171175e-05 -3.25851392e-01] [ 8.29973153e-04 -1.23496018e-05 9.99999655e-01 -2.30775493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80119381700004 meters Centerline goodness : 0.955385 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.33, Z:-2.31 [[ 9.97756949e-01 -6.69356737e-02 -8.29039656e-04 2.33736695e+01] [ 6.69356625e-02 9.97757293e-01 -4.12449260e-05 -3.28526877e-01] [ 8.29941120e-04 -1.43399071e-05 9.99999655e-01 -2.30801269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.831193817 meters Centerline goodness : 0.955159 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.33, Z:-2.31 [[ 9.97579501e-01 -6.95302273e-02 -8.29034026e-04 2.34019507e+01] [ 6.95302170e-02 9.97579845e-01 -4.13577846e-05 -3.31385405e-01] [ 8.29903251e-04 -1.63852376e-05 9.99999655e-01 -2.30780567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters Centerline goodness : 0.957090 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.34, Z:-2.31 [[ 9.97339821e-01 -7.28875485e-02 -8.29021075e-04 2.34302890e+01] [ 7.28875391e-02 9.97340165e-01 -4.16157830e-05 -3.36600189e-01] [ 8.29849288e-04 -1.89202284e-05 9.99999655e-01 -2.30657995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89119381700002 meters Centerline goodness : 0.957779 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.34, Z:-2.31 [[ 9.97219519e-01 -7.45153919e-02 -8.29015038e-04 2.34585114e+01] [ 7.45153829e-02 9.97219863e-01 -4.17357001e-05 -3.37643641e-01] [ 8.29820215e-04 -2.01547182e-05 9.99999655e-01 -2.30837400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters Centerline goodness : 0.954815 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.34, Z:-2.31 [[ 9.97082918e-01 -7.63214676e-02 -8.29011056e-04 2.34874270e+01] [ 7.63214592e-02 9.97083263e-01 -4.18146298e-05 -3.37907224e-01] [ 8.29784403e-04 -2.15786804e-05 9.99999655e-01 -2.31029037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95119381700002 meters Centerline goodness : 0.952988 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.34, Z:-2.31 [[ 9.96922868e-01 -7.83843562e-02 -8.28999839e-04 2.35164865e+01] [ 7.83843483e-02 9.96923213e-01 -4.20358478e-05 -3.37507891e-01] [ 8.29744136e-04 -2.30741142e-05 9.99999655e-01 -2.31242440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98119381700002 meters Centerline goodness : 0.952103 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.34, Z:-2.32 [[ 9.96516525e-01 -8.33914209e-02 -8.28988640e-04 2.35444727e+01] [ 8.33914146e-02 9.96516869e-01 -4.22555690e-05 -3.38224677e-01] [ 8.29624915e-04 -2.70221625e-05 9.99999655e-01 -2.31504580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01119381700002 meters Centerline goodness : 0.952112 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.34, Z:-2.32 [[ 9.96367229e-01 -8.51566652e-02 -8.28982765e-04 2.35735485e+01] [ 8.51566593e-02 9.96367574e-01 -4.23705044e-05 -3.38557714e-01] [ 8.29579677e-04 -2.83768208e-05 9.99999655e-01 -2.31598553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04119381700002 meters Centerline goodness : 0.951173 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.34, Z:-2.32 [[ 9.96284750e-01 -8.61162566e-02 -8.28971681e-04 2.36016476e+01] [ 8.61162510e-02 9.96285094e-01 -4.25862694e-05 -3.38761759e-01] [ 8.29559499e-04 -2.89598825e-05 9.99999655e-01 -2.31705201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07119381700002 meters Centerline goodness : 0.950191 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.34, Z:-2.32 [[ 9.96297045e-01 -8.59738996e-02 -8.28967743e-04 2.36310412e+01] [ 8.59738938e-02 9.96297389e-01 -4.26627806e-05 -3.38257896e-01] [ 8.29566284e-04 -2.87647825e-05 9.99999655e-01 -2.31856611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10119381700002 meters Centerline goodness : 0.948968 Centerline is valid? [True, False] Translation: X:23.65, Y:-0.34, Z:-2.32 [[ 9.97012775e-01 -7.71846335e-02 -2.83883975e-03 2.36501162e+01] [ 7.71601097e-02 9.96987263e-01 -7.91923500e-03 -3.37653170e-01] [ 3.44153033e-03 7.67653328e-03 9.99964613e-01 -2.31839643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13119381700002 meters Centerline goodness : 0.948860 Centerline is valid? [False, False] Translation: X:23.65, Y:-0.34, Z:-2.32 [[ 9.97315316e-01 -7.31435726e-02 -3.48966938e-03 2.36511265e+01] [ 7.31296231e-02 9.97314541e-01 -3.97039216e-03 -3.37619393e-01] [ 3.77070668e-03 3.70453471e-03 9.99986029e-01 -2.31878165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16119381700003 meters Centerline goodness : 0.948979 Centerline is valid? [False, False] Translation: X:23.67, Y:-0.34, Z:-2.32 [[ 9.97947896e-01 -6.39282222e-02 -3.63019405e-03 2.36707273e+01] [ 6.38813495e-02 9.97887481e-01 -1.18214959e-02 -3.35424666e-01] [ 4.37825241e-03 1.15653353e-02 9.99923534e-01 -2.31927467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19119381700003 meters Centerline goodness : 0.950897 Centerline is valid? [False, True] Translation: X:23.70, Y:-0.33, Z:-2.32 [[ 9.98371710e-01 -5.68643180e-02 -4.51426962e-03 2.36973723e+01] [ 5.67798119e-02 9.98241207e-01 -1.70453999e-02 -3.32325308e-01] [ 5.47560500e-03 1.67613257e-02 9.99844526e-01 -2.31809120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22119381700003 meters Centerline goodness : 0.954076 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.34, Z:-2.31 [[ 9.98599834e-01 -5.26408031e-02 -5.22659673e-03 2.37253240e+01] [ 5.26403670e-02 9.98613510e-01 -2.21058650e-04 -3.36373174e-01] [ 5.23098681e-03 -5.43808390e-05 9.99986317e-01 -2.31396957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25119381700003 meters Centerline goodness : 0.958619 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.33, Z:-2.30 [[ 9.98767355e-01 -4.93604406e-02 -5.22657737e-03 2.37538764e+01] [ 4.93599572e-02 9.98781030e-01 -2.21515293e-04 -3.34036611e-01] [ 5.23114042e-03 -3.67413917e-05 9.99986317e-01 -2.30358338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28119381700003 meters Centerline goodness : 0.961162 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.33, Z:-2.30 [[ 9.98972451e-01 -4.50191763e-02 -5.22651319e-03 2.37818284e+01] [ 4.50186256e-02 9.98986123e-01 -2.23019528e-04 -3.31065272e-01] [ 5.23125430e-03 -1.25000755e-05 9.99986317e-01 -2.30278579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31119381700003 meters Centerline goodness : 0.957269 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.33, Z:-2.31 [[ 9.99020549e-01 -4.39388851e-02 -5.22649054e-03 2.38093683e+01] [ 4.39383169e-02 9.99034221e-01 -2.23548963e-04 -3.29126015e-01] [ 5.23126540e-03 -6.31318923e-06 9.99986317e-01 -2.31022873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34119381700003 meters Centerline goodness : 0.962943 Centerline is valid? [True, True] Translation: X:23.84, Y:-0.33, Z:-2.30 [[ 9.99010463e-01 -4.41676114e-02 -5.22646865e-03 2.38383320e+01] [ 4.41670436e-02 9.99024135e-01 -2.24059490e-04 -3.27159582e-01] [ 5.23126450e-03 -6.99989407e-06 9.99986317e-01 -2.30292619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37119381700003 meters Centerline goodness : 0.960256 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.33, Z:-2.30 [[ 9.98915776e-01 -4.62596726e-02 -5.22640689e-03 2.38675659e+01] [ 4.62591259e-02 9.98929448e-01 -2.25491004e-04 -3.26526323e-01] [ 5.23124289e-03 -1.65224935e-05 9.99986317e-01 -2.30129111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40119381700003 meters Centerline goodness : 0.960185 Centerline is valid? [True, True] Translation: X:23.90, Y:-0.33, Z:-2.30 [[ 9.98884241e-01 -4.69356942e-02 -5.22634062e-03 2.38950882e+01] [ 4.69351489e-02 9.98897913e-01 -2.27016756e-04 -3.26763610e-01] [ 5.23123592e-03 -1.85356148e-05 9.99986317e-01 -2.30209766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43119381700004 meters Centerline goodness : 0.959345 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.33, Z:-2.30 [[ 9.98884548e-01 -4.69291541e-02 -5.22631709e-03 2.39239003e+01] [ 4.69286058e-02 9.98898220e-01 -2.27557045e-04 -3.26648919e-01] [ 5.23123790e-03 -1.79605587e-05 9.99986317e-01 -2.30294373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46119381700004 meters Centerline goodness : 0.954981 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.33, Z:-2.31 [[ 9.98927910e-01 -4.59969265e-02 -5.22625092e-03 2.39530800e+01] [ 4.59963576e-02 9.98941581e-01 -2.29066732e-04 -3.27211829e-01] [ 5.23125573e-03 -1.15673545e-05 9.99986317e-01 -2.30574597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49119381700004 meters Centerline goodness : 0.952547 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.33, Z:-2.31 [[ 9.98984933e-01 -4.47413749e-02 -5.22623118e-03 2.39815114e+01] [ 4.47407865e-02 9.98998603e-01 -2.29516229e-04 -3.27243861e-01] [ 5.23126652e-03 -4.54243919e-06 9.99986317e-01 -2.31212244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52119381700004 meters Centerline goodness : 0.949637 Centerline is valid? [True, False] Translation: X:23.98, Y:-0.33, Z:-2.31 [[ 9.98998328e-01 -4.43777186e-02 -5.74103632e-03 2.39832535e+01] [ 4.43804817e-02 9.99014638e-01 3.54735812e-04 -3.28842125e-01] [ 5.71963696e-03 -6.09170440e-04 9.99983457e-01 -2.31307547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55119381700004 meters Centerline goodness : 0.950074 Centerline is valid? [False, True] Translation: X:23.98, Y:-0.33, Z:-2.31 [[ 9.99011031e-01 -4.40075046e-02 -6.34816438e-03 2.39846550e+01] [ 4.40147669e-02 9.99030371e-01 1.00879575e-03 -3.30802717e-01] [ 6.29761444e-03 -1.28721106e-03 9.99979341e-01 -2.31326735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters Centerline goodness : 0.949151 Centerline is valid? [True, False] Translation: X:23.99, Y:-0.34, Z:-2.31 [[ 9.98994932e-01 -4.42522287e-02 -7.13199172e-03 2.39869975e+01] [ 4.42632274e-02 9.99018934e-01 1.39169199e-03 -3.36075606e-01] [ 7.06340929e-03 -1.70597822e-03 9.99973599e-01 -2.31405838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61119381700001 meters Centerline goodness : 0.948867 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.34, Z:-2.31 [[ 9.98996645e-01 -4.41296441e-02 -7.63400664e-03 2.39883275e+01] [ 4.41470733e-02 9.99022773e-01 2.12977092e-03 -3.38986763e-01] [ 7.53256044e-03 -2.46465305e-03 9.99968593e-01 -2.31436982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters Centerline goodness : 0.948134 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.34, Z:-2.31 [[ 9.99000392e-01 -4.39714000e-02 -8.04572096e-03 2.39895728e+01] [ 4.39963872e-02 9.99027319e-01 2.95537578e-03 -3.41900800e-01] [ 7.90794303e-03 -3.30640421e-03 9.99963265e-01 -2.31485725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67119381700002 meters Centerline goodness : 0.949388 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.34, Z:-2.32 [[ 9.99003924e-01 -4.37891379e-02 -8.58314275e-03 2.39910764e+01] [ 4.38223193e-02 9.99032427e-01 3.71661129e-03 -3.44449824e-01] [ 8.41209074e-03 -4.08904249e-03 9.99956257e-01 -2.31532059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70119381700002 meters Centerline goodness : 0.949388 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.34, Z:-2.32 [[ 9.99003924e-01 -4.37891379e-02 -8.58314275e-03 2.39910764e+01] [ 4.38223193e-02 9.99032427e-01 3.71661129e-03 -3.44449824e-01] [ 8.41209074e-03 -4.08904249e-03 9.99956257e-01 -2.31532059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73119381700002 meters Centerline goodness : 0.943690 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.35, Z:-2.32 [[ 9.99043892e-01 -4.27599629e-02 -9.10429231e-03 2.39923872e+01] [ 4.28122294e-02 9.99067299e-01 5.62544020e-03 -3.49509618e-01] [ 8.85525711e-03 -6.00983672e-03 9.99942732e-01 -2.31557597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76119381700002 meters Centerline goodness : 0.943935 Centerline is valid? [False, False] Translation: X:24.00, Y:-0.35, Z:-2.32 [[ 9.99182018e-01 -3.99520919e-02 -6.25509785e-03 2.40029901e+01] [ 3.99364527e-02 9.99198825e-01 -2.60552916e-03 -3.50369500e-01] [ 6.35418276e-03 2.35359146e-03 9.99977042e-01 -2.31732361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79119381700002 meters Centerline goodness : 0.947269 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.35, Z:-2.32 [[ 9.99300431e-01 -3.73482659e-02 -1.93775441e-03 2.40129364e+01] [ 3.73255497e-02 9.99246199e-01 -1.06694797e-02 -3.51494317e-01] [ 2.33478030e-03 1.05896879e-02 9.99941202e-01 -2.31941060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82119381700002 meters Centerline goodness : 0.944449 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.35, Z:-2.32 [[ 9.99332370e-01 -3.64621830e-02 -2.30733126e-03 2.40127691e+01] [ 3.64394515e-02 9.99293262e-01 -9.22728139e-03 -3.54810564e-01] [ 2.64214741e-03 9.13704309e-03 9.99954766e-01 -2.31816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85119381700002 meters Centerline goodness : 0.948379 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.36, Z:-2.32 [[ 9.99268324e-01 -3.81879024e-02 -2.12141965e-03 2.40107522e+01] [ 3.81631471e-02 9.99214350e-01 -1.06890834e-02 -3.58975554e-01] [ 2.52794663e-03 1.06003024e-02 9.99940620e-01 -2.31556762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88119381700002 meters Centerline goodness : 0.949136 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.36, Z:-2.31 [[ 9.99281018e-01 -3.78371230e-02 -2.40831780e-03 2.40107412e+01] [ 3.78121760e-02 9.99238020e-01 -9.67568118e-03 -3.61525785e-01] [ 2.77258265e-03 9.57766080e-03 9.99950289e-01 -2.31465179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91119381700003 meters Centerline goodness : 0.949622 Centerline is valid? [False, False] Translation: X:24.01, Y:-0.36, Z:-2.31 [[ 9.99276558e-01 -3.79306103e-02 -2.76202482e-03 2.40111951e+01] [ 3.79042739e-02 9.99240541e-01 -9.03364553e-03 -3.63893992e-01] [ 3.10257887e-03 8.92241767e-03 9.99955381e-01 -2.31414559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94119381700003 meters Centerline goodness : 0.950120 Centerline is valid? [False, True] Translation: X:24.01, Y:-0.37, Z:-2.31 [[ 9.99280582e-01 -3.77973251e-02 -3.11152063e-03 2.40115874e+01] [ 3.77717104e-02 9.99255040e-01 -7.91602001e-03 -3.67310642e-01] [ 3.40840705e-03 7.79279762e-03 9.99963827e-01 -2.31356257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97119381700003 meters Centerline goodness : 0.944658 Centerline is valid? [True, False] Translation: X:24.01, Y:-0.37, Z:-2.31 [[ 9.99137283e-01 -4.13920587e-02 -3.37449264e-03 2.40132827e+01] [ 4.13565501e-02 9.99094518e-01 -9.98901599e-03 -3.73302565e-01] [ 3.78490303e-03 9.84084092e-03 9.99944415e-01 -2.31453511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00119381700003 meters Centerline goodness : 0.944014 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.38, Z:-2.32 [[ 9.99081079e-01 -4.26829992e-02 -3.89338078e-03 2.40157421e+01] [ 4.26406662e-02 9.99036598e-01 -1.03754354e-02 -3.76994143e-01] [ 4.33248460e-03 1.01998849e-02 9.99938594e-01 -2.31600914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03119381700003 meters Centerline goodness : 0.943028 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.38, Z:-2.32 [[ 9.99033549e-01 -4.37255795e-02 -4.47670066e-03 2.40185789e+01] [ 4.36766986e-02 9.98990650e-01 -1.04893929e-02 -3.80707322e-01] [ 4.93083688e-03 1.02837279e-02 9.99934964e-01 -2.31777405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06119381700003 meters Centerline goodness : 0.939588 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.38, Z:-2.32 [[ 9.99030927e-01 -4.37331963e-02 -4.96122109e-03 2.40204323e+01] [ 4.36844970e-02 9.98999894e-01 -9.53292098e-03 -3.84336923e-01] [ 5.37316444e-03 9.30695444e-03 9.99942253e-01 -2.31884685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09119381700003 meters Centerline goodness : 0.937833 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.39, Z:-2.32 [[ 9.99019713e-01 -4.39192191e-02 -5.54214413e-03 2.40234216e+01] [ 4.38710441e-02 9.99000754e-01 -8.53372067e-03 -3.89301053e-01] [ 5.91140051e-03 8.28221552e-03 9.99948229e-01 -2.32095084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12119381700003 meters Centerline goodness : 0.936583 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.39, Z:-2.32 [[ 9.99032220e-01 -4.35818898e-02 -5.93645089e-03 2.40246015e+01] [ 4.35352864e-02 9.99021709e-01 -7.76560409e-03 -3.91319475e-01] [ 6.26908301e-03 7.49964360e-03 9.99952226e-01 -2.32143989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15119381700003 meters Centerline goodness : 0.934770 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.39, Z:-2.32 [[ 9.99045893e-01 -4.32146224e-02 -6.30875941e-03 2.40256238e+01] [ 4.31706227e-02 9.99043529e-01 -6.95153886e-03 -3.93535597e-01] [ 6.60313339e-03 6.67255327e-03 9.99955937e-01 -2.32178608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18119381700004 meters Centerline goodness : 0.933416 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.40, Z:-2.32 [[ 9.99042726e-01 -4.32231204e-02 -6.73743541e-03 2.40267829e+01] [ 4.31794065e-02 9.99046163e-01 -6.50404953e-03 -3.95847204e-01] [ 7.01213432e-03 6.20690491e-03 9.99956151e-01 -2.32204311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21119381700004 meters Centerline goodness : 0.933132 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.40, Z:-2.32 [[ 9.99042610e-01 -4.31732583e-02 -7.06633620e-03 2.40277195e+01] [ 4.31325758e-02 9.99052453e-01 -5.81184122e-03 -3.98922344e-01] [ 7.31055664e-03 5.50148773e-03 9.99958144e-01 -2.32224221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24119381700004 meters Centerline goodness : 0.928693 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.40, Z:-2.32 [[ 9.99050096e-01 -4.29453455e-02 -7.38944319e-03 2.40287717e+01] [ 4.29065101e-02 9.99064841e-01 -5.33623316e-03 -4.00016669e-01] [ 7.61169926e-03 5.01410903e-03 9.99958460e-01 -2.32278308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27119381700004 meters Centerline goodness : 0.930539 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.40, Z:-2.32 [[ 9.99038707e-01 -4.31387971e-02 -7.79137383e-03 2.40299492e+01] [ 4.30992521e-02 9.99057397e-01 -5.17408454e-03 -4.01428640e-01] [ 8.00723344e-03 4.83330834e-03 9.99956261e-01 -2.32315631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30119381700004 meters Centerline goodness : 0.929278 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.40, Z:-2.32 [[ 9.98881924e-01 -4.66229539e-02 -7.82319691e-03 2.40300534e+01] [ 4.65585413e-02 9.98881716e-01 -8.22309921e-03 -4.03814380e-01] [ 8.19783353e-03 7.84966852e-03 9.99935587e-01 -2.32271976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.331193817 meters Centerline goodness : 0.930835 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.41, Z:-2.32 [[ 9.98875363e-01 -4.66977399e-02 -8.20549473e-03 2.40308326e+01] [ 4.66352412e-02 9.98882693e-01 -7.64983423e-03 -4.05973611e-01] [ 8.55355664e-03 7.25856572e-03 9.99937073e-01 -2.32257462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters Centerline goodness : 0.927211 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.41, Z:-2.32 [[ 9.98807776e-01 -4.80253762e-02 -8.75155241e-03 2.40334936e+01] [ 4.79507122e-02 9.98813104e-01 -8.55058162e-03 -4.06781884e-01] [ 9.15181013e-03 8.12074424e-03 9.99925146e-01 -2.32425688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39119381700002 meters Centerline goodness : 0.926174 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.41, Z:-2.32 [[ 9.98791067e-01 -4.83094249e-02 -9.08866508e-03 2.40345875e+01] [ 4.82354615e-02 9.98802427e-01 -8.18852324e-03 -4.08505760e-01] [ 9.47336359e-03 7.74022791e-03 9.99925169e-01 -2.32466178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters Centerline goodness : 0.924508 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.41, Z:-2.32 [[ 9.98582860e-01 -5.24595983e-02 -8.95890332e-03 2.40346587e+01] [ 5.23533941e-02 9.98560031e-01 -1.17041237e-02 -4.10213938e-01] [ 9.55999641e-03 1.12185083e-02 9.99891370e-01 -2.32439984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45119381700002 meters Centerline goodness : 0.928273 Centerline is valid? [False, False] Translation: X:24.03, Y:-0.41, Z:-2.32 [[ 9.98571861e-01 -5.26531950e-02 -9.04875877e-03 2.40346850e+01] [ 5.25504527e-02 9.98555012e-01 -1.12400367e-02 -4.12059300e-01] [ 9.62750726e-03 1.07484680e-02 9.99895885e-01 -2.32397578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48119381700002 meters Centerline goodness : 0.924364 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.32 [[ 9.98548928e-01 -5.30429227e-02 -9.29978918e-03 2.40351306e+01] [ 5.29392706e-02 9.98536500e-01 -1.10585792e-02 -4.13314890e-01] [ 9.87275830e-03 1.05502084e-02 9.99895605e-01 -2.32371265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51119381700002 meters Centerline goodness : 0.925001 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.32 [[ 9.98523928e-01 -5.34556902e-02 -9.61527545e-03 2.40361102e+01] [ 5.33483325e-02 9.98514320e-01 -1.10954274e-02 -4.13876924e-01] [ 1.01941040e-02 1.05660909e-02 9.99892213e-01 -2.32401370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54119381700002 meters Centerline goodness : 0.921941 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98478632e-01 -5.42290413e-02 -9.98164352e-03 2.40377222e+01] [ 5.41106371e-02 9.98465540e-01 -1.17730230e-02 -4.12985698e-01] [ 1.06047668e-02 1.12149988e-02 9.99880874e-01 -2.32510873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57119381700002 meters Centerline goodness : 0.920327 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.42, Z:-2.33 [[ 9.98640941e-01 -5.10568977e-02 -1.04624735e-02 2.40385239e+01] [ 5.09767599e-02 9.98669471e-01 -7.78835292e-03 -4.15043105e-01] [ 1.08462020e-02 7.24442510e-03 9.99914935e-01 -2.32506447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60119381700002 meters Centerline goodness : 0.919220 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98634233e-01 -5.11224891e-02 -1.07777374e-02 2.40392614e+01] [ 5.10385833e-02 9.98665264e-01 -7.92166989e-03 -4.14961054e-01] [ 1.11683275e-02 7.36077029e-03 9.99910540e-01 -2.32516432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63119381700002 meters Centerline goodness : 0.918941 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98628028e-01 -5.11952205e-02 -1.10050906e-02 2.40397763e+01] [ 5.11053450e-02 9.98658789e-01 -8.29861366e-03 -4.13743665e-01] [ 1.14151798e-02 7.72480924e-03 9.99905006e-01 -2.32530220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66119381700003 meters Centerline goodness : 0.919393 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98748672e-01 -4.87039788e-02 -1.13583969e-02 2.40409744e+01] [ 4.86367151e-02 9.98797755e-01 -6.12498793e-03 -4.10168945e-01] [ 1.16430526e-02 5.56488845e-03 9.99916732e-01 -2.32628171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69119381700003 meters Centerline goodness : 0.916715 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98732187e-01 -4.89507601e-02 -1.17406217e-02 2.40420487e+01] [ 4.88753039e-02 9.98782882e-01 -6.63014554e-03 -4.08784228e-01] [ 1.20508827e-02 6.04791330e-03 9.99909095e-01 -2.32673366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72119381700003 meters Centerline goodness : 0.916991 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98722062e-01 -4.90763121e-02 -1.20730071e-02 2.40428081e+01] [ 4.89984996e-02 9.98776655e-01 -6.65883997e-03 -4.08926349e-01] [ 1.23850290e-02 6.05877115e-03 9.99904947e-01 -2.32683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75119381700003 meters Centerline goodness : 0.916623 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98690870e-01 -4.96371002e-02 -1.23573464e-02 2.40437996e+01] [ 4.95544545e-02 9.98747541e-01 -6.90686037e-03 -4.09677456e-01] [ 1.26847059e-02 6.28545683e-03 9.99899791e-01 -2.32723346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78119381700003 meters Centerline goodness : 0.916791 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.41, Z:-2.33 [[ 9.98666595e-01 -5.00447233e-02 -1.26711123e-02 2.40445897e+01] [ 4.99574899e-02 9.98726037e-01 -7.11001512e-03 -4.09946563e-01] [ 1.30107885e-02 6.46751763e-03 9.99894440e-01 -2.32733871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81119381700003 meters Centerline goodness : 0.913663 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.41, Z:-2.33 [[ 9.98624297e-01 -5.08321704e-02 -1.28687522e-02 2.40456611e+01] [ 5.07300143e-02 9.98679196e-01 -8.14424029e-03 -4.07224447e-01] [ 1.32657446e-02 7.48020425e-03 9.99884027e-01 -2.32827173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84119381700003 meters Centerline goodness : 0.909693 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.41, Z:-2.33 [[ 9.98732107e-01 -4.84888483e-02 -1.35280951e-02 2.40479850e+01] [ 4.84213526e-02 9.98813079e-01 -5.27320010e-03 -4.07430478e-01] [ 1.37677297e-02 4.61146558e-03 9.99894586e-01 -2.32967661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87119381700003 meters Centerline goodness : 0.908884 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.41, Z:-2.33 [[ 9.98711713e-01 -4.87897400e-02 -1.39454503e-02 2.40490138e+01] [ 4.87138548e-02 9.98796336e-01 -5.73062910e-03 -4.06105889e-01] [ 1.42082605e-02 5.04390976e-03 9.99886336e-01 -2.32999323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90119381700003 meters Centerline goodness : 0.910471 Centerline is valid? [False, False] Translation: X:24.06, Y:-0.40, Z:-2.33 [[ 9.98770065e-01 -4.87949575e-02 -8.79830518e-03 2.40594233e+01] [ 4.86481615e-02 9.98684741e-01 -1.61908516e-02 -4.01940156e-01] [ 9.57676505e-03 1.57429166e-02 9.99830209e-01 -2.33308427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93119381700004 meters Centerline goodness : 0.911795 Centerline is valid? [False, False] Translation: X:24.07, Y:-0.40, Z:-2.33 [[ 9.98846648e-01 -4.78771612e-02 -3.62639336e-03 2.40744127e+01] [ 4.78102641e-02 9.98716657e-01 -1.67098051e-02 -4.01980587e-01] [ 4.42175748e-03 1.65171540e-02 9.99853805e-01 -2.33163247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96119381700004 meters Centerline goodness : 0.916055 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.40, Z:-2.33 [[ 9.98898144e-01 -4.68950397e-02 1.83133175e-03 2.40888742e+01] [ 4.69198383e-02 9.98747283e-01 -1.73894589e-02 -4.01697606e-01] [-1.01355825e-03 1.74562240e-02 9.99847115e-01 -2.33004795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99119381700004 meters Centerline goodness : 0.915786 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.40, Z:-2.33 [[ 9.98874135e-01 -4.74068053e-02 1.74845518e-03 2.40886338e+01] [ 4.74306871e-02 9.98711262e-01 -1.80594960e-02 -3.99997646e-01] [-8.90058863e-04 1.81220939e-02 9.99835385e-01 -2.32941444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02119381700004 meters Centerline goodness : 0.917069 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.39, Z:-2.33 [[ 9.98950443e-01 -4.57779649e-02 1.54597293e-03 2.40887992e+01] [ 4.57975317e-02 9.98808864e-01 -1.68356260e-02 -3.94633913e-01] [-7.73430774e-04 1.68887578e-02 9.99857076e-01 -2.32926773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05119381700004 meters Centerline goodness : 0.915124 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.39, Z:-2.33 [[ 9.99064687e-01 -4.32277741e-02 1.05423010e-03 2.40902410e+01] [ 4.32384737e-02 9.98961301e-01 -1.43789230e-02 -3.92017133e-01] [-4.31566241e-04 1.44110575e-02 9.99896062e-01 -2.33012634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08119381700004 meters Centerline goodness : 0.917466 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.39, Z:-2.33 [[ 9.99199771e-01 -3.99914335e-02 7.09603764e-04 2.40908140e+01] [ 3.99969525e-02 9.99133644e-01 -1.14980178e-02 -3.89052555e-01] [-2.49166781e-04 1.15171987e-02 9.99933644e-01 -2.33036759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11119381700001 meters Centerline goodness : 0.913900 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.39, Z:-2.33 [[ 9.99328190e-01 -3.66486745e-02 2.08200979e-04 2.40917238e+01] [ 3.66490863e-02 9.99289384e-01 -8.80748283e-03 -3.85239733e-01] [ 1.14729544e-04 8.80919625e-03 9.99961192e-01 -2.33068342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters Centerline goodness : 0.911545 Centerline is valid? [False, False] Translation: X:24.10, Y:-0.37, Z:-2.33 [[ 9.99654597e-01 -2.62494936e-02 1.28488175e-03 2.41028142e+01] [ 2.62639547e-02 9.99571062e-01 -1.29574864e-02 -3.73642058e-01] [-9.44203164e-04 1.29867569e-02 9.99915223e-01 -2.33380201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17119381700002 meters Centerline goodness : 0.911929 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.37, Z:-2.34 [[ 9.99775089e-01 -2.11979285e-02 6.46993322e-04 2.41051218e+01] [ 2.12027360e-02 9.99737760e-01 -8.65192774e-03 -3.68998673e-01] [-4.63420709e-04 8.66369986e-03 9.99962362e-01 -2.33536441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20119381700002 meters Centerline goodness : 0.911497 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.36, Z:-2.34 [[ 9.99846711e-01 -1.71514719e-02 3.51860963e-03 2.41224368e+01] [ 1.71950823e-02 9.99770693e-01 -1.27628610e-02 -3.61725402e-01] [-3.29890094e-03 1.28214074e-02 9.99912361e-01 -2.33918760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23119381700002 meters Centerline goodness : 0.909078 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.36, Z:-2.34 [[ 9.99900314e-01 -1.37845521e-02 3.05740050e-03 2.41236885e+01] [ 1.38159078e-02 9.99849599e-01 -1.04832987e-02 -3.56910433e-01] [-2.91243309e-03 1.05244944e-02 9.99940375e-01 -2.33974950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26119381700002 meters Centerline goodness : 0.906187 Centerline is valid? [False, False] Translation: X:24.15, Y:-0.35, Z:-2.34 [[ 9.99986716e-01 -5.13651067e-03 4.30073721e-04 2.41517235e+01] [ 5.14327304e-03 9.99832485e-01 -1.75655692e-02 -3.45879829e-01] [-3.39775943e-04 1.75675479e-02 9.99845621e-01 -2.33946650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29119381700002 meters Centerline goodness : 0.904010 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.34, Z:-2.34 [[ 9.99997220e-01 -1.48535341e-03 1.83114134e-03 2.41716218e+01] [ 1.51988777e-03 9.99818241e-01 -1.90046032e-02 -3.40576418e-01] [-1.80257997e-03 1.90073335e-02 9.99817719e-01 -2.34129294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32119381700002 meters Centerline goodness : 0.907109 Centerline is valid? [False, False] Translation: X:24.19, Y:-0.33, Z:-2.34 [[ 9.99991251e-01 1.27792466e-03 3.98306295e-03 2.41908529e+01] [-1.18844044e-03 9.99748648e-01 -2.23881484e-02 -3.34512167e-01] [-4.01067217e-03 2.23832189e-02 9.99741420e-01 -2.34430909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35119381700002 meters Centerline goodness : 0.904929 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.33, Z:-2.34 [[ 9.99956446e-01 9.15769100e-03 1.80072751e-03 2.42205335e+01] [-9.10262794e-03 9.99551802e-01 -2.85190619e-02 -3.28096081e-01] [-2.06108919e-03 2.85014284e-02 9.99591627e-01 -2.34475872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38119381700002 meters Centerline goodness : 0.902285 Centerline is valid? [False, False] Translation: X:24.24, Y:-0.33, Z:-2.35 [[ 9.99936124e-01 1.11809031e-02 1.65393855e-03 2.42419735e+01] [-1.11286761e-02 9.99523625e-01 -2.87867327e-02 -3.27448474e-01] [-1.97501233e-03 2.87664878e-02 9.99584208e-01 -2.34620359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41119381700003 meters Centerline goodness : 0.903561 Centerline is valid? [False, False] Translation: X:24.24, Y:-0.33, Z:-2.35 [[ 9.99934805e-01 1.13362529e-02 1.36907543e-03 2.42426882e+01] [-1.12921300e-02 9.99521336e-01 -2.88025466e-02 -3.26940443e-01] [-1.69493305e-03 2.87852091e-02 9.99584183e-01 -2.34641907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44119381700003 meters Centerline goodness : 0.904873 Centerline is valid? [False, False] Translation: X:24.24, Y:-0.33, Z:-2.35 [[ 9.99924334e-01 1.22640076e-02 9.58869715e-04 2.42439465e+01] [-1.22328196e-02 9.99542942e-01 -2.76453521e-02 -3.27879698e-01] [-1.29747426e-03 2.76315306e-02 9.99617334e-01 -2.34701943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47119381700003 meters Centerline goodness : 0.899647 Centerline is valid? [False, False] Translation: X:24.26, Y:-0.33, Z:-2.35 [[ 9.99924599e-01 1.19635530e-02 2.76948530e-03 2.42637521e+01] [-1.18736378e-02 9.99464906e-01 -3.04781788e-02 -3.27151158e-01] [-3.13263068e-03 3.04429969e-02 9.99531596e-01 -2.34848306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50119381700003 meters Centerline goodness : 0.901424 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.33, Z:-2.35 [[ 9.99906755e-01 1.08834436e-02 8.24815053e-03 2.42741531e+01] [-1.07020376e-02 9.99706649e-01 -2.17274483e-02 -3.31194048e-01] [-8.48220039e-03 2.16371503e-02 9.99729907e-01 -2.35138652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53119381700003 meters Centerline goodness : 0.896670 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.33, Z:-2.35 [[ 9.99905316e-01 1.11810755e-02 8.02142410e-03 2.42744013e+01] [-1.10102050e-02 9.99718034e-01 -2.10387070e-02 -3.32797843e-01] [-8.25439771e-03 2.09483975e-02 9.99746483e-01 -2.35112531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56119381700003 meters Centerline goodness : 0.899437 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.33, Z:-2.35 [[ 9.99905392e-01 1.13086205e-02 7.83078374e-03 2.42744412e+01] [-1.11462790e-02 9.99728262e-01 -2.04734404e-02 -3.34429711e-01] [-8.06018219e-03 2.03842193e-02 9.99759730e-01 -2.35065825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59119381700003 meters Centerline goodness : 0.899437 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.33, Z:-2.35 [[ 9.99914524e-01 1.08882600e-02 7.23809848e-03 2.42940888e+01] [-1.07117270e-02 9.99654656e-01 -2.39964151e-02 -3.33584523e-01] [-7.49687805e-03 2.39168314e-02 9.99685842e-01 -2.35115921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62119381700003 meters Centerline goodness : 0.898784 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.34, Z:-2.35 [[ 9.99890721e-01 1.13510189e-02 9.47097851e-03 2.43130706e+01] [-1.11124321e-02 9.99628813e-01 -2.48747042e-02 -3.35582945e-01] [-9.74981624e-03 2.47667403e-02 9.99645712e-01 -2.35157574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65119381700003 meters Centerline goodness : 0.897541 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.34, Z:-2.35 [[ 9.99893441e-01 1.13891143e-02 9.13211342e-03 2.43138815e+01] [-1.11664914e-02 9.99647929e-01 -2.40692391e-02 -3.39150393e-01] [-9.40302558e-03 2.39647006e-02 9.99668583e-01 -2.35180548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68119381700004 meters Centerline goodness : 0.899814 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.34, Z:-2.35 [[ 9.99899301e-01 1.12108719e-02 8.70081727e-03 2.43151750e+01] [-1.10012920e-02 9.99656859e-01 -2.37725680e-02 -3.41058491e-01] [-8.96434288e-03 2.36744539e-02 9.99679529e-01 -2.35249991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71119381700004 meters Centerline goodness : 0.898359 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.34, Z:-2.35 [[ 9.99912422e-01 1.04303264e-02 8.14595375e-03 2.43172866e+01] [-1.02314999e-02 9.99657684e-01 -2.40796912e-02 -3.42545257e-01] [-8.39432430e-03 2.39942371e-02 9.99676854e-01 -2.35389668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74119381700004 meters Centerline goodness : 0.897222 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.35, Z:-2.36 [[ 9.99936299e-01 8.31104998e-03 7.63702751e-03 2.43197085e+01] [-8.11204401e-03 9.99636025e-01 -2.57296046e-02 -3.45615265e-01] [-7.84808785e-03 2.56660137e-02 9.99639767e-01 -2.35590882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77119381700004 meters Centerline goodness : 0.892235 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.35, Z:-2.36 [[ 9.99942324e-01 7.96075773e-03 7.20943490e-03 2.43208152e+01] [-7.77507393e-03 9.99646434e-01 -2.54274566e-02 -3.47623261e-01] [-7.40930771e-03 2.53699362e-02 9.99650673e-01 -2.35636913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80119381700004 meters Centerline goodness : 0.889601 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.35, Z:-2.36 [[ 9.99947211e-01 7.57923512e-03 6.93759328e-03 2.43216754e+01] [-7.40281846e-03 9.99657260e-01 -2.51109765e-02 -3.49807791e-01] [-7.12553749e-03 2.50582932e-02 9.99660597e-01 -2.35685738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83119381700004 meters Centerline goodness : 0.892667 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.35, Z:-2.36 [[ 9.99952156e-01 7.29599861e-03 6.51571551e-03 2.43228074e+01] [-7.13286010e-03 9.99668982e-01 -2.47194141e-02 -3.51982777e-01] [-6.69391150e-03 2.46717557e-02 9.99673195e-01 -2.35733740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters Centerline goodness : 0.891128 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.36, Z:-2.36 [[ 9.99976707e-01 4.14392472e-03 5.42343377e-03 2.43173080e+01] [-4.06070142e-03 9.99875204e-01 -1.52672168e-02 -3.57503369e-01] [-5.48602315e-03 1.52448383e-02 9.99868741e-01 -2.36000789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89119381700002 meters Centerline goodness : 0.891739 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.36, Z:-2.36 [[ 9.99978154e-01 4.14415976e-03 5.14951295e-03 2.43179069e+01] [-4.06752293e-03 9.99882130e-01 -1.48047433e-02 -3.59385781e-01] [-5.21025920e-03 1.47834741e-02 9.99877143e-01 -2.36011097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters Centerline goodness : 0.889466 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.36, Z:-2.36 [[ 9.99977879e-01 4.40919223e-03 4.98009492e-03 2.43182099e+01] [-4.33832904e-03 9.99890450e-01 -1.41515648e-02 -3.61237961e-01] [-5.04194632e-03 1.41296465e-02 9.99887460e-01 -2.36009078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95119381700002 meters Centerline goodness : 0.883662 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.36, Z:-2.36 [[ 9.99978063e-01 4.60671581e-03 4.75929880e-03 2.43185769e+01] [-4.54127961e-03 9.99896253e-01 -1.36696388e-02 -3.62692521e-01] [-4.82177718e-03 1.36477256e-02 9.99895240e-01 -2.36000174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98119381700002 meters Centerline goodness : 0.888439 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.37, Z:-2.36 [[ 9.99938582e-01 4.34406952e-03 1.01961002e-02 2.43272647e+01] [-4.30157465e-03 9.99981987e-01 -4.18599346e-03 -3.67296485e-01] [-1.02141008e-02 4.14187708e-03 9.99939257e-01 -2.36164568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01119381700002 meters Centerline goodness : 0.882801 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.37, Z:-2.36 [[ 9.99939256e-01 4.62125494e-03 1.00064110e-02 2.43274386e+01] [-4.58468191e-03 9.99982738e-01 -3.67481856e-03 -3.68622485e-01] [-1.00232206e-02 3.62871913e-03 9.99943182e-01 -2.36133102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04119381700002 meters Centerline goodness : 0.881549 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.37, Z:-2.36 [[ 9.99939855e-01 4.97279512e-03 9.77531772e-03 2.43276670e+01] [-4.94285622e-03 9.99983027e-01 -3.08448050e-03 -3.70196378e-01] [-9.79049029e-03 3.03597700e-03 9.99947463e-01 -2.36099756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07119381700002 meters Centerline goodness : 0.878899 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.37, Z:-2.36 [[ 9.99933740e-01 6.01037678e-03 9.81793993e-03 2.43263387e+01] [-5.99664349e-03 9.99981001e-01 -1.42763540e-03 -3.74139607e-01] [-9.82633402e-03 1.36866612e-03 9.99950784e-01 -2.35917304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10119381700002 meters Centerline goodness : 0.879152 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99933166e-01 6.29828418e-03 9.69513029e-03 2.43261514e+01] [-6.29048167e-03 9.99979866e-01 -8.35070939e-04 -3.75793888e-01] [-9.70019460e-03 7.74028089e-04 9.99952652e-01 -2.35852550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13119381700002 meters Centerline goodness : 0.875927 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99932284e-01 6.48879827e-03 9.66038552e-03 2.43262005e+01] [-6.48499003e-03 9.99978882e-01 -4.25484074e-04 -3.76982323e-01] [-9.66294239e-03 3.62807759e-04 9.99953247e-01 -2.35843336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16119381700003 meters Centerline goodness : 0.877464 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99931791e-01 6.68691099e-03 9.57591794e-03 2.43265215e+01] [-6.68621729e-03 9.99977642e-01 -1.04454962e-04 -3.77819132e-01] [-9.57640232e-03 4.04211695e-05 9.99954144e-01 -2.35862658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19119381700003 meters Centerline goodness : 0.875323 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99925648e-01 7.58299480e-03 9.54966184e-03 2.43263105e+01] [-7.59282763e-03 9.99970680e-01 9.93817051e-04 -3.80501096e-01] [-9.54184573e-03 -1.06625210e-03 9.99953907e-01 -2.35823457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22119381700003 meters Centerline goodness : 0.878364 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99924871e-01 7.89861070e-03 9.37362330e-03 2.43268548e+01] [-7.91197314e-03 9.99967735e-01 1.38930971e-03 -3.81732446e-01] [-9.36234724e-03 -1.46336919e-03 9.99955101e-01 -2.35853489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25119381700003 meters Centerline goodness : 0.876075 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99924480e-01 8.15831657e-03 9.19113536e-03 2.43275652e+01] [-8.17420432e-03 9.99965159e-01 1.69235602e-03 -3.82735484e-01] [-9.17700835e-03 -1.76735844e-03 9.99956329e-01 -2.35905140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28119381700003 meters Centerline goodness : 0.876642 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.38, Z:-2.36 [[ 9.99919867e-01 8.93080224e-03 8.97218068e-03 2.43285167e+01] [-8.95377013e-03 9.99956731e-01 2.52300115e-03 -3.84544812e-01] [-8.94926004e-03 -2.60313382e-03 9.99956566e-01 -2.35983906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31119381700003 meters Centerline goodness : 0.877777 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.38, Z:-2.36 [[ 9.99929982e-01 8.82344145e-03 7.88524494e-03 2.43498748e+01] [-8.80708039e-03 9.99958997e-01 -2.10721631e-03 -3.83924440e-01] [-7.90351452e-03 2.03762278e-03 9.99966691e-01 -2.36235609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34119381700003 meters Centerline goodness : 0.875730 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.38, Z:-2.36 [[ 9.99931655e-01 8.83409728e-03 7.65791881e-03 2.43508240e+01] [-8.82002282e-03 9.99959355e-01 -1.86972412e-03 -3.84884583e-01] [-7.67412488e-03 1.80205331e-03 9.99968930e-01 -2.36311308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37119381700003 meters Centerline goodness : 0.870947 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.39, Z:-2.36 [[ 9.99933909e-01 8.74804290e-03 7.45991508e-03 2.43516501e+01] [-8.73658266e-03 9.99960607e-01 -1.56744981e-03 -3.86415702e-01] [-7.47333333e-03 1.50217205e-03 9.99970946e-01 -2.36369149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40119381700003 meters Centerline goodness : 0.873554 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.39, Z:-2.36 [[ 9.99964668e-01 4.56760359e-03 7.05686777e-03 2.43529986e+01] [-4.53325278e-03 9.99977837e-01 -4.87606474e-03 -3.90322931e-01] [-7.07898330e-03 4.84390190e-03 9.99963212e-01 -2.36445102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43119381700004 meters Centerline goodness : 0.872387 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.39, Z:-2.36 [[ 9.99975894e-01 7.87452453e-04 6.89860667e-03 2.43533576e+01] [-7.31045229e-04 9.99966314e-01 -8.17532054e-03 -3.92785738e-01] [-6.90481196e-03 8.17008028e-03 9.99942785e-01 -2.36454425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46119381700004 meters Centerline goodness : 0.874027 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.40, Z:-2.36 [[ 9.99972451e-01 -3.05641059e-03 6.76423244e-03 2.43538007e+01] [ 3.13348071e-03 9.99929964e-01 -1.14126564e-02 -3.95505964e-01] [-6.72887694e-03 1.14335376e-02 9.99911994e-01 -2.36477040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49119381700004 meters Centerline goodness : 0.875052 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.40, Z:-2.36 [[ 9.99953511e-01 -6.95934660e-03 6.67414349e-03 2.43541229e+01] [ 7.05707571e-03 9.99866560e-01 -1.47329296e-02 -3.97937156e-01] [-6.57072133e-03 1.47793446e-02 9.99869190e-01 -2.36488657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52119381700004 meters Centerline goodness : 0.872097 Centerline is valid? [False, False] Translation: X:24.35, Y:-0.40, Z:-2.37 [[ 9.99949942e-01 -7.60542088e-03 6.50163745e-03 2.43548518e+01] [ 7.69553978e-03 9.99873078e-01 -1.39501732e-02 -4.02242498e-01] [-6.39471531e-03 1.39995085e-02 9.99881554e-01 -2.36516454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55119381700004 meters Centerline goodness : 0.867501 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.41, Z:-2.37 [[ 9.99906447e-01 -1.20998140e-02 6.37905778e-03 2.43557614e+01] [ 1.22052876e-02 9.99784990e-01 -1.67631960e-02 -4.07682293e-01] [-6.17485466e-03 1.68394860e-02 9.99839139e-01 -2.36574512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58119381700004 meters Centerline goodness : 0.866461 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.41, Z:-2.37 [[ 9.99899235e-01 -1.28012851e-02 6.13578167e-03 2.43569216e+01] [ 1.28995882e-02 9.99784602e-01 -1.62588374e-02 -4.11111484e-01] [-5.92632602e-03 1.63363482e-02 9.99848990e-01 -2.36649622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61119381700001 meters Centerline goodness : 0.868357 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.41, Z:-2.37 [[ 9.99895306e-01 -1.31706126e-02 5.99261480e-03 2.43576086e+01] [ 1.32627636e-02 9.99790242e-01 -1.56067396e-02 -4.14056103e-01] [-5.78580748e-03 1.56845843e-02 9.99860249e-01 -2.36689174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64119381700002 meters Centerline goodness : 0.870334 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99894098e-01 -1.33179002e-02 5.86747531e-03 2.43579897e+01] [ 1.34048803e-02 9.99796989e-01 -1.50429690e-02 -4.15955855e-01] [-5.66594339e-03 1.51200287e-02 9.99869632e-01 -2.36694195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67119381700002 meters Centerline goodness : 0.867082 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99897164e-01 -1.31251510e-02 5.77856804e-03 2.43579052e+01] [ 1.32076025e-02 9.99808080e-01 -1.44693763e-02 -4.17170121e-01] [-5.58754627e-03 1.45442094e-02 9.99878615e-01 -2.36647848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70119381700002 meters Centerline goodness : 0.861488 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99939585e-01 -9.57653818e-03 5.39595243e-03 2.43587281e+01] [ 9.63162654e-03 9.99900798e-01 -1.02774214e-02 -4.19074541e-01] [-5.29699502e-03 1.03287723e-02 9.99932627e-01 -2.36649785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73119381700002 meters Centerline goodness : 0.865534 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99963937e-01 -7.01052911e-03 4.79351124e-03 2.43610536e+01] [ 7.04697904e-03 9.99946061e-01 -7.62988456e-03 -4.19369303e-01] [-4.73976316e-03 7.66338918e-03 9.99959403e-01 -2.36782846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76119381700002 meters Centerline goodness : 0.858336 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99985445e-01 -2.77536831e-03 4.62675471e-03 2.43611702e+01] [ 2.79394930e-03 9.99988039e-01 -4.01437208e-03 -4.17494093e-01] [-4.61555801e-03 4.02724057e-03 9.99981239e-01 -2.36759976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79119381700002 meters Centerline goodness : 0.859251 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99991563e-01 -2.38252973e-04 4.10084190e-03 2.43633770e+01] [ 2.44079619e-04 9.99998961e-01 -1.42039948e-03 -4.17053101e-01] [-4.10049922e-03 1.42138843e-03 9.99990583e-01 -2.36898836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82119381700002 meters Centerline goodness : 0.854305 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.42, Z:-2.37 [[ 9.99991886e-01 -1.75009954e-04 4.02461799e-03 2.43638742e+01] [ 1.82733740e-04 9.99998142e-01 -1.91884763e-03 -4.15249918e-01] [-4.02427470e-03 1.91956750e-03 9.99990060e-01 -2.36948622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85119381700002 meters Centerline goodness : 0.855242 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.41, Z:-2.37 [[ 9.99992274e-01 -1.21627665e-04 3.92889813e-03 2.43643333e+01] [ 1.30512200e-04 9.99997435e-01 -2.26115276e-03 -4.13928453e-01] [-3.92861304e-03 2.26164806e-03 9.99989725e-01 -2.36983832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88119381700002 meters Centerline goodness : 0.859852 Centerline is valid? [False, False] Translation: X:24.36, Y:-0.41, Z:-2.37 [[ 9.99992605e-01 3.39705958e-05 3.84572775e-03 2.43645962e+01] [-2.43353819e-05 9.99996861e-01 -2.50545225e-03 -4.12735707e-01] [-3.84580079e-03 2.50534014e-03 9.99989466e-01 -2.37001081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91119381700003 meters Centerline goodness : 0.856668 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.41, Z:-2.37 [[ 9.99985682e-01 3.83294801e-03 3.73425692e-03 2.43654551e+01] [-3.83680478e-03 9.99992113e-01 1.02619265e-03 -4.11469766e-01] [-3.73029412e-03 -1.04050557e-03 9.99992501e-01 -2.37079547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94119381700003 meters Centerline goodness : 0.850040 Centerline is valid? [False, False] Translation: X:24.37, Y:-0.41, Z:-2.37 [[ 9.99972853e-01 6.62512648e-03 3.22505760e-03 2.43679435e+01] [-6.63766528e-03 9.99970393e-01 3.89287878e-03 -4.11452106e-01] [-3.19917131e-03 -3.91417995e-03 9.99987222e-01 -2.37258604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97119381700003 meters Centerline goodness : 0.852900 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.41, Z:-2.38 [[ 9.99937731e-01 8.44834598e-03 7.29103939e-03 2.43794976e+01] [-8.40321798e-03 9.99945483e-01 -6.19811289e-03 -4.08780637e-01] [-7.34300571e-03 6.13645875e-03 9.99954211e-01 -2.37698706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00119381700003 meters Centerline goodness : 0.851770 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.41, Z:-2.38 [[ 9.99891670e-01 1.28054716e-02 7.25725973e-03 2.43795194e+01] [-1.27951448e-02 9.99917062e-01 -1.46761700e-03 -4.11291122e-01] [-7.27545135e-03 1.37460032e-03 9.99972589e-01 -2.37662200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03119381700003 meters Centerline goodness : 0.852035 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.41, Z:-2.38 [[ 9.99824721e-01 1.44238275e-02 1.19364816e-02 2.43903461e+01] [-1.42851853e-02 9.99830442e-01 -1.16198730e-02 -4.09442852e-01] [-1.21020607e-02 1.14473214e-02 9.99861240e-01 -2.38084529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06119381700003 meters Centerline goodness : 0.848097 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.41, Z:-2.38 [[ 9.99818950e-01 1.49025779e-02 1.18313174e-02 2.43905558e+01] [-1.47690782e-02 9.99827169e-01 -1.12918917e-02 -4.09632747e-01] [-1.19975508e-02 1.11151097e-02 9.99866248e-01 -2.38086745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09119381700003 meters Centerline goodness : 0.850020 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.41, Z:-2.38 [[ 9.99814545e-01 1.52220219e-02 1.17968613e-02 2.43908850e+01] [-1.50920472e-02 9.99825275e-01 -1.10295307e-02 -4.10083391e-01] [-1.19626919e-02 1.08494464e-02 9.99869583e-01 -2.38120552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12119381700003 meters Centerline goodness : 0.850875 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.41, Z:-2.38 [[ 9.99800055e-01 1.62085711e-02 1.17103483e-02 2.43910637e+01] [-1.60945600e-02 9.99822785e-01 -9.76543646e-03 -4.13342775e-01] [-1.18665569e-02 9.57501101e-03 9.99883745e-01 -2.38125290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15119381700003 meters Centerline goodness : 0.849792 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.42, Z:-2.38 [[ 9.99796036e-01 1.65605604e-02 1.15600215e-02 2.43915702e+01] [-1.64566582e-02 9.99823839e-01 -9.02606101e-03 -4.15721046e-01] [-1.17074617e-02 8.83398070e-03 9.99892442e-01 -2.38149417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18119381700004 meters Centerline goodness : 0.850784 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.42, Z:-2.38 [[ 9.99794043e-01 1.67584197e-02 1.14467099e-02 2.43921072e+01] [-1.66627168e-02 9.99825835e-01 -8.40555641e-03 -4.17960876e-01] [-1.15855802e-02 8.21309194e-03 9.99899155e-01 -2.38188083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21119381700004 meters Centerline goodness : 0.849151 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.42, Z:-2.38 [[ 9.99793068e-01 1.68637405e-02 1.13769955e-02 2.43924834e+01] [-1.67759931e-02 9.99829124e-01 -7.76455152e-03 -4.20125068e-01] [-1.15059909e-02 7.57208438e-03 9.99905133e-01 -2.38218978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24119381700004 meters Centerline goodness : 0.849685 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.42, Z:-2.38 [[ 9.99811863e-01 1.59866393e-02 1.09847879e-02 2.43942557e+01] [-1.58985970e-02 9.99841155e-01 -8.05605089e-03 -4.22556287e-01] [-1.11118322e-02 7.87989253e-03 9.99907213e-01 -2.38345408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27119381700004 meters Centerline goodness : 0.850912 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.43, Z:-2.38 [[ 9.99869438e-01 1.20784645e-02 1.07339608e-02 2.43947515e+01] [-1.19661651e-02 9.99873635e-01 -1.04654199e-02 -4.29520067e-01] [-1.08590106e-02 1.03356092e-02 9.99887622e-01 -2.38346618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30119381700004 meters Centerline goodness : 0.852814 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.43, Z:-2.38 [[ 9.99912560e-01 7.93723842e-03 1.05770239e-02 2.43956251e+01] [-7.78963926e-03 9.99872720e-01 -1.39235791e-02 -4.32437671e-01] [-1.06861925e-02 1.38399704e-02 9.99847119e-01 -2.38431368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33119381700004 meters Centerline goodness : 0.851467 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.44, Z:-2.38 [[ 9.99937923e-01 3.84862027e-03 1.04564671e-02 2.43962472e+01] [-3.66904483e-03 9.99846387e-01 -1.71388672e-02 -4.35607480e-01] [-1.05208218e-02 1.70994380e-02 9.99798440e-01 -2.38487055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters Centerline goodness : 0.853414 Centerline is valid? [False, False] Translation: X:24.40, Y:-0.44, Z:-2.39 [[ 9.99922021e-01 -6.96615133e-03 1.03646025e-02 2.43984218e+01] [ 7.23847264e-03 9.99623325e-01 -2.64728756e-02 -4.40433236e-01] [-1.01762844e-02 2.65458352e-02 9.99595799e-01 -2.38718648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39119381700002 meters Centerline goodness : 0.850699 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99878485e-01 -1.35313697e-02 7.74068665e-03 2.43914355e+01] [ 1.36777280e-02 9.99722524e-01 -1.91780009e-02 -4.45170663e-01] [-7.47903417e-03 1.92815455e-02 9.99786120e-01 -2.38697880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters Centerline goodness : 0.852842 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99814656e-01 -1.76708654e-02 7.64161965e-03 2.43922617e+01] [ 1.78403460e-02 9.99582892e-01 -2.27104535e-02 -4.47532485e-01] [-7.23711890e-03 2.28425734e-02 9.99712879e-01 -2.38761999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45119381700002 meters Centerline goodness : 0.853380 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99805025e-01 -1.82802271e-02 7.46627085e-03 2.43932922e+01] [ 1.84430908e-02 9.99579846e-01 -2.23603255e-02 -4.50233010e-01] [-7.05438204e-03 2.24936669e-02 9.99722097e-01 -2.38834636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48119381700002 meters Centerline goodness : 0.854745 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99802342e-01 -1.84612565e-02 7.37964694e-03 2.43942230e+01] [ 1.86226825e-02 9.99574741e-01 -2.24395392e-02 -4.50161781e-01] [-6.96224659e-03 2.25725327e-02 9.99720965e-01 -2.38934344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51119381700002 meters Centerline goodness : 0.854745 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99802342e-01 -1.84612565e-02 7.37964694e-03 2.43942230e+01] [ 1.86226825e-02 9.99574741e-01 -2.24395392e-02 -4.50161781e-01] [-6.96224659e-03 2.25725327e-02 9.99720965e-01 -2.38934344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54119381700002 meters Centerline goodness : 0.852512 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99868895e-01 -1.45308341e-02 7.14475974e-03 2.43946633e+01] [ 1.46582214e-02 9.99728497e-01 -1.81126859e-02 -4.51190082e-01] [-6.87962749e-03 1.82150408e-02 9.99810424e-01 -2.38937321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57119381700002 meters Centerline goodness : 0.855973 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99921623e-01 -1.04273175e-02 6.92952003e-03 2.43947677e+01] [ 1.05221718e-02 9.99849467e-01 -1.37959406e-02 -4.51966975e-01] [-6.78462225e-03 1.38677729e-02 9.99880820e-01 -2.38896181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60119381700002 meters Centerline goodness : 0.854361 Centerline is valid? [False, False] Translation: X:24.39, Y:-0.45, Z:-2.39 [[ 9.99956144e-01 -6.38048537e-03 6.85555909e-03 2.43946156e+01] [ 6.44703419e-03 9.99931885e-01 -9.72943139e-03 -4.52350051e-01] [-6.79301363e-03 9.77320272e-03 9.99929167e-01 -2.38849174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63119381700002 meters Centerline goodness : 0.854453 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.45, Z:-2.39 [[ 9.99914310e-01 7.45478334e-04 1.30696626e-02 2.44061942e+01] [-5.86916188e-04 9.99926236e-01 -1.21317171e-02 -4.49114307e-01] [-1.30777424e-02 1.21230068e-02 9.99840990e-01 -2.39209488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66119381700003 meters Centerline goodness : 0.854800 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.45, Z:-2.39 [[ 9.99914802e-01 3.50216744e-03 1.25747174e-02 2.44084289e+01] [-3.38604665e-03 9.99951541e-01 -9.24391016e-03 -4.49067112e-01] [-1.26064818e-02 9.20054401e-03 9.99878206e-01 -2.39364172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69119381700003 meters Centerline goodness : 0.855894 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.45, Z:-2.40 [[ 9.99915022e-01 5.08677022e-03 1.20030517e-02 2.44111779e+01] [-4.99310282e-03 9.99956952e-01 -7.82073839e-03 -4.49131825e-01] [-1.20423173e-02 7.76014133e-03 9.99897376e-01 -2.39569984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72119381700003 meters Centerline goodness : 0.855232 Centerline is valid? [False, False] Translation: X:24.41, Y:-0.45, Z:-2.40 [[ 9.99912342e-01 6.47739129e-03 1.15478153e-02 2.44137853e+01] [-6.40352052e-03 9.99958872e-01 -6.42248719e-03 -4.49327200e-01] [-1.15889414e-02 6.34797753e-03 9.99912696e-01 -2.39780571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75119381700003 meters Centerline goodness : 0.859902 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99900017e-01 8.71254767e-03 1.11376535e-02 2.44164407e+01] [-8.66814082e-03 9.99954314e-01 -4.02916800e-03 -4.48427955e-01] [-1.11722489e-02 3.93222240e-03 9.99929857e-01 -2.40004330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78119381700003 meters Centerline goodness : 0.857424 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99902943e-01 8.58250405e-03 1.09747167e-02 2.44172934e+01] [-8.53521287e-03 9.99954118e-01 -4.34870498e-03 -4.47790973e-01] [-1.10115359e-02 4.25461137e-03 9.99930320e-01 -2.40077672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81119381700003 meters Centerline goodness : 0.856574 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99906141e-01 8.46980911e-03 1.07689671e-02 2.44183182e+01] [-8.42150937e-03 9.99954311e-01 -4.52255019e-03 -4.47919964e-01] [-1.08067802e-02 4.43143475e-03 9.99931786e-01 -2.40161764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84119381700003 meters Centerline goodness : 0.856769 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99908513e-01 8.44612215e-03 1.05654063e-02 2.44191255e+01] [-8.39828073e-03 9.99954317e-01 -4.56432089e-03 -4.48460345e-01] [-1.06034745e-02 4.47517207e-03 9.99933767e-01 -2.40215108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87119381700003 meters Centerline goodness : 0.861764 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99910749e-01 8.46271801e-03 1.03380879e-02 2.44195974e+01] [-8.41653750e-03 9.99954444e-01 -4.50239629e-03 -4.49580807e-01] [-1.03757194e-02 4.41498355e-03 9.99936424e-01 -2.40213118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90119381700003 meters Centerline goodness : 0.864524 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99913744e-01 8.29030415e-03 1.01870440e-02 2.44202801e+01] [-8.24334369e-03 9.99955243e-01 -4.64319677e-03 -4.49737556e-01] [-1.02250816e-02 4.55882096e-03 9.99937330e-01 -2.40265176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93119381700004 meters Centerline goodness : 0.864837 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99917532e-01 8.05822915e-03 9.99972805e-03 2.44209412e+01] [-8.01042751e-03 9.99956342e-01 -4.81117548e-03 -4.49768135e-01] [-1.00380610e-02 4.73067661e-03 9.99938427e-01 -2.40302881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96119381700004 meters Centerline goodness : 0.864585 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99921389e-01 7.80988827e-03 9.80928786e-03 2.44216552e+01] [-7.76142688e-03 9.99957535e-01 -4.96874808e-03 -4.49929627e-01] [-9.84767668e-03 4.89222341e-03 9.99939543e-01 -2.40347267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99119381700004 meters Centerline goodness : 0.865103 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99926908e-01 7.35926532e-03 9.59273134e-03 2.44226048e+01] [-7.30950675e-03 9.99959703e-01 -5.21189241e-03 -4.50233711e-01] [-9.63070048e-03 5.14139332e-03 9.99940406e-01 -2.40412319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02119381700004 meters Centerline goodness : 0.869171 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.45, Z:-2.40 [[ 9.99931480e-01 7.02907636e-03 9.36090840e-03 2.44235874e+01] [-6.97908335e-03 9.99961267e-01 -5.36261632e-03 -4.50767659e-01] [-9.39824006e-03 5.29691832e-03 9.99941806e-01 -2.40483201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05119381700004 meters Centerline goodness : 0.862144 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99943395e-01 5.99958640e-03 8.78702642e-03 2.44257898e+01] [-5.94435623e-03 9.99962499e-01 -6.29810985e-03 -4.51056958e-01] [-8.82448295e-03 6.24552013e-03 9.99941559e-01 -2.40621508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08119381700004 meters Centerline goodness : 0.864552 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99948266e-01 5.63613433e-03 8.46752629e-03 2.44266339e+01] [-5.58181225e-03 9.99963779e-01 -6.42533508e-03 -4.51708747e-01] [-8.50343363e-03 6.37773853e-03 9.99943506e-01 -2.40651231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11119381700001 meters Centerline goodness : 0.861668 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99957912e-01 4.62691738e-03 7.92254398e-03 2.44285895e+01] [-4.56978694e-03 9.99963536e-01 -7.21410463e-03 -4.52212158e-01] [-7.95563416e-03 7.17759666e-03 9.99942593e-01 -2.40766393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters Centerline goodness : 0.861730 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99969085e-01 2.74498100e-03 7.36840993e-03 2.44305910e+01] [-2.68155948e-03 9.99959395e-01 -8.60334377e-03 -4.53611924e-01] [-7.39172675e-03 8.58331897e-03 9.99935842e-01 -2.40866018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17119381700002 meters Centerline goodness : 0.860856 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99972711e-01 2.35133602e-03 7.00346789e-03 2.44315122e+01] [-2.28927265e-03 9.99958158e-01 -8.85667826e-03 -4.53881553e-01] [-7.02399988e-03 8.84040372e-03 9.99936253e-01 -2.40896880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20119381700002 meters Centerline goodness : 0.861351 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99975867e-01 2.09478064e-03 6.62394558e-03 2.44328857e+01] [-2.03325676e-03 9.99954861e-01 -9.28123391e-03 -4.53263358e-01] [-6.64308874e-03 9.26754175e-03 9.99934989e-01 -2.40985882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23119381700002 meters Centerline goodness : 0.863399 Centerline is valid? [False, False] Translation: X:24.43, Y:-0.45, Z:-2.41 [[ 9.99977260e-01 2.22100510e-03 6.36769252e-03 2.44336244e+01] [-2.16138096e-03 9.99953903e-01 -9.35517998e-03 -4.52989265e-01] [-6.38817690e-03 9.34120423e-03 9.99935964e-01 -2.41021177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26119381700002 meters Centerline goodness : 0.862487 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99974481e-01 4.25224212e-03 5.74066878e-03 2.44362042e+01] [-4.20943996e-03 9.99963407e-01 -7.44756089e-03 -4.53594513e-01] [-5.77212754e-03 7.42320583e-03 9.99955788e-01 -2.41191966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29119381700002 meters Centerline goodness : 0.864273 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99974760e-01 4.47391233e-03 5.51931430e-03 2.44369552e+01] [-4.43059114e-03 9.99959479e-01 -7.83643252e-03 -4.51924736e-01] [-5.55415017e-03 7.81178090e-03 9.99954063e-01 -2.41243260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32119381700002 meters Centerline goodness : 0.863294 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99946537e-01 8.91537241e-03 5.23828013e-03 2.44378728e+01] [-8.89421614e-03 9.99952251e-01 -4.04829167e-03 -4.50497570e-01] [-5.27412204e-03 4.00148484e-03 9.99978086e-01 -2.41300592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35119381700002 meters Centerline goodness : 0.863958 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99944027e-01 9.34612733e-03 4.95910622e-03 2.44386600e+01] [-9.32519883e-03 9.99947587e-01 -4.22668798e-03 -4.49261471e-01] [-4.99834946e-03 4.18020675e-03 9.99978771e-01 -2.41345488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38119381700002 meters Centerline goodness : 0.863699 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99941875e-01 9.72874175e-03 4.64746552e-03 2.44393709e+01] [-9.70949163e-03 9.99944263e-01 -4.14682899e-03 -4.49032181e-01] [-4.68754991e-03 4.10146343e-03 9.99980602e-01 -2.41370090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41119381700003 meters Centerline goodness : 0.865475 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99941109e-01 9.90800712e-03 4.42828459e-03 2.44399792e+01] [-9.89035762e-03 9.99943129e-01 -3.98991529e-03 -4.49677523e-01] [-4.46756486e-03 3.94588300e-03 9.99982235e-01 -2.41395290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44119381700003 meters Centerline goodness : 0.865542 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99941687e-01 9.96181680e-03 4.16943053e-03 2.44402778e+01] [-9.94844870e-03 9.99945345e-01 -3.21477142e-03 -4.53105877e-01] [-4.20122761e-03 3.17310460e-03 9.99986140e-01 -2.41356640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47119381700003 meters Centerline goodness : 0.865591 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99970208e-01 6.51949590e-03 4.13263829e-03 2.44400984e+01] [-6.49054891e-03 9.99954578e-01 -6.97961347e-03 -4.52436478e-01] [-4.17795414e-03 6.95258244e-03 9.99967103e-01 -2.41345287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50119381700003 meters Centerline goodness : 0.869887 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99972916e-01 6.24316052e-03 3.89738807e-03 2.44406434e+01] [-6.21593674e-03 9.99956469e-01 -6.95859704e-03 -4.52961199e-01] [-3.94066205e-03 6.93418266e-03 9.99968194e-01 -2.41354216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53119381700003 meters Centerline goodness : 0.867781 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99975564e-01 5.92500490e-03 3.71009536e-03 2.44410004e+01] [-5.89876411e-03 9.99957791e-01 -7.04425083e-03 -4.53320792e-01] [-3.75167598e-03 7.02219372e-03 9.99968306e-01 -2.41347051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56119381700003 meters Centerline goodness : 0.866828 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.41 [[ 9.99977799e-01 5.71074042e-03 3.43351370e-03 2.44409631e+01] [-5.68720728e-03 9.99960536e-01 -6.82508913e-03 -4.55527555e-01] [-3.47235452e-03 6.80541051e-03 9.99970814e-01 -2.41255755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59119381700003 meters Centerline goodness : 0.868614 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.41 [[ 9.99979320e-01 5.58852169e-03 3.18239793e-03 2.44414996e+01] [-5.56655413e-03 9.99960905e-01 -6.87035225e-03 -4.56338942e-01] [-3.22066863e-03 6.85249518e-03 9.99971335e-01 -2.41257135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62119381700003 meters Centerline goodness : 0.869802 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.41 [[ 9.99980514e-01 5.51434045e-03 2.92621338e-03 2.44421415e+01] [-5.49359558e-03 9.99960054e-01 -7.05062624e-03 -4.56349646e-01] [-2.96497605e-03 7.03441342e-03 9.99970863e-01 -2.41274701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65119381700003 meters Centerline goodness : 0.870407 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.46, Z:-2.41 [[ 9.99981925e-01 5.34220185e-03 2.75864798e-03 2.44427956e+01] [-5.32147035e-03 9.99957951e-01 -7.46853185e-03 -4.55373416e-01] [-2.79843038e-03 7.45371680e-03 9.99968305e-01 -2.41318228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68119381700004 meters Centerline goodness : 0.872262 Centerline is valid? [False, False] Translation: X:24.44, Y:-0.45, Z:-2.41 [[ 9.99982133e-01 5.40726833e-03 2.54838937e-03 2.44436162e+01] [-5.38768710e-03 9.99956385e-01 -7.62899623e-03 -4.54506562e-01] [-2.58953025e-03 7.61513000e-03 9.99967652e-01 -2.41378385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71119381700004 meters Centerline goodness : 0.870499 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.45, Z:-2.42 [[ 9.99986924e-01 4.64402083e-03 2.14118506e-03 2.44458823e+01] [-4.62529323e-03 9.99951719e-01 -8.66990131e-03 -4.53679923e-01] [-2.18134488e-03 8.65988433e-03 9.99960123e-01 -2.41578083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74119381700004 meters Centerline goodness : 0.871188 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.45, Z:-2.42 [[ 9.99990987e-01 3.90613895e-03 1.66378512e-03 2.44478360e+01] [-3.89040069e-03 9.99948628e-01 -9.35977611e-03 -4.53939537e-01] [-1.70026024e-03 9.35321896e-03 9.99954812e-01 -2.41709707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77119381700004 meters Centerline goodness : 0.870362 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.45, Z:-2.42 [[ 9.99993822e-01 3.27179116e-03 1.28518793e-03 2.44495099e+01] [-3.25895741e-03 9.99946037e-01 -9.86418083e-03 -4.54553720e-01] [-1.31739212e-03 9.85993152e-03 9.99950522e-01 -2.41828971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80119381700004 meters Centerline goodness : 0.871732 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.46, Z:-2.42 [[ 9.99996096e-01 2.65017134e-03 8.86298625e-04 2.44513593e+01] [-2.64091011e-03 9.99943547e-01 -1.02921698e-02 -4.55508753e-01] [-9.13524604e-04 1.02897890e-02 9.99946641e-01 -2.41961726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83119381700004 meters Centerline goodness : 0.869934 Centerline is valid? [False, False] Translation: X:24.45, Y:-0.46, Z:-2.42 [[ 9.99998791e-01 1.53841059e-03 2.24707244e-04 2.44546609e+01] [-1.53598290e-03 9.99944411e-01 -1.04314731e-02 -4.59217073e-01] [-2.40742641e-04 1.04311154e-02 9.99945565e-01 -2.42213233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters Centerline goodness : 0.869535 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.46, Z:-2.42 [[ 9.99999617e-01 7.81852533e-04 -3.94421516e-04 2.44574583e+01] [-7.86033112e-04 9.99942307e-01 -1.07128675e-02 -4.61010619e-01] [ 3.86022878e-04 1.07131734e-02 9.99942538e-01 -2.42418485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89119381700002 meters Centerline goodness : 0.871720 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.46, Z:-2.43 [[ 9.99999568e-01 -6.91387213e-06 -9.29269382e-04 2.44600191e+01] [-3.30030815e-06 9.99939595e-01 -1.09911737e-02 -4.62770171e-01] [ 9.29289241e-04 1.09911721e-02 9.99939163e-01 -2.42612605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters Centerline goodness : 0.869243 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.47, Z:-2.43 [[ 9.99998279e-01 -1.22986854e-03 -1.38897476e-03 2.44623654e+01] [ 1.21425236e-03 9.99936671e-01 -1.11883821e-02 -4.67351930e-01] [ 1.40264704e-03 1.11866763e-02 9.99936443e-01 -2.42777565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95119381700002 meters Centerline goodness : 0.869114 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.47, Z:-2.43 [[ 9.99998222e-01 -9.93258885e-04 -1.60315192e-03 2.44626647e+01] [ 9.76809478e-04 9.99947205e-01 -1.02290398e-02 -4.70398146e-01] [ 1.61322736e-03 1.02274556e-02 9.99946397e-01 -2.42758189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98119381700002 meters Centerline goodness : 0.874189 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.47, Z:-2.43 [[ 9.99997937e-01 -9.39576825e-04 -1.80062758e-03 2.44632021e+01] [ 9.22280034e-04 9.99953658e-01 -9.58285386e-03 -4.72714079e-01] [ 1.80954796e-03 9.58117341e-03 9.99952462e-01 -2.42773010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01119381700002 meters Centerline goodness : 0.872222 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.47, Z:-2.43 [[ 9.99997716e-01 -9.26555191e-04 -1.92588664e-03 2.44635418e+01] [ 9.09104851e-04 9.99958706e-01 -9.04214928e-03 -4.74487317e-01] [ 1.93418517e-03 9.04037780e-03 9.99957264e-01 -2.42777179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04119381700002 meters Centerline goodness : 0.873351 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99997404e-01 -1.29615952e-03 -1.87379193e-03 2.44631743e+01] [ 1.28073442e-03 9.99965478e-01 -8.20991692e-03 -4.77514304e-01] [ 1.88436860e-03 8.20749578e-03 9.99964542e-01 -2.42699205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07119381700002 meters Centerline goodness : 0.873683 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99996564e-01 -1.66743734e-03 -2.02272282e-03 2.44634317e+01] [ 1.65111843e-03 9.99966293e-01 -8.04280889e-03 -4.78873891e-01] [ 2.03606552e-03 8.03944150e-03 9.99965610e-01 -2.42682142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10119381700002 meters Centerline goodness : 0.875332 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99994990e-01 -2.19815065e-03 -2.27779133e-03 2.44639354e+01] [ 2.17985260e-03 9.99965585e-01 -8.00482536e-03 -4.80116267e-01] [ 2.29530875e-03 7.99982000e-03 9.99965367e-01 -2.42665439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13119381700002 meters Centerline goodness : 0.871356 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99973539e-01 -6.96417821e-03 -2.10293204e-03 2.44633609e+01] [ 6.93747487e-03 9.99898440e-01 -1.24491107e-02 -4.79496875e-01] [ 2.18941629e-03 1.24341922e-02 9.99920295e-01 -2.42612808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16119381700003 meters Centerline goodness : 0.875656 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99968457e-01 -7.61154851e-03 -2.26942166e-03 2.44637352e+01] [ 7.58236038e-03 9.99891817e-01 -1.26040340e-02 -4.79881352e-01] [ 2.36511236e-03 1.25864289e-02 9.99917991e-01 -2.42598627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19119381700003 meters Centerline goodness : 0.872170 Centerline is valid? [False, False] Translation: X:24.46, Y:-0.48, Z:-2.43 [[ 9.99961644e-01 -8.41651452e-03 -2.42354498e-03 2.44644370e+01] [ 8.38409192e-03 9.99879156e-01 -1.30911962e-02 -4.79610662e-01] [ 2.53343435e-03 1.30703748e-02 9.99911370e-01 -2.42636507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22119381700003 meters Centerline goodness : 0.873511 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.48, Z:-2.43 [[ 9.99949238e-01 -9.66693202e-03 -2.84120757e-03 2.44663569e+01] [ 9.62560175e-03 9.99852599e-01 -1.42171842e-02 -4.78453480e-01] [ 2.97822532e-03 1.41891142e-02 9.99894894e-01 -2.42766702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25119381700003 meters Centerline goodness : 0.873164 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.48, Z:-2.43 [[ 9.99934119e-01 -1.10827037e-02 -2.98837011e-03 2.44673206e+01] [ 1.10346036e-02 9.99816507e-01 -1.56585089e-02 -4.75147360e-01] [ 3.16136038e-03 1.56245018e-02 9.99872932e-01 -2.42836861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28119381700003 meters Centerline goodness : 0.872069 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.47, Z:-2.43 [[ 9.99926912e-01 -1.16528751e-02 -3.22206506e-03 2.44681639e+01] [ 1.15985599e-02 9.99798381e-01 -1.63912013e-02 -4.73264275e-01] [ 3.41242005e-03 1.63526320e-02 9.99860464e-01 -2.42879314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31119381700003 meters Centerline goodness : 0.871677 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.47, Z:-2.43 [[ 9.99955884e-01 -8.80803199e-03 -3.26326177e-03 2.44685557e+01] [ 8.76500621e-03 9.99877436e-01 -1.29725779e-02 -4.73197012e-01] [ 3.37712469e-03 1.29434031e-02 9.99910528e-01 -2.42889651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34119381700003 meters Centerline goodness : 0.873977 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.47, Z:-2.43 [[ 9.99970426e-01 -6.75904584e-03 -3.66916709e-03 2.44704343e+01] [ 6.71990762e-03 9.99921489e-01 -1.05763216e-02 -4.72217846e-01] [ 3.74036486e-03 1.05513523e-02 9.99937337e-01 -2.43005325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37119381700003 meters Centerline goodness : 0.873790 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.47, Z:-2.43 [[ 9.99978632e-01 -5.02297663e-03 -4.18394010e-03 2.44727237e+01] [ 4.98504804e-03 9.99946831e-01 -9.02690949e-03 -4.67930012e-01] [ 4.22905960e-03 9.00585946e-03 9.99950504e-01 -2.43146911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40119381700003 meters Centerline goodness : 0.873790 Centerline is valid? [False, False] Translation: X:24.47, Y:-0.47, Z:-2.43 [[ 9.99978632e-01 -5.02297663e-03 -4.18394010e-03 2.44727237e+01] [ 4.98504804e-03 9.99946831e-01 -9.02690949e-03 -4.67930012e-01] [ 4.22905960e-03 9.00585946e-03 9.99950504e-01 -2.43146911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43119381700004 meters Centerline goodness : 0.874014 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.47, Z:-2.43 [[ 9.99978657e-01 -3.15825440e-03 -5.71935549e-03 2.44951805e+01] [ 3.09864174e-03 9.99941097e-01 -1.04020058e-02 -4.66647056e-01] [ 5.75187078e-03 1.03840615e-02 9.99929541e-01 -2.43355584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46119381700004 meters Centerline goodness : 0.876310 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.46, Z:-2.43 [[ 9.99976078e-01 -3.67037034e-03 -5.86274154e-03 2.44959960e+01] [ 3.60344049e-03 9.99928682e-01 -1.13861901e-02 -4.63583614e-01] [ 5.90411496e-03 1.13647916e-02 9.99917988e-01 -2.43426053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49119381700004 meters Centerline goodness : 0.875783 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.46, Z:-2.44 [[ 9.99976262e-01 -2.62379445e-03 -6.37104805e-03 2.44985652e+01] [ 2.55713201e-03 9.99942138e-01 -1.04490372e-02 -4.58572330e-01] [ 6.39809553e-03 1.04324976e-02 9.99925111e-01 -2.43587815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52119381700004 meters Centerline goodness : 0.876838 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.46, Z:-2.44 [[ 9.99980823e-01 -1.47175187e-04 -6.19121440e-03 2.44982453e+01] [ 9.90699456e-05 9.99969812e-01 -7.76950930e-03 -4.56721521e-01] [ 6.19217098e-03 7.76874695e-03 9.99950651e-01 -2.43559075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55119381700004 meters Centerline goodness : 0.877094 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.45, Z:-2.44 [[ 9.99976817e-01 1.55076501e-03 -6.63022914e-03 2.45003719e+01] [-1.59006252e-03 9.99981178e-01 -5.92586446e-03 -4.54306391e-01] [ 6.62091472e-03 5.93626956e-03 9.99960461e-01 -2.43691064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58119381700004 meters Centerline goodness : 0.878945 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.45, Z:-2.44 [[ 9.99977256e-01 8.26578526e-04 -6.69356886e-03 2.45008353e+01] [-8.75368434e-04 9.99973049e-01 -7.28942608e-03 -4.50290921e-01] [ 6.68736318e-03 7.29511963e-03 9.99951029e-01 -2.43729469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61119381700001 meters Centerline goodness : 0.880169 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.44, Z:-2.44 [[ 9.99975930e-01 -1.03274023e-03 -6.86097785e-03 2.45019818e+01] [ 9.62643176e-04 9.99947390e-01 -1.02122314e-02 -4.40940276e-01] [ 6.87116348e-03 1.02053809e-02 9.99924316e-01 -2.43797760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters Centerline goodness : 0.885779 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.44, Z:-2.44 [[ 9.99983235e-01 -7.35500400e-04 -5.74351471e-03 2.45224757e+01] [ 6.51819658e-04 9.99893816e-01 -1.45579102e-02 -4.36333068e-01] [ 5.75361219e-03 1.45539224e-02 9.99877532e-01 -2.44029266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67119381700002 meters Centerline goodness : 0.883637 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.43, Z:-2.44 [[ 9.99985695e-01 3.61240527e-04 -5.33665290e-03 2.45213118e+01] [-4.34884113e-04 9.99904614e-01 -1.38048743e-02 -4.31200114e-01] [ 5.33115698e-03 1.38069976e-02 9.99890467e-01 -2.43953375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70119381700002 meters Centerline goodness : 0.884652 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.43, Z:-2.44 [[ 9.99981138e-01 1.78017885e-03 -5.87824556e-03 2.45236797e+01] [-1.85525745e-03 9.99916463e-01 -1.27916264e-02 -4.25784049e-01] [ 5.85498312e-03 1.28022908e-02 9.99900905e-01 -2.44090976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73119381700002 meters Centerline goodness : 0.889149 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.41, Z:-2.44 [[ 9.99974481e-01 1.76379279e-03 -6.92286768e-03 2.45259900e+01] [-1.85627446e-03 9.99908824e-01 -1.33752535e-02 -4.10213792e-01] [ 6.89864531e-03 1.33877629e-02 9.99886582e-01 -2.43993410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76119381700002 meters Centerline goodness : 0.886832 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.40, Z:-2.44 [[ 9.99966902e-01 3.88337704e-03 -7.14944806e-03 2.45269397e+01] [-3.97173666e-03 9.99915396e-01 -1.23865099e-02 -4.03178094e-01] [ 7.10074170e-03 1.24144957e-02 9.99897725e-01 -2.44027353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79119381700002 meters Centerline goodness : 0.889949 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.40, Z:-2.44 [[ 9.99954090e-01 6.03383355e-03 -7.44385997e-03 2.45281031e+01] [-6.11800020e-03 9.99917025e-01 -1.13363806e-02 -3.96118334e-01] [ 7.37484049e-03 1.13814017e-02 9.99908033e-01 -2.44072064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82119381700002 meters Centerline goodness : 0.894141 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.39, Z:-2.44 [[ 9.99936780e-01 8.15312103e-03 -7.74361401e-03 2.45294095e+01] [-8.23349702e-03 9.99911968e-01 -1.04051152e-02 -3.88985239e-01] [ 7.65809816e-03 1.04682144e-02 9.99915881e-01 -2.44132562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85119381700002 meters Centerline goodness : 0.890425 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.37, Z:-2.45 [[ 9.99937474e-01 1.00985618e-02 -4.80290635e-03 2.45476972e+01] [-1.01813642e-02 9.99794324e-01 -1.75399605e-02 -3.70691354e-01] [ 4.62479013e-03 1.75877640e-02 9.99834627e-01 -2.44580702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88119381700002 meters Centerline goodness : 0.892423 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.36, Z:-2.45 [[ 9.99911408e-01 1.22771422e-02 -5.14268232e-03 2.45494803e+01] [-1.23616138e-02 9.99783639e-01 -1.67291707e-02 -3.62664105e-01] [ 4.93618324e-03 1.67912604e-02 9.99846832e-01 -2.44680116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91119381700003 meters Centerline goodness : 0.887856 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.36, Z:-2.45 [[ 9.99881450e-01 1.44198996e-02 -5.39928319e-03 2.45512208e+01] [-1.45041115e-02 9.99768434e-01 -1.58968549e-02 -3.55015295e-01] [ 5.16880185e-03 1.59732822e-02 9.99859059e-01 -2.44794354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94119381700003 meters Centerline goodness : 0.888554 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.35, Z:-2.45 [[ 9.99844777e-01 1.66173896e-02 -5.85523277e-03 2.45532772e+01] [-1.67029177e-02 9.99749853e-01 -1.48742594e-02 -3.47668196e-01] [ 5.60659674e-03 1.49697501e-02 9.99872228e-01 -2.44898564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97119381700003 meters Centerline goodness : 0.887940 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.33, Z:-2.45 [[ 9.99828551e-01 1.82710951e-02 -3.00582931e-03 2.45719192e+01] [-1.83291893e-02 9.99619934e-01 -2.05919588e-02 -3.31393504e-01] [ 2.62844926e-03 2.06435227e-02 9.99783445e-01 -2.45204897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00119381700003 meters Centerline goodness : 0.887599 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.33, Z:-2.45 [[ 9.99781401e-01 2.06595380e-02 -3.21473163e-03 2.45729277e+01] [-2.07171860e-02 9.99603447e-01 -1.90721364e-02 -3.25565311e-01] [ 2.81943529e-03 1.91345674e-02 9.99812942e-01 -2.45234382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03119381700003 meters Centerline goodness : 0.887104 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.32, Z:-2.45 [[ 9.99730589e-01 2.29257242e-02 -3.62767269e-03 2.45744672e+01] [-2.29861913e-02 9.99580649e-01 -1.76113976e-02 -3.19736426e-01] [ 3.22239738e-03 1.76900393e-02 9.99838326e-01 -2.45281389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06119381700003 meters Centerline goodness : 0.886600 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.31, Z:-2.45 [[ 9.99677294e-01 2.50959977e-02 -3.93682849e-03 2.45761058e+01] [-2.51567278e-02 9.99551918e-01 -1.62204195e-02 -3.13975177e-01] [ 3.52799686e-03 1.63142228e-02 9.99860690e-01 -2.45363359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09119381700003 meters Centerline goodness : 0.884338 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.30, Z:-2.45 [[ 9.99623239e-01 2.70940157e-02 -4.39246661e-03 2.45775866e+01] [-2.71686457e-02 9.99470070e-01 -1.79288349e-02 -3.00157040e-01] [ 3.90437477e-03 1.80414174e-02 9.99829617e-01 -2.45238642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12119381700003 meters Centerline goodness : 0.887280 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.29, Z:-2.45 [[ 9.99547492e-01 2.97581333e-02 -4.38905052e-03 2.45779321e+01] [-2.98279975e-02 9.99413536e-01 -1.68188699e-02 -2.93769460e-01] [ 3.88597833e-03 1.69421758e-02 9.99848920e-01 -2.45177663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15119381700003 meters Centerline goodness : 0.887772 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.29, Z:-2.45 [[ 9.99446467e-01 3.29738454e-02 -4.41426328e-03 2.45784285e+01] [-3.30374839e-02 9.99338268e-01 -1.52168066e-02 -2.87221672e-01] [ 3.90958559e-03 1.53542197e-02 9.99874474e-01 -2.45131416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18119381700004 meters Centerline goodness : 0.889387 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.28, Z:-2.45 [[ 9.99336953e-01 3.61322964e-02 -4.48462868e-03 2.45793753e+01] [-3.61911738e-02 9.99249227e-01 -1.38268096e-02 -2.79888924e-01] [ 3.98166736e-03 1.39799458e-02 9.99894348e-01 -2.45127316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21119381700004 meters Centerline goodness : 0.891360 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.27, Z:-2.45 [[ 9.98953907e-01 4.55379772e-02 -4.16936831e-03 2.45805222e+01] [-4.55660399e-02 9.98937477e-01 -6.90309436e-03 -2.67551167e-01] [ 3.85058530e-03 7.08585469e-03 9.99967481e-01 -2.45149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24119381700004 meters Centerline goodness : 0.890590 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.26, Z:-2.45 [[ 9.98798006e-01 4.88426911e-02 -4.11512127e-03 2.45811710e+01] [-4.88620085e-02 9.98794328e-01 -4.73226149e-03 -2.62067694e-01] [ 3.87902340e-03 4.92764643e-03 9.99980336e-01 -2.45175617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27119381700004 meters Centerline goodness : 0.889606 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.26, Z:-2.45 [[ 9.98632340e-01 5.21203777e-02 -4.11278201e-03 2.45818308e+01] [-5.21300439e-02 9.98637704e-01 -2.27910943e-03 -2.57884073e-01] [ 3.98839114e-03 2.49039189e-03 9.99988945e-01 -2.45195843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30119381700004 meters Centerline goodness : 0.891835 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.25, Z:-2.45 [[ 9.98305023e-01 5.80723763e-02 -3.83148820e-03 2.45834385e+01] [-5.80630156e-02 9.98309763e-01 2.51080540e-03 -2.51120699e-01] [ 3.97082051e-03 -2.28408188e-03 9.99989508e-01 -2.45339480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33119381700004 meters Centerline goodness : 0.889412 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.25, Z:-2.45 [[ 9.98316315e-01 5.78712978e-02 -3.93039709e-03 2.45845896e+01] [-5.78665028e-02 9.98323453e-01 1.32302133e-03 -2.46412872e-01] [ 4.00037255e-03 -1.09335545e-03 9.99991401e-01 -2.45432729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters Centerline goodness : 0.892595 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.24, Z:-2.46 [[ 9.98461740e-01 5.53239190e-02 -3.66294452e-03 2.45688409e+01] [-5.52626275e-02 9.98357233e-01 1.51286613e-02 -2.42988456e-01] [ 4.49390399e-03 -1.49029656e-02 9.99878846e-01 -2.45607147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39119381700002 meters Centerline goodness : 0.892790 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.24, Z:-2.46 [[ 9.98485932e-01 5.48652238e-02 -3.95600834e-03 2.45698180e+01] [-5.48046835e-02 9.98398074e-01 1.40617129e-02 -2.39681283e-01] [ 4.72117013e-03 -1.38236147e-02 9.99893303e-01 -2.45647097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42119381700002 meters Centerline goodness : 0.890187 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.24, Z:-2.46 [[ 9.98530108e-01 5.40321843e-02 -4.25982545e-03 2.45706664e+01] [-5.39760509e-02 9.98465929e-01 1.23439808e-02 -2.35306123e-01] [ 4.92026283e-03 -1.20959079e-02 9.99914736e-01 -2.45665101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45119381700002 meters Centerline goodness : 0.894972 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.23, Z:-2.46 [[ 9.98538215e-01 5.38762927e-02 -4.33337999e-03 2.45704078e+01] [-5.38216710e-02 9.98480085e-01 1.18637084e-02 -2.33716607e-01] [ 4.96596625e-03 -1.16131364e-02 9.99920234e-01 -2.45596650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48119381700002 meters Centerline goodness : 0.892724 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.23, Z:-2.46 [[ 9.98568869e-01 5.32939252e-02 -4.46899783e-03 2.45700618e+01] [-5.32420242e-02 9.98520790e-01 1.10235879e-02 -2.32034626e-01] [ 5.04987751e-03 -1.07698732e-02 9.99929252e-01 -2.45510873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51119381700002 meters Centerline goodness : 0.897680 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.23, Z:-2.45 [[ 9.98596584e-01 5.27736902e-02 -4.44971209e-03 2.45695896e+01] [-5.27249786e-02 9.98554566e-01 1.04334182e-02 -2.30937055e-01] [ 4.99389030e-03 -1.01841648e-02 9.99935670e-01 -2.45441051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54119381700002 meters Centerline goodness : 0.898221 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.23, Z:-2.45 [[ 9.98728629e-01 5.02427317e-02 -4.09803145e-03 2.45669321e+01] [-5.02092667e-02 9.98707501e-01 7.89667913e-03 -2.28596921e-01] [ 4.48948548e-03 -7.68088036e-03 9.99960424e-01 -2.45196685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57119381700002 meters Centerline goodness : 0.899959 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.23, Z:-2.45 [[ 9.98755238e-01 4.97063984e-02 -4.15318629e-03 2.45668917e+01] [-4.96741393e-02 9.98737019e-01 7.53961962e-03 -2.27980701e-01] [ 4.52270823e-03 -7.32392863e-03 9.99962952e-01 -2.45172233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60119381700002 meters Centerline goodness : 0.897988 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.23, Z:-2.45 [[ 9.98868141e-01 4.75599796e-02 -6.96915993e-04 2.45574226e+01] [-4.75462038e-02 9.98777246e-01 1.35414511e-02 -2.27296033e-01] [ 1.34009497e-03 -1.34929884e-02 9.99908067e-01 -2.45425142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63119381700002 meters Centerline goodness : 0.898886 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.23, Z:-2.45 [[ 9.98897419e-01 4.69407097e-02 -7.18857016e-04 2.45577523e+01] [-4.69274033e-02 9.98813539e-01 1.30128284e-02 -2.26672577e-01] [ 1.32883552e-03 -1.29647466e-02 9.99915071e-01 -2.45460697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66119381700003 meters Centerline goodness : 0.898886 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.23, Z:-2.45 [[ 9.98899847e-01 4.68889339e-02 -7.23813196e-04 2.45577522e+01] [-4.68756448e-02 9.98816723e-01 1.29548300e-02 -2.26475128e-01] [ 1.33039489e-03 -1.29066485e-02 9.99915821e-01 -2.45458666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69119381700003 meters Centerline goodness : 0.899293 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.46 [[ 9.98906211e-01 4.67493979e-02 -9.35394034e-04 2.45588736e+01] [-4.67341034e-02 9.98829292e-01 1.24887513e-02 -2.24849121e-01] [ 1.51814056e-03 -1.24313764e-02 9.99921575e-01 -2.45546401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72119381700003 meters Centerline goodness : 0.901548 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.45 [[ 9.98797377e-01 4.90260616e-02 -4.95014133e-04 2.45576681e+01] [-4.90131187e-02 9.98685287e-01 1.50137408e-02 -2.24378096e-01] [ 1.23042791e-03 -1.49714228e-02 9.99887165e-01 -2.45469546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75119381700003 meters Centerline goodness : 0.901480 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.45 [[ 9.98692311e-01 5.11240069e-02 -6.72598289e-05 2.45561545e+01] [-5.11152743e-02 9.98544371e-01 1.72153567e-02 -2.23775351e-01] [ 9.47279938e-04 -1.71894064e-02 9.99851803e-01 -2.45352311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78119381700003 meters Centerline goodness : 0.904872 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.45 [[ 9.98489078e-01 5.49504766e-02 7.46750042e-05 2.45562549e+01] [-5.49399649e-02 9.98269585e-01 2.09627461e-02 -2.23282822e-01] [ 1.07736710e-03 -2.09351757e-02 9.99780255e-01 -2.45340976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81119381700003 meters Centerline goodness : 0.907234 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.45 [[ 9.98489418e-01 5.49440981e-02 -1.65467235e-04 2.45567310e+01] [-5.49291271e-02 9.98279180e-01 2.05297398e-02 -2.21756705e-01] [ 1.29317053e-03 -2.04896389e-02 9.99789229e-01 -2.45334120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84119381700003 meters Centerline goodness : 0.906271 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.22, Z:-2.45 [[ 9.98473982e-01 5.52227151e-02 -3.99124345e-04 2.45575984e+01] [-5.52032706e-02 9.98269031e-01 2.02864820e-02 -2.19849935e-01] [ 1.51870809e-03 -2.02334915e-02 9.99794128e-01 -2.45366981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87119381700003 meters Centerline goodness : 0.905491 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.22, Z:-2.45 [[ 9.98553511e-01 5.37600520e-02 -8.61180373e-04 2.45401615e+01] [-5.36955609e-02 9.97924872e-01 3.55350103e-02 -2.19730086e-01] [ 2.76975731e-03 -3.54373677e-02 9.99368061e-01 -2.45406162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90119381700003 meters Centerline goodness : 0.909764 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.22, Z:-2.45 [[ 9.98532717e-01 5.37995399e-02 -6.16624761e-03 2.45321936e+01] [-5.34509294e-02 9.97459571e-01 4.70892979e-02 -2.21522149e-01] [ 8.68396525e-03 -4.66906129e-02 9.98871651e-01 -2.45095476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93119381700004 meters Centerline goodness : 0.910799 Centerline is valid? [False, False] Translation: X:24.51, Y:-0.22, Z:-2.45 [[ 9.98719929e-01 4.99962489e-02 -7.67324420e-03 2.45148604e+01] [-4.94567878e-02 9.97022836e-01 5.91564937e-02 -2.21348077e-01] [ 1.06080025e-02 -5.87012752e-02 9.98219230e-01 -2.44921584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96119381700004 meters Centerline goodness : 0.906628 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.22, Z:-2.45 [[ 9.98872308e-01 4.60216175e-02 -1.16671477e-02 2.45152326e+01] [-4.50639784e-02 9.96375937e-01 7.21403535e-02 -2.22919179e-01] [ 1.49448810e-02 -7.15332333e-02 9.97326249e-01 -2.44721713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99119381700004 meters Centerline goodness : 0.905666 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.22, Z:-2.45 [[ 9.99015863e-01 4.27318692e-02 -1.18866599e-02 2.45154472e+01] [-4.18296999e-02 9.96814288e-01 6.79084007e-02 -2.20982025e-01] [ 1.47506453e-02 -6.73443541e-02 9.97620748e-01 -2.44720774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02119381700004 meters Centerline goodness : 0.910297 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.21, Z:-2.45 [[ 9.99122572e-01 3.92394594e-02 -1.46407231e-02 2.44976307e+01] [-3.83180660e-02 9.97543202e-01 5.86454206e-02 -2.13959527e-01] [ 1.69059684e-02 -5.80329593e-02 9.98171510e-01 -2.44609670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05119381700004 meters Centerline goodness : 0.908722 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.21, Z:-2.45 [[ 9.99136437e-01 3.87800648e-02 -1.49159766e-02 2.44980505e+01] [-3.78515510e-02 9.97588733e-01 5.81719825e-02 -2.12945371e-01] [ 1.71359235e-02 -5.75571545e-02 9.98195138e-01 -2.44579867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08119381700004 meters Centerline goodness : 0.908434 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.21, Z:-2.45 [[ 9.99139772e-01 3.85486152e-02 -1.52879259e-02 2.44986939e+01] [-3.75989659e-02 9.97598015e-01 5.81766154e-02 -2.13397713e-01] [ 1.74938325e-02 -5.75517601e-02 9.98189241e-01 -2.44562716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11119381700001 meters Centerline goodness : 0.910142 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.21, Z:-2.45 [[ 9.99147319e-01 3.82381289e-02 -1.55718007e-02 2.44990515e+01] [-3.72721374e-02 9.97608708e-01 5.82035565e-02 -2.13998982e-01] [ 1.77601591e-02 -5.75735331e-02 9.98183282e-01 -2.44522885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters Centerline goodness : 0.913229 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.22, Z:-2.44 [[ 9.99132393e-01 3.85820921e-02 -1.56806867e-02 2.44983978e+01] [-3.75882589e-02 9.97527738e-01 5.93762210e-02 -2.16174814e-01] [ 1.79327788e-02 -5.87352960e-02 9.98112509e-01 -2.44375354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17119381700002 meters Centerline goodness : 0.912137 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.21, Z:-2.44 [[ 9.99242396e-01 3.55439107e-02 -1.58512995e-02 2.44981538e+01] [-3.46145713e-02 9.97859437e-01 5.54831180e-02 -2.14747460e-01] [ 1.77894557e-02 -5.48923978e-02 9.98333792e-01 -2.44313647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20119381700002 meters Centerline goodness : 0.913419 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.22, Z:-2.44 [[ 9.99229459e-01 3.58602155e-02 -1.59540709e-02 2.44976702e+01] [-3.49155569e-02 9.97820195e-01 5.59978811e-02 -2.15325505e-01] [ 1.79273902e-02 -5.53976872e-02 9.98303413e-01 -2.44197953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23119381700002 meters Centerline goodness : 0.911891 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.22, Z:-2.44 [[ 9.99178909e-01 3.73593040e-02 -1.56776798e-02 2.44953083e+01] [-3.63958221e-02 9.97664705e-01 5.77968921e-02 -2.17745324e-01] [ 1.78003194e-02 -5.71788335e-02 9.98205254e-01 -2.43917768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26119381700002 meters Centerline goodness : 0.913151 Centerline is valid? [False, False] Translation: X:24.49, Y:-0.22, Z:-2.44 [[ 9.99037595e-01 4.09479228e-02 -1.57210665e-02 2.44948402e+01] [-3.98914022e-02 9.97248681e-01 6.24799525e-02 -2.19804817e-01] [ 1.82362371e-02 -6.17926861e-02 9.97922394e-01 -2.43766054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29119381700002 meters Centerline goodness : 0.909059 Centerline is valid? [False, False] Translation: X:24.49, Y:-0.22, Z:-2.44 [[ 9.98868401e-01 4.48690707e-02 -1.57697155e-02 2.44945977e+01] [-4.37094277e-02 9.96763769e-01 6.74646202e-02 -2.22193601e-01] [ 1.87457559e-02 -6.66989920e-02 9.97597033e-01 -2.43623737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32119381700002 meters Centerline goodness : 0.909059 Centerline is valid? [False, False] Translation: X:24.49, Y:-0.22, Z:-2.44 [[ 9.98871027e-01 4.47958554e-02 -1.58114631e-02 2.44946229e+01] [-4.36365486e-02 9.96777619e-01 6.73069895e-02 -2.21493432e-01] [ 1.87755867e-02 -6.65410441e-02 9.97607020e-01 -2.43606912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35119381700002 meters Centerline goodness : 0.908782 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.22, Z:-2.44 [[ 9.98727974e-01 4.77472974e-02 -1.62058401e-02 2.44965755e+01] [-4.65097257e-02 9.96485812e-01 6.96625584e-02 -2.24754806e-01] [ 1.94750887e-02 -6.88202167e-02 9.97438970e-01 -2.43693584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38119381700002 meters Centerline goodness : 0.908789 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.23, Z:-2.44 [[ 9.98650195e-01 4.92259119e-02 -1.65710083e-02 2.44985530e+01] [-4.79382442e-02 9.96341904e-01 7.07441508e-02 -2.25653332e-01] [ 1.99928353e-02 -6.98542750e-02 9.97356840e-01 -2.43783929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41119381700003 meters Centerline goodness : 0.913993 Centerline is valid? [False, False] Translation: X:24.50, Y:-0.23, Z:-2.44 [[ 9.98245198e-01 5.49648623e-02 -2.20315542e-02 2.45024151e+01] [-5.35841620e-02 9.96818775e-01 5.90005747e-02 -2.25437350e-01] [ 2.52044253e-02 -5.77164979e-02 9.98014801e-01 -2.43888567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44119381700003 meters Centerline goodness : 0.912020 Centerline is valid? [False, False] Translation: X:24.51, Y:-0.23, Z:-2.44 [[ 0.99790484 0.05944703 -0.02553385 24.50980413] [-0.05781995 0.99650276 0.06032495 -0.22805903] [ 0.02903069 -0.05872219 0.99785216 -2.43827731] [ 0. 0. 0. 1. ]] SLAMing on 216.47119381700003 meters Centerline goodness : 0.913230 Centerline is valid? [False, False] Translation: X:24.52, Y:-0.23, Z:-2.44 [[ 0.99756223 0.06421501 -0.02731358 24.52055042] [-0.06262958 0.99649796 0.05540181 -0.23050817] [ 0.03077556 -0.05355611 0.99809048 -2.43691124] [ 0. 0. 0. 1. ]] SLAMing on 216.50119381700003 meters Centerline goodness : 0.905116 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.24, Z:-2.44 [[ 0.99705053 0.07126873 -0.02847818 24.53114356] [-0.06970644 0.99618363 0.05252806 -0.23897165] [ 0.0321131 -0.05038802 0.9982133 -2.43585373] [ 0. 0. 0. 1. ]] SLAMing on 216.53119381700003 meters Centerline goodness : 0.905713 Centerline is valid? [False, False] Translation: X:24.54, Y:-0.24, Z:-2.43 [[ 0.99674155 0.07360128 -0.03300209 24.53965262] [-0.07189809 0.99615168 0.0501247 -0.24460663] [ 0.03656433 -0.04758859 0.99819756 -2.43338227] [ 0. 0. 0. 1. ]] SLAMing on 216.56119381700003 meters Centerline goodness : 0.907815 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.25, Z:-2.43 [[ 0.99652531 0.07470857 -0.03682315 24.54638349] [-0.07289826 0.99617051 0.04827167 -0.25027743] [ 0.04028844 -0.0454196 0.99815525 -2.431612 ] [ 0. 0. 0. 1. ]] SLAMing on 216.59119381700003 meters Centerline goodness : 0.907647 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.26, Z:-2.43 [[ 0.99630183 0.07544915 -0.04111078 24.55368499] [-0.07355343 0.99623792 0.04582462 -0.2561587 ] [ 0.04441354 -0.04263132 0.99810321 -2.42926213] [ 0. 0. 0. 1. ]] SLAMing on 216.62119381700003 meters Centerline goodness : 0.910634 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.27, Z:-2.43 [[ 0.9966849 0.07246808 -0.03698083 24.5569554 ] [-0.07133087 0.99696471 0.03119748 -0.26670612] [ 0.0391294 -0.02845619 0.99882888 -2.42889958] [ 0. 0. 0. 1. ]] SLAMing on 216.65119381700003 meters Centerline goodness : 0.909531 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.27, Z:-2.43 [[ 9.97093958e-01 6.65180997e-02 -3.71346348e-02 2.45556102e+01] [-6.55857453e-02 9.97513697e-01 2.57863078e-02 -2.71812597e-01] [ 3.87575631e-02 -2.32758690e-02 9.98977520e-01 -2.42803841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68119381700004 meters Centerline goodness : 0.906704 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.28, Z:-2.43 [[ 9.97479709e-01 6.02417365e-02 -3.74855061e-02 2.45551940e+01] [-5.95166791e-02 9.98023563e-01 2.01676027e-02 -2.77318435e-01] [ 3.86263498e-02 -1.78857616e-02 9.99093642e-01 -2.42775627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71119381700004 meters Centerline goodness : 0.907587 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.28, Z:-2.43 [[ 9.97831318e-01 5.38380259e-02 -3.78698856e-02 2.45550106e+01] [-5.33235865e-02 9.98472492e-01 1.44664622e-02 -2.82807054e-01] [ 3.85908848e-02 -1.24157309e-02 9.99177959e-01 -2.42766119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74119381700004 meters Centerline goodness : 0.915379 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.29, Z:-2.43 [[ 9.98240572e-01 4.50969745e-02 -3.84970447e-02 2.45548082e+01] [-4.48351360e-02 9.98965197e-01 7.63840801e-03 -2.94808776e-01] [ 3.88016770e-02 -5.89894855e-03 9.99229519e-01 -2.42765996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77119381700004 meters Centerline goodness : 0.911130 Centerline is valid? [False, False] Translation: X:24.55, Y:-0.30, Z:-2.43 [[ 9.98363280e-01 4.20014769e-02 -3.88154117e-02 2.45549197e+01] [-4.17924586e-02 9.99107194e-01 6.18109374e-03 -3.01185938e-01] [ 3.90403721e-02 -4.54878553e-03 9.99227280e-01 -2.42788335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80119381700004 meters Centerline goodness : 0.913878 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.31, Z:-2.43 [[ 9.98477257e-01 3.87507407e-02 -3.92625440e-02 2.45554332e+01] [-3.86071275e-02 9.99244737e-01 4.40967094e-03 -3.06877443e-01] [ 3.94037685e-02 -2.88714211e-03 9.99219199e-01 -2.42821771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83119381700004 meters Centerline goodness : 0.917209 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.32, Z:-2.43 [[ 9.98656235e-01 3.34589358e-02 -3.95755465e-02 2.45551098e+01] [-3.33812959e-02 9.99439252e-01 2.62117734e-03 -3.20393898e-01] [ 3.96410564e-02 -1.29657206e-03 9.99213143e-01 -2.42878340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86119381700001 meters Centerline goodness : 0.915414 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.33, Z:-2.43 [[ 9.98745077e-01 3.04068255e-02 -3.97956885e-02 2.45553919e+01] [-3.03817676e-02 9.99537605e-01 1.23442446e-03 -3.26417802e-01] [ 3.98148221e-02 -2.38119874e-05 9.99207075e-01 -2.42940429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89119381700002 meters Centerline goodness : 0.918186 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.33, Z:-2.43 [[ 9.98798730e-01 2.78474082e-02 -4.03189540e-02 2.45556227e+01] [-2.78714392e-02 9.99611515e-01 -3.39349138e-05 -3.32363301e-01] [ 4.03023457e-02 1.15764143e-03 9.99186860e-01 -2.42912826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92119381700002 meters Centerline goodness : 0.919012 Centerline is valid? [False, False] Translation: X:24.57, Y:-0.34, Z:-2.43 [[ 9.99076661e-01 2.59730923e-02 -3.42231447e-02 2.45678392e+01] [-2.57984644e-02 9.99651844e-01 5.53444066e-03 -3.40598972e-01] [ 3.43549762e-02 -4.64642592e-03 9.99398893e-01 -2.43237606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95119381700002 meters Centerline goodness : 0.917761 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.34, Z:-2.44 [[ 9.99254983e-01 2.44621094e-02 -2.98510387e-02 2.45790338e+01] [-2.46573763e-02 9.99676791e-01 -6.19084309e-03 -3.44001040e-01] [ 2.96899495e-02 6.92227910e-03 9.99535186e-01 -2.43610818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98119381700002 meters Centerline goodness : 0.919323 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.36, Z:-2.44 [[ 9.99259850e-01 2.39032368e-02 -3.01394792e-02 2.45810455e+01] [-2.40697498e-02 9.99696892e-01 -5.17404482e-03 -3.56160154e-01] [ 3.00066673e-02 5.89566497e-03 9.99532311e-01 -2.43794258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01119381700002 meters Centerline goodness : 0.919309 Centerline is valid? [False, False] Translation: X:24.58, Y:-0.36, Z:-2.44 [[ 9.99259454e-01 2.31911631e-02 -3.07036415e-02 2.45837904e+01] [-2.33643314e-02 9.99713004e-01 -5.29323826e-03 -3.60931488e-01] [ 3.05720733e-02 6.00668843e-03 9.99514516e-01 -2.43993743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04119381700002 meters Centerline goodness : 0.917489 Centerline is valid? [False, False] Translation: X:24.59, Y:-0.37, Z:-2.44 [[ 9.99261801e-01 2.30479889e-02 -3.07350507e-02 2.45852847e+01] [-2.31957008e-02 9.99721004e-01 -4.45807464e-03 -3.70805684e-01] [ 3.06237261e-02 5.16770474e-03 9.99517625e-01 -2.44202730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07119381700002 meters Centerline goodness : 0.912968 Centerline is valid? [False, False] Translation: X:24.60, Y:-0.38, Z:-2.45 [[ 9.99408580e-01 2.18977845e-02 -2.65137038e-02 2.45986477e+01] [-2.18486395e-02 9.99758996e-01 2.14188543e-03 -3.77545733e-01] [ 2.65542165e-02 -1.56133032e-03 9.99646155e-01 -2.44584200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10119381700002 meters Centerline goodness : 0.914059 Centerline is valid? [False, False] Translation: X:24.61, Y:-0.38, Z:-2.45 [[ 9.99524521e-01 2.18647571e-02 -2.17408661e-02 2.46090722e+01] [-2.20609210e-02 9.99717684e-01 -8.82426128e-03 -3.79989499e-01] [ 2.15417880e-02 9.29968906e-03 9.99724696e-01 -2.44955797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13119381700002 meters Centerline goodness : 0.914687 Centerline is valid? [False, False] Translation: X:24.62, Y:-0.39, Z:-2.45 [[ 9.99667656e-01 2.05973826e-02 -1.55024342e-02 2.46208308e+01] [-2.06406609e-02 9.99783482e-01 -2.63688946e-03 -3.87464378e-01] [ 1.54447647e-02 2.95599360e-03 9.99876353e-01 -2.45312723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16119381700003 meters Centerline goodness : 0.913907 Centerline is valid? [False, False] Translation: X:24.62, Y:-0.40, Z:-2.45 [[ 9.99708524e-01 1.87213785e-02 -1.52439103e-02 2.46193099e+01] [-1.87562056e-02 9.99821786e-01 -2.14488988e-03 -3.99779455e-01] [ 1.52010384e-02 2.43018261e-03 9.99881504e-01 -2.45138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19119381700003 meters Centerline goodness : 0.913087 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.41, Z:-2.45 [[ 9.99858066e-01 1.49462073e-02 -7.77554400e-03 2.46292327e+01] [-1.49352716e-02 9.99887393e-01 1.46259407e-03 -4.06645835e-01] [ 7.79652865e-03 -1.34625662e-03 9.99968700e-01 -2.45452763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22119381700003 meters Centerline goodness : 0.911813 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.41, Z:-2.46 [[ 9.99944413e-01 1.05430512e-02 -1.23618818e-04 2.46395483e+01] [-1.05424657e-02 9.99936261e-01 4.04104945e-03 -4.12902501e-01] [ 1.66215930e-04 -4.03952158e-03 9.99991827e-01 -2.45775031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25119381700003 meters Centerline goodness : 0.913140 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.42, Z:-2.46 [[ 9.99975558e-01 6.98862772e-03 -2.05554974e-04 2.46395263e+01] [-6.98834319e-03 9.99974665e-01 1.35379986e-03 -4.17173801e-01] [ 2.15010969e-04 -1.35233028e-03 9.99999062e-01 -2.45744400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28119381700003 meters Centerline goodness : 0.917182 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.43, Z:-2.46 [[ 9.99999859e-01 5.10642919e-04 -1.43596356e-04 2.46400520e+01] [-5.11116828e-04 9.99994359e-01 -3.31984604e-03 -4.26081640e-01] [ 1.41900290e-04 3.31991897e-03 9.99994479e-01 -2.45793188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31119381700003 meters Centerline goodness : 0.917255 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.43, Z:-2.46 [[ 9.99993975e-01 -3.45213810e-03 -3.64596755e-04 2.46412312e+01] [ 3.44970849e-03 9.99973141e-01 -6.46652760e-03 -4.29892208e-01] [ 3.86910308e-04 6.46523089e-03 9.99979025e-01 -2.45878093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34119381700003 meters Centerline goodness : 0.918432 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.43, Z:-2.46 [[ 9.99973592e-01 -7.24646018e-03 -5.52352067e-04 2.46421827e+01] [ 7.24100271e-03 9.99930410e-01 -9.31364333e-03 -4.33968791e-01] [ 6.19804574e-04 9.30939779e-03 9.99956475e-01 -2.45933724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37119381700003 meters Centerline goodness : 0.917339 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.44, Z:-2.46 [[ 9.99893312e-01 -1.45889493e-02 -7.25547938e-04 2.46442795e+01] [ 1.45765614e-02 9.99783322e-01 -1.48604247e-02 -4.42037480e-01] [ 9.42188710e-04 1.48482632e-02 9.99889315e-01 -2.46109700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40119381700003 meters Centerline goodness : 0.913160 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.45, Z:-2.46 [[ 9.99830045e-01 -1.84087802e-02 -9.98843111e-04 2.46458766e+01] [ 1.83877583e-02 9.99667908e-01 -1.80544541e-02 -4.45043705e-01] [ 1.33087188e-03 1.80330192e-02 9.99836506e-01 -2.46228734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43119381700004 meters Centerline goodness : 0.913909 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.45, Z:-2.46 [[ 9.99774167e-01 -2.12043307e-02 -1.41128701e-03 2.46483680e+01] [ 2.11714979e-02 9.99571489e-01 -2.02139864e-02 -4.48463303e-01] [ 1.83930631e-03 2.01795424e-02 9.99794680e-01 -2.46418853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46119381700004 meters Centerline goodness : 0.916226 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.45, Z:-2.47 [[ 9.99754696e-01 -2.20618465e-02 -1.95527753e-03 2.46511634e+01] [ 2.20179491e-02 9.99553898e-01 -2.01795581e-02 -4.51812111e-01] [ 2.39960359e-03 2.01315568e-02 9.99794460e-01 -2.46612677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49119381700004 meters Centerline goodness : 0.912063 Centerline is valid? [False, False] Translation: X:24.65, Y:-0.46, Z:-2.47 [[ 9.99740573e-01 -2.26343775e-02 -2.54390739e-03 2.46545839e+01] [ 2.25798138e-02 9.99549993e-01 -1.97475022e-02 -4.55754923e-01] [ 2.98973503e-03 1.96849382e-02 9.99801763e-01 -2.46886638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52119381700004 meters Centerline goodness : 0.910712 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.46, Z:-2.47 [[ 9.99744079e-01 -2.24370935e-02 -2.89012352e-03 2.46556845e+01] [ 2.23778082e-02 9.99566552e-01 -1.91295829e-02 -4.57602000e-01] [ 3.31808304e-03 1.90600126e-02 9.99812836e-01 -2.46935382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55119381700004 meters Centerline goodness : 0.912112 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.46, Z:-2.47 [[ 9.99748662e-01 -2.21775179e-02 -3.28175046e-03 2.46567256e+01] [ 2.21129291e-02 9.99583219e-01 -1.85582233e-02 -4.59256430e-01] [ 3.69195802e-03 1.84809898e-02 9.99822395e-01 -2.46966833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58119381700004 meters Centerline goodness : 0.911990 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.46, Z:-2.47 [[ 9.99757323e-01 -2.17390532e-02 -3.56478468e-03 2.46573285e+01] [ 2.16720577e-02 9.99605532e-01 -1.78634592e-02 -4.60898938e-01] [ 3.95171317e-03 1.77818679e-02 9.99834081e-01 -2.46969725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61119381700001 meters Centerline goodness : 0.912206 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.46, Z:-2.47 [[ 9.99784560e-01 -2.04225934e-02 -3.70838398e-03 2.46567806e+01] [ 2.03590449e-02 9.99657660e-01 -1.64338741e-02 -4.63141350e-01] [ 4.04273678e-03 1.63548344e-02 9.99858078e-01 -2.46866106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters Centerline goodness : 0.914193 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.47, Z:-2.47 [[ 9.99854980e-01 -1.64967976e-02 -4.22779207e-03 2.46576852e+01] [ 1.64456174e-02 9.99794334e-01 -1.18672664e-02 -4.65386568e-01] [ 4.42269445e-03 1.17960168e-02 9.99920644e-01 -2.46842305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67119381700002 meters Centerline goodness : 0.915309 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.47, Z:-2.47 [[ 9.99866234e-01 -1.57267434e-02 -4.49268016e-03 2.46579017e+01] [ 1.56744826e-02 9.99811701e-01 -1.14399835e-02 -4.65154654e-01] [ 4.67174788e-03 1.13680328e-02 9.99924468e-01 -2.46814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70119381700002 meters Centerline goodness : 0.916471 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.46, Z:-2.47 [[ 9.99961284e-01 -8.67877867e-03 1.45250305e-03 2.46701405e+01] [ 8.69722625e-03 9.99874832e-01 -1.32166130e-02 -4.64650327e-01] [-1.33761719e-03 1.32287341e-02 9.99911602e-01 -2.47113589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73119381700002 meters Centerline goodness : 0.919427 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.47, Z:-2.47 [[ 9.99983351e-01 -5.69908191e-03 9.04671596e-04 2.46721217e+01] [ 5.70778877e-03 9.99934379e-01 -9.93266764e-03 -4.65678311e-01] [-8.48005145e-04 9.93766594e-03 9.99950261e-01 -2.47212160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76119381700002 meters Centerline goodness : 0.914153 Centerline is valid? [False, False] Translation: X:24.67, Y:-0.47, Z:-2.47 [[ 9.99985112e-01 -5.43304366e-03 5.07994242e-04 2.46729599e+01] [ 5.43777391e-03 9.99936930e-01 -9.82680181e-03 -4.65516659e-01] [-4.54572759e-04 9.82941786e-03 9.99951587e-01 -2.47224552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79119381700002 meters Centerline goodness : 0.919043 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.47, Z:-2.47 [[ 9.99992995e-01 -3.68900155e-03 6.33502757e-04 2.46932125e+01] [ 3.69649936e-03 9.99917852e-01 -1.22729667e-02 -4.66232942e-01] [-5.88175723e-04 1.22752225e-02 9.99924484e-01 -2.47314152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82119381700002 meters Centerline goodness : 0.919956 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.47, Z:-2.47 [[ 9.99992792e-01 -3.78115923e-03 3.45193573e-04 2.46935593e+01] [ 3.78496491e-03 9.99923393e-01 -1.17848432e-02 -4.68006099e-01] [-3.00606760e-04 1.17860648e-02 9.99930497e-01 -2.47264171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85119381700002 meters Centerline goodness : 0.922124 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.47, Z:-2.47 [[ 9.99965171e-01 -8.33494347e-03 4.30321910e-04 2.46930613e+01] [ 8.34054540e-03 9.99848511e-01 -1.52771456e-02 -4.70126510e-01] [-3.02922575e-04 1.52802027e-02 9.99883205e-01 -2.47163421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88119381700002 meters Centerline goodness : 0.922562 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.47, Z:-2.47 [[ 9.99957313e-01 -9.23929063e-03 8.63329602e-05 2.46941023e+01] [ 9.23954695e-03 9.99845043e-01 -1.49840229e-02 -4.72657023e-01] [ 5.21221596e-05 1.49841809e-02 9.99887730e-01 -2.47168355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91119381700003 meters Centerline goodness : 0.922689 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.47, Z:-2.47 [[ 9.99824433e-01 -1.87339049e-02 -3.78657812e-04 2.46968684e+01] [ 1.87193559e-02 9.99534711e-01 -2.40820731e-02 -4.72783047e-01] [ 8.29632895e-04 2.40707569e-02 9.99709913e-01 -2.47379374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94119381700003 meters Centerline goodness : 0.922689 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.47, Z:-2.47 [[ 9.99824433e-01 -1.87339049e-02 -3.78657812e-04 2.46968684e+01] [ 1.87193559e-02 9.99534711e-01 -2.40820731e-02 -4.72783047e-01] [ 8.29632895e-04 2.40707569e-02 9.99709913e-01 -2.47379374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97119381700003 meters Centerline goodness : 0.923058 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.48, Z:-2.47 [[ 9.99591365e-01 -2.82048182e-02 -4.64667407e-03 2.46958697e+01] [ 2.81320096e-02 9.99490875e-01 -1.50525950e-02 -4.75426538e-01] [ 5.06886404e-03 1.49157237e-02 9.99875906e-01 -2.47160794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00119381700003 meters Centerline goodness : 0.922231 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.48, Z:-2.47 [[ 9.99564476e-01 -2.90847069e-02 -4.99385588e-03 2.46971106e+01] [ 2.90048512e-02 9.99460930e-01 -1.53807770e-02 -4.75740352e-01] [ 5.43850923e-03 1.52292322e-02 9.99869238e-01 -2.47216002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03119381700003 meters Centerline goodness : 0.922382 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.48, Z:-2.47 [[ 9.99525871e-01 -3.03025669e-02 -5.45773868e-03 2.46990087e+01] [ 3.02102764e-02 9.99411215e-01 -1.62654056e-02 -4.75283501e-01] [ 5.94740878e-03 1.60928139e-02 9.99852814e-01 -2.47316082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06119381700003 meters Centerline goodness : 0.920543 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.47, Z:-2.47 [[ 9.99465028e-01 -3.21811290e-02 -5.83381202e-03 2.47012518e+01] [ 3.20719906e-02 9.99324822e-01 -1.79244777e-02 -4.73165936e-01] [ 6.40670309e-03 1.77277867e-02 9.99822324e-01 -2.47479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09119381700003 meters Centerline goodness : 0.919478 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.47, Z:-2.48 [[ 9.99497496e-01 -3.10490824e-02 -6.38041919e-03 2.47042694e+01] [ 3.09407406e-02 9.99386173e-01 -1.64300912e-02 -4.71826987e-01] [ 6.88664197e-03 1.62244201e-02 9.99844659e-01 -2.47695946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12119381700003 meters Centerline goodness : 0.916034 Centerline is valid? [False, False] Translation: X:24.71, Y:-0.47, Z:-2.48 [[ 9.99577162e-01 -2.82536066e-02 -6.87247710e-03 2.47055480e+01] [ 2.81613179e-02 9.99516576e-01 -1.31739860e-02 -4.71161916e-01] [ 7.24136740e-03 1.29748775e-02 9.99889601e-01 -2.47739731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15119381700003 meters Centerline goodness : 0.913732 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.47, Z:-2.48 [[ 9.99608691e-01 -2.69459936e-02 -7.50851597e-03 2.47265272e+01] [ 2.68237066e-02 9.99513130e-01 -1.59371231e-02 -4.69169023e-01] [ 7.93430192e-03 1.57294805e-02 9.99844803e-01 -2.47836981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18119381700004 meters Centerline goodness : 0.915880 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.46, Z:-2.48 [[ 9.99676483e-01 -2.41713412e-02 -7.91680571e-03 2.47272682e+01] [ 2.40609532e-02 9.99615876e-01 -1.37539443e-02 -4.64517446e-01] [ 8.24621596e-03 1.35590087e-02 9.99874069e-01 -2.47835300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21119381700004 meters Centerline goodness : 0.915880 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.46, Z:-2.48 [[ 9.99676483e-01 -2.41713412e-02 -7.91680571e-03 2.47272682e+01] [ 2.40609532e-02 9.99615876e-01 -1.37539443e-02 -4.64517446e-01] [ 8.24621596e-03 1.35590087e-02 9.99874069e-01 -2.47835300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24119381700004 meters Centerline goodness : 0.912611 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.46, Z:-2.48 [[ 9.99753403e-01 -2.06576457e-02 -8.14833557e-03 2.47275117e+01] [ 2.05705040e-02 9.99731818e-01 -1.06370569e-02 -4.61371550e-01] [ 8.36588689e-03 1.04668185e-02 9.99910225e-01 -2.47819157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27119381700004 meters Centerline goodness : 0.916537 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.46, Z:-2.48 [[ 9.99856695e-01 -1.45792269e-02 -8.60437385e-03 2.47293921e+01] [ 1.45402579e-02 9.99883822e-01 -4.57429672e-03 -4.58719290e-01] [ 8.67006391e-03 4.44853139e-03 9.99952519e-01 -2.47936438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30119381700004 meters Centerline goodness : 0.915061 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.45, Z:-2.48 [[ 9.99961719e-01 -7.64438371e-03 -4.25718542e-03 2.47440535e+01] [ 7.60822670e-03 9.99935391e-01 -8.44557416e-03 -4.45828218e-01] [ 4.32147158e-03 8.41286123e-03 9.99955273e-01 -2.48397699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33119381700004 meters Centerline goodness : 0.910747 Centerline is valid? [False, False] Translation: X:24.74, Y:-0.44, Z:-2.48 [[ 9.99980607e-01 -4.24829365e-03 -4.55378017e-03 2.47446417e+01] [ 4.22106542e-03 9.99973257e-01 -5.97228517e-03 -4.41052112e-01] [ 4.57903041e-03 5.95294755e-03 9.99971797e-01 -2.48405420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters Centerline goodness : 0.911105 Centerline is valid? [False, False] Translation: X:24.75, Y:-0.44, Z:-2.48 [[ 9.99987337e-01 -1.32743580e-03 -4.85431192e-03 2.47456522e+01] [ 1.30872847e-03 9.99991713e-01 -3.85490358e-03 -4.36568009e-01] [ 4.85938883e-03 3.84850179e-03 9.99980788e-01 -2.48456263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39119381700002 meters Centerline goodness : 0.917374 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.42, Z:-2.49 [[ 9.99998526e-01 7.61288001e-04 -1.53893668e-03 2.47635116e+01] [-7.77247193e-04 9.99945654e-01 -1.03964118e-02 -4.23000034e-01] [ 1.53093838e-03 1.03975926e-02 9.99944772e-01 -2.48818659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters Centerline goodness : 0.917374 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.42, Z:-2.49 [[ 9.99998526e-01 7.61288001e-04 -1.53893668e-03 2.47635116e+01] [-7.77247193e-04 9.99945654e-01 -1.03964118e-02 -4.23000034e-01] [ 1.53093838e-03 1.03975926e-02 9.99944772e-01 -2.48818659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45119381700002 meters Centerline goodness : 0.908303 Centerline is valid? [False, False] Translation: X:24.76, Y:-0.41, Z:-2.49 [[ 9.99995016e-01 2.46528361e-03 -1.97245295e-03 2.47644923e+01] [-2.48612015e-03 9.99940388e-01 -1.06319932e-02 -4.11988979e-01] [ 1.94612449e-03 1.06368439e-02 9.99941533e-01 -2.48829619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48119381700002 meters Centerline goodness : 0.908017 Centerline is valid? [False, False] Translation: X:24.78, Y:-0.41, Z:-2.49 [[ 9.99993058e-01 3.70925101e-03 3.53429820e-04 2.47836051e+01] [-3.70356081e-03 9.99881671e-01 -1.49307937e-02 -4.05927004e-01] [-4.08770060e-04 1.49293811e-02 9.99888467e-01 -2.49005609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51119381700002 meters Centerline goodness : 0.907122 Centerline is valid? [False, False] Translation: X:24.78, Y:-0.40, Z:-2.49 [[ 9.99980718e-01 6.20987411e-03 2.02744120e-05 2.47845924e+01] [-6.20908504e-03 9.99896121e-01 -1.30074989e-02 -4.01352202e-01] [-1.01047237e-04 1.30071222e-02 9.99915399e-01 -2.49021322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54119381700002 meters Centerline goodness : 0.905751 Centerline is valid? [False, False] Translation: X:24.80, Y:-0.39, Z:-2.49 [[ 9.99954982e-01 8.95520782e-03 3.13661013e-03 2.48026962e+01] [-8.89634886e-03 9.99792931e-01 -1.83016392e-02 -3.87454116e-01] [-3.29985561e-03 1.82729110e-02 9.99827591e-01 -2.49328603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57119381700002 meters Centerline goodness : 0.904144 Centerline is valid? [False, False] Translation: X:24.82, Y:-0.38, Z:-2.50 [[ 9.99921956e-01 1.18791690e-02 3.86876766e-03 2.48236104e+01] [-1.17957421e-02 9.99711634e-01 -2.09167300e-02 -3.81628809e-01] [-4.11612541e-03 2.08694626e-02 9.99773736e-01 -2.49561524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60119381700002 meters Centerline goodness : 0.905442 Centerline is valid? [False, False] Translation: X:24.82, Y:-0.38, Z:-2.50 [[ 9.99874825e-01 1.54227945e-02 3.53161294e-03 2.48249254e+01] [-1.53556292e-02 9.99714340e-01 -1.83150902e-02 -3.77229116e-01] [-3.81307397e-03 1.82585675e-02 9.99826027e-01 -2.49628010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63119381700002 meters Centerline goodness : 0.902001 Centerline is valid? [False, False] Translation: X:24.84, Y:-0.37, Z:-2.50 [[ 9.99744711e-01 2.15610458e-02 6.75534697e-03 2.48428194e+01] [-2.14102853e-02 9.99536404e-01 -2.16466514e-02 -3.65504424e-01] [-7.21893966e-03 2.14964913e-02 9.99742861e-01 -2.49952414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66119381700003 meters Centerline goodness : 0.902075 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.36, Z:-2.50 [[ 9.99669850e-01 2.42103952e-02 8.60511855e-03 2.48625060e+01] [-2.39868210e-02 9.99394646e-01 -2.51986736e-02 -3.59912182e-01] [-9.20997925e-03 2.49839449e-02 9.99645427e-01 -2.50242002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69119381700003 meters Centerline goodness : 0.903415 Centerline is valid? [False, False] Translation: X:24.86, Y:-0.36, Z:-2.50 [[ 9.99591985e-01 2.73282370e-02 8.30844632e-03 2.48642760e+01] [-2.71347627e-02 9.99376962e-01 -2.25697037e-02 -3.56661930e-01] [-8.92006006e-03 2.23350472e-02 9.99710747e-01 -2.50356858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72119381700003 meters Centerline goodness : 0.899490 Centerline is valid? [False, False] Translation: X:24.87, Y:-0.35, Z:-2.51 [[ 9.99517911e-01 3.00093117e-02 7.96154531e-03 2.48664274e+01] [-2.98438837e-02 9.99351620e-01 -2.01415619e-02 -3.54283875e-01] [-8.56081761e-03 1.98942484e-02 9.99765438e-01 -2.50506408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75119381700003 meters Centerline goodness : 0.898654 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99479536e-01 3.13179639e-02 7.73583487e-03 2.48892279e+01] [-3.11271537e-02 9.99235265e-01 -2.36640047e-02 -3.49140323e-01] [-8.47102745e-03 2.34108939e-02 9.99690038e-01 -2.50857686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78119381700003 meters Centerline goodness : 0.899313 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99366793e-01 3.46582384e-02 8.05106690e-03 2.48891135e+01] [-3.44984304e-02 9.99220197e-01 -1.92056546e-02 -3.50397957e-01] [-8.71042281e-03 1.89157442e-02 9.99783138e-01 -2.50929067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81119381700003 meters Centerline goodness : 0.899370 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99367244e-01 3.47483490e-02 7.59370704e-03 2.48904249e+01] [-3.45942033e-02 9.99209889e-01 -1.95662482e-02 -3.49441341e-01] [-8.26760199e-03 1.92911693e-02 9.99779725e-01 -2.50982704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84119381700003 meters Centerline goodness : 0.902199 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99361825e-01 3.49590550e-02 7.33532658e-03 2.48912818e+01] [-3.48091539e-02 9.99200692e-01 -1.96545331e-02 -3.48783449e-01] [-8.01656730e-03 1.93866535e-02 9.99779922e-01 -2.51022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87119381700003 meters Centerline goodness : 0.899291 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99350649e-01 3.53447596e-02 7.00200086e-03 2.48917023e+01] [-3.52024073e-02 9.99189839e-01 -1.95052971e-02 -3.49157843e-01] [-7.68573815e-03 1.92461440e-02 9.99785235e-01 -2.50982439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90119381700003 meters Centerline goodness : 0.892891 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99348705e-01 3.54436378e-02 6.77605348e-03 2.48919133e+01] [-3.53087739e-02 9.99194256e-01 -1.90821794e-02 -3.50442529e-01] [-7.44693557e-03 1.88304972e-02 9.99794957e-01 -2.50961907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93119381700004 meters Centerline goodness : 0.892574 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.35, Z:-2.51 [[ 9.99353464e-01 3.52615549e-02 7.01980681e-03 2.48910568e+01] [-3.51276160e-02 9.99214035e-01 -1.83674353e-02 -3.52270777e-01] [-7.66195381e-03 1.81089710e-02 9.99806661e-01 -2.50930495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96119381700004 meters Centerline goodness : 0.900816 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.36, Z:-2.51 [[ 9.99499648e-01 3.07546855e-02 7.38937598e-03 2.48896831e+01] [-3.05962540e-02 9.99318001e-01 -2.06737035e-02 -3.56807724e-01] [-8.02014968e-03 2.04372722e-02 9.99758969e-01 -2.50946012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99119381700004 meters Centerline goodness : 0.893098 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.36, Z:-2.51 [[ 9.99618635e-01 2.66844744e-02 7.10802807e-03 2.48901441e+01] [-2.65057638e-02 9.99356906e-01 -2.41499359e-02 -3.58896208e-01] [-7.74788529e-03 2.39523223e-02 9.99683078e-01 -2.50973177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02119381700004 meters Centerline goodness : 0.892582 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.36, Z:-2.51 [[ 9.99855579e-01 1.44786713e-02 8.89884563e-03 2.48904976e+01] [-1.43371581e-02 9.99772920e-01 -1.57656314e-02 -3.64395966e-01] [-9.12509027e-03 1.56357704e-02 9.99836114e-01 -2.51052711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05119381700004 meters Centerline goodness : 0.897987 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.36, Z:-2.51 [[ 9.99910844e-01 1.01756322e-02 8.64636596e-03 2.48911793e+01] [-1.00026386e-02 9.99753513e-01 -1.98207287e-02 -3.64529191e-01] [-8.84592319e-03 1.97324750e-02 9.99766162e-01 -2.51092939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08119381700004 meters Centerline goodness : 0.894182 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.37, Z:-2.51 [[ 9.99964637e-01 2.87051057e-03 7.90473128e-03 2.48928162e+01] [-2.79362691e-03 9.99948855e-01 -9.72020916e-03 -3.66797169e-01] [-7.93222896e-03 9.69778255e-03 9.99921513e-01 -2.51153820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11119381700001 meters Centerline goodness : 0.889562 Centerline is valid? [False, False] Translation: X:24.89, Y:-0.37, Z:-2.51 [[ 9.99971081e-01 1.62544592e-03 7.42933414e-03 2.48946884e+01] [-1.54787390e-03 9.99944354e-01 -1.04351668e-02 -3.68714202e-01] [-7.44588253e-03 1.04233654e-02 9.99917953e-01 -2.51263202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters Centerline goodness : 0.892368 Centerline is valid? [False, False] Translation: X:24.90, Y:-0.37, Z:-2.51 [[ 9.99970411e-01 3.47485630e-03 6.86318839e-03 2.48970968e+01] [-3.41529978e-03 9.99956579e-01 -8.67041579e-03 -3.69404164e-01] [-6.89301883e-03 8.64671939e-03 9.99938858e-01 -2.51429984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17119381700002 meters Centerline goodness : 0.893204 Centerline is valid? [False, False] Translation: X:24.90, Y:-0.37, Z:-2.51 [[ 9.99951621e-01 7.33159976e-03 6.55761473e-03 2.48981060e+01] [-7.30054703e-03 9.99962084e-01 -4.74683708e-03 -3.69614720e-01] [-6.59216800e-03 4.69873326e-03 9.99967232e-01 -2.51476075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20119381700002 meters Centerline goodness : 0.890015 Centerline is valid? [False, False] Translation: X:24.90, Y:-0.37, Z:-2.52 [[ 9.99916193e-01 1.13097481e-02 6.30054927e-03 2.48991638e+01] [-1.13035454e-02 9.99935593e-01 -1.01921084e-03 -3.68913089e-01] [-6.31167049e-03 9.47906880e-04 9.99979632e-01 -2.51539186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23119381700002 meters Centerline goodness : 0.892378 Centerline is valid? [False, False] Translation: X:24.92, Y:-0.36, Z:-2.52 [[ 9.99692494e-01 2.44601570e-02 4.07643276e-03 2.49213383e+01] [-2.44211508e-02 9.99657954e-01 -9.35850663e-03 -3.64623633e-01] [-4.30394897e-03 9.25607766e-03 9.99947899e-01 -2.51686489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26119381700002 meters Centerline goodness : 0.892546 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.36, Z:-2.52 [[ 9.99495605e-01 3.04538533e-02 9.00548710e-03 2.49342983e+01] [-3.03296752e-02 9.99447172e-01 -1.36184116e-02 -3.61668973e-01] [-9.41524173e-03 1.33384091e-02 9.99866711e-01 -2.52141149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29119381700002 meters Centerline goodness : 0.889438 Centerline is valid? [False, False] Translation: X:24.93, Y:-0.36, Z:-2.52 [[ 9.99350162e-01 3.48826490e-02 9.08040470e-03 2.49345789e+01] [-3.47954323e-02 9.99348423e-01 -9.59200839e-03 -3.60893629e-01] [-9.40908278e-03 9.26981853e-03 9.99912766e-01 -2.52140718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32119381700002 meters Centerline goodness : 0.889769 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.36, Z:-2.52 [[ 9.99308559e-01 3.63066983e-02 8.01423407e-03 2.49366883e+01] [-3.62264808e-02 9.99294196e-01 -9.93738382e-03 -3.59749017e-01] [-8.36937118e-03 9.64018521e-03 9.99918507e-01 -2.52090987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35119381700002 meters Centerline goodness : 0.883872 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.36, Z:-2.52 [[ 9.99259514e-01 3.77588463e-02 7.39548096e-03 2.49375914e+01] [-3.76904992e-02 9.99247359e-01 -9.17283897e-03 -3.61000061e-01] [-7.73627064e-03 8.88730724e-03 9.99930581e-01 -2.52024661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38119381700002 meters Centerline goodness : 0.888419 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.36, Z:-2.52 [[ 9.99226476e-01 3.87705330e-02 6.57988278e-03 2.49387204e+01] [-3.87155384e-02 9.99215891e-01 -8.28916017e-03 -3.63271473e-01] [-6.89609860e-03 8.02800461e-03 9.99943996e-01 -2.51970597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41119381700003 meters Centerline goodness : 0.889394 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.37, Z:-2.52 [[ 9.99199716e-01 3.95064003e-02 6.25876849e-03 2.49393105e+01] [-3.94691458e-02 9.99202966e-01 -5.96812926e-03 -3.68938321e-01] [-6.48955934e-03 5.71632481e-03 9.99962604e-01 -2.52032041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44119381700003 meters Centerline goodness : 0.887542 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.37, Z:-2.52 [[ 9.99309471e-01 3.67492536e-02 5.48390275e-03 2.49404884e+01] [-3.66995370e-02 9.99286653e-01 -8.90673444e-03 -3.70543617e-01] [-5.80730666e-03 8.69932739e-03 9.99945297e-01 -2.52036936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47119381700003 meters Centerline goodness : 0.889065 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.38, Z:-2.52 [[ 9.99312881e-01 3.66634173e-02 5.43688878e-03 2.49404396e+01] [-3.66254310e-02 9.99305041e-01 -6.92909473e-03 -3.75540316e-01] [-5.68715466e-03 6.72520522e-03 9.99961213e-01 -2.52101161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50119381700003 meters Centerline goodness : 0.881722 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.38, Z:-2.52 [[ 9.99425831e-01 3.34441857e-02 5.43088554e-03 2.49403845e+01] [-3.33997147e-02 9.99409391e-01 -8.08259075e-03 -3.84286807e-01] [-5.69799368e-03 7.89655995e-03 9.99952587e-01 -2.52122060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53119381700003 meters Centerline goodness : 0.887113 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.39, Z:-2.52 [[ 9.99537261e-01 2.99740429e-02 5.17883121e-03 2.49407105e+01] [-2.99157154e-02 9.99491949e-01 -1.09951951e-02 -3.87507179e-01] [-5.50577055e-03 1.08351788e-02 9.99926140e-01 -2.52144696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56119381700003 meters Centerline goodness : 0.884188 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.39, Z:-2.52 [[ 9.99632150e-01 2.66702937e-02 4.92547411e-03 2.49412166e+01] [-2.66001521e-02 9.99550955e-01 -1.37956832e-02 -3.90642604e-01] [-5.29119727e-03 1.36595901e-02 9.99892704e-01 -2.52181644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59119381700003 meters Centerline goodness : 0.884451 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.40, Z:-2.52 [[ 9.99709265e-01 2.36592787e-02 4.65020973e-03 2.49418818e+01] [-2.35859940e-02 9.99605819e-01 -1.52285384e-02 -3.98939328e-01] [-5.00867294e-03 1.51144311e-02 9.99873226e-01 -2.52229219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62119381700003 meters Centerline goodness : 0.884396 Centerline is valid? [False, False] Translation: X:24.94, Y:-0.40, Z:-2.52 [[ 9.99737158e-01 2.25810027e-02 3.96393203e-03 2.49440597e+01] [-2.25164146e-02 9.99624047e-01 -1.56452953e-02 -4.03177061e-01] [-4.31572823e-03 1.55519296e-02 9.99869748e-01 -2.52343097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65119381700003 meters Centerline goodness : 0.882804 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.41, Z:-2.52 [[ 9.99767234e-01 2.13135880e-02 3.34788352e-03 2.49461448e+01] [-2.12564235e-02 9.99641641e-01 -1.62712648e-02 -4.06339553e-01] [-3.69348281e-03 1.61963134e-02 9.99862009e-01 -2.52461629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68119381700004 meters Centerline goodness : 0.884354 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.41, Z:-2.52 [[ 9.99770295e-01 2.11992218e-02 3.15443009e-03 2.49466578e+01] [-2.11470732e-02 9.99652520e-01 -1.57365739e-02 -4.08893905e-01] [-3.48693711e-03 1.56662521e-02 9.99871197e-01 -2.52477135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71119381700004 meters Centerline goodness : 0.888220 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.41, Z:-2.52 [[ 9.99764293e-01 2.15105540e-02 2.94193331e-03 2.49469901e+01] [-2.14660792e-02 9.99665942e-01 -1.43948726e-02 -4.13556641e-01] [-3.25059222e-03 1.43283278e-02 9.99892061e-01 -2.52467189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74119381700004 meters Centerline goodness : 0.888102 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.42, Z:-2.53 [[ 9.99786740e-01 2.05174515e-02 2.34691066e-03 2.49492018e+01] [-2.04802403e-02 9.99679064e-01 -1.49106702e-02 -4.15796688e-01] [-2.65208641e-03 1.48594250e-02 9.99886075e-01 -2.52606730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77119381700004 meters Centerline goodness : 0.886873 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.42, Z:-2.53 [[ 9.99805800e-01 1.96230378e-02 1.81633812e-03 2.49513056e+01] [-1.95928806e-02 9.99690184e-01 -1.53510475e-02 -4.18219315e-01] [-2.11700958e-03 1.53124790e-02 9.99880516e-01 -2.52744169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80119381700004 meters Centerline goodness : 0.886408 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.42, Z:-2.53 [[ 9.99818944e-01 1.89776912e-02 1.38775284e-03 2.49530938e+01] [-1.89539963e-02 9.99700875e-01 -1.54565948e-02 -4.20779098e-01] [-1.68066821e-03 1.54274928e-02 9.99879577e-01 -2.52867514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83119381700004 meters Centerline goodness : 0.887497 Centerline is valid? [False, False] Translation: X:24.95, Y:-0.43, Z:-2.53 [[ 9.99868877e-01 1.61527001e-02 1.14822530e-03 2.49535395e+01] [-1.61302058e-02 9.99717477e-01 -1.74580443e-02 -4.26097221e-01] [-1.42989545e-03 1.74372341e-02 9.99846937e-01 -2.52892949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters Centerline goodness : 0.889709 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.43, Z:-2.53 [[ 9.99882194e-01 1.53397104e-02 5.40141401e-04 2.49557614e+01] [-1.53279170e-02 9.99729470e-01 -1.74940439e-02 -4.29443270e-01] [-8.08348843e-04 1.74837038e-02 9.99846822e-01 -2.53025801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89119381700002 meters Centerline goodness : 0.888189 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.43, Z:-2.53 [[ 9.99884191e-01 1.52183617e-02 7.52718154e-05 2.49570934e+01] [-1.52149813e-02 9.99744707e-01 -1.67040728e-02 -4.32815360e-01] [-3.29461221e-04 1.67009931e-02 9.99860474e-01 -2.53084252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters Centerline goodness : 0.890971 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.44, Z:-2.53 [[ 9.99883120e-01 1.52863233e-02 -2.71588737e-04 2.49581648e+01] [-1.52887097e-02 9.99756388e-01 -1.59191688e-02 -4.35671470e-01] [ 2.81770153e-05 1.59214604e-02 9.99873245e-01 -2.53137445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95119381700002 meters Centerline goodness : 0.891650 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.44, Z:-2.53 [[ 9.99878818e-01 1.55587853e-02 -5.23038905e-04 2.49587094e+01] [-1.55646951e-02 9.99775643e-01 -1.43667576e-02 -4.40846358e-01] [ 2.99392261e-04 1.43731576e-02 9.99896656e-01 -2.53141854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98119381700002 meters Centerline goodness : 0.888481 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.44, Z:-2.53 [[ 9.99875719e-01 1.57548117e-02 -5.76891394e-04 2.49585139e+01] [-1.57611345e-02 9.99785798e-01 -1.34143792e-02 -4.43918442e-01] [ 3.65426804e-04 1.34218045e-02 9.99909857e-01 -2.53096033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01119381700002 meters Centerline goodness : 0.892587 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99877279e-01 1.56362734e-02 -9.66203189e-04 2.49592715e+01] [-1.56473015e-02 9.99796707e-01 -1.27163605e-02 -4.46849655e-01] [ 7.67170278e-04 1.27299184e-02 9.99918677e-01 -2.53091287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04119381700002 meters Centerline goodness : 0.891945 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99928530e-01 1.19102809e-02 -1.03907308e-03 2.49594145e+01] [-1.19252120e-02 9.99804143e-01 -1.57944661e-02 -4.49599670e-01] [ 8.50753047e-04 1.58057284e-02 9.99874720e-01 -2.53103520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07119381700002 meters Centerline goodness : 0.894908 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99934835e-01 1.13213070e-02 -1.46724621e-03 2.49605170e+01] [-1.13429463e-02 9.99812550e-01 -1.56908284e-02 -4.51294867e-01] [ 1.28933049e-03 1.57064488e-02 9.99875815e-01 -2.53135171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10119381700002 meters Centerline goodness : 0.897846 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99945488e-01 1.02600746e-02 -1.93711694e-03 2.49623097e+01] [-1.02901308e-02 9.99815786e-01 -1.62020546e-02 -4.52174908e-01] [ 1.77052580e-03 1.62211046e-02 9.99866862e-01 -2.53238020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13119381700002 meters Centerline goodness : 0.897846 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99945488e-01 1.02600746e-02 -1.93711694e-03 2.49623097e+01] [-1.02901308e-02 9.99815786e-01 -1.62020546e-02 -4.52174908e-01] [ 1.77052580e-03 1.62211046e-02 9.99866862e-01 -2.53238020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16119381700003 meters Centerline goodness : 0.895718 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.45, Z:-2.53 [[ 9.99953534e-01 9.35761839e-03 -2.31615495e-03 2.49635465e+01] [-9.39442627e-03 9.99820937e-01 -1.64267798e-02 -4.53236951e-01] [ 2.16202468e-03 1.64477755e-02 9.99862389e-01 -2.53293362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19119381700003 meters Centerline goodness : 0.898790 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.53 [[ 9.99964481e-01 7.94255885e-03 -2.81991547e-03 2.49653394e+01] [-7.98991472e-03 9.99820157e-01 -1.71992691e-02 -4.54130325e-01] [ 2.68280212e-03 1.72211891e-02 9.99848105e-01 -2.53383653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22119381700003 meters Centerline goodness : 0.897876 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.54 [[ 9.99990807e-01 -1.64095723e-03 3.96139945e-03 2.49657427e+01] [ 1.68292168e-03 9.99942261e-01 -1.06133511e-02 -4.54921463e-01] [-3.94375467e-03 1.06199203e-02 9.99935830e-01 -2.53527436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25119381700003 meters Centerline goodness : 0.898005 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.54 [[ 9.99987512e-01 -3.06689407e-03 3.94594209e-03 2.49666266e+01] [ 3.11223200e-03 9.99928622e-01 -1.15353880e-02 -4.54625176e-01] [-3.91028262e-03 1.15475247e-02 9.99925679e-01 -2.53615175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28119381700003 meters Centerline goodness : 0.899588 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.54 [[ 9.99983594e-01 -4.50005982e-03 3.54405147e-03 2.49686046e+01] [ 4.54518054e-03 9.99907388e-01 -1.28279516e-02 -4.53093235e-01] [-3.48599670e-03 1.28438495e-02 9.99911438e-01 -2.53763033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31119381700003 meters Centerline goodness : 0.899746 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.54 [[ 9.99980105e-01 -5.38340839e-03 3.28761371e-03 2.49699418e+01] [ 5.42833594e-03 9.99889858e-01 -1.38132072e-02 -4.51137363e-01] [-3.21288947e-03 1.38307787e-02 9.99899188e-01 -2.53866390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34119381700003 meters Centerline goodness : 0.900816 Centerline is valid? [False, False] Translation: X:24.97, Y:-0.45, Z:-2.54 [[ 9.99990611e-01 -3.48547571e-03 2.57469773e-03 2.49732033e+01] [ 3.51692601e-03 9.99918003e-01 -1.23133218e-02 -4.47208290e-01] [-2.53156883e-03 1.23222613e-02 9.99920873e-01 -2.54101499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37119381700003 meters Centerline goodness : 0.895821 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.44, Z:-2.54 [[ 9.99997910e-01 -5.92516273e-04 1.95654659e-03 2.49758123e+01] [ 6.12003701e-04 9.99950065e-01 -9.97458281e-03 -4.44419754e-01] [-1.95053879e-03 9.97575938e-03 9.99948338e-01 -2.54283284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40119381700003 meters Centerline goodness : 0.898792 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.44, Z:-2.54 [[ 9.99995677e-01 2.53472437e-03 1.49063513e-03 2.49777924e+01] [-2.52299025e-03 9.99966227e-01 -7.82178291e-03 -4.40141740e-01] [-1.51041085e-03 7.81798824e-03 9.99968298e-01 -2.54424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43119381700004 meters Centerline goodness : 0.893876 Centerline is valid? [False, False] Translation: X:24.98, Y:-0.44, Z:-2.54 [[ 9.99978329e-01 6.47041269e-03 1.21442068e-03 2.49784882e+01] [-6.46415933e-03 9.99966181e-01 -5.08441667e-03 -4.35661972e-01] [-1.24727788e-03 5.07645628e-03 9.99986337e-01 -2.54445427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46119381700004 meters Centerline goodness : 0.900332 Centerline is valid? [False, False] Translation: X:24.99, Y:-0.43, Z:-2.55 [[ 9.99837714e-01 1.69888225e-02 5.99382064e-03 2.49917951e+01] [-1.69546377e-02 9.99839962e-01 -5.70879275e-03 -4.25363095e-01] [-6.08984707e-03 5.60624323e-03 9.99965741e-01 -2.54814911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49119381700004 meters Centerline goodness : 0.895931 Centerline is valid? [False, False] Translation: X:24.99, Y:-0.42, Z:-2.55 [[ 9.99763097e-01 2.09538093e-02 5.88957091e-03 2.49921416e+01] [-2.09380274e-02 9.99777052e-01 -2.72863968e-03 -4.21488808e-01] [-5.94543324e-03 2.60467726e-03 9.99978934e-01 -2.54800470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52119381700004 meters Centerline goodness : 0.897321 Centerline is valid? [False, False] Translation: X:24.99, Y:-0.42, Z:-2.55 [[ 9.99673727e-01 2.48785601e-02 5.78768421e-03 2.49923807e+01] [-2.48815886e-02 9.99690303e-01 4.51845169e-04 -4.18575364e-01] [-5.77465053e-03 -5.95704522e-04 9.99983149e-01 -2.54774040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55119381700004 meters Centerline goodness : 0.898274 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.41, Z:-2.55 [[ 9.99348735e-01 3.56303821e-02 5.70805986e-03 2.50136983e+01] [-3.55724699e-02 9.99317617e-01 -9.94483796e-03 -4.12193188e-01] [-6.05850315e-03 9.73531145e-03 9.99934257e-01 -2.54851551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58119381700004 meters Centerline goodness : 0.897815 Centerline is valid? [False, False] Translation: X:25.01, Y:-0.41, Z:-2.55 [[ 9.99208669e-01 3.93743673e-02 5.62979167e-03 2.50145008e+01] [-3.93378161e-02 9.99205072e-01 -6.46217145e-03 -4.10892972e-01] [-5.87976031e-03 6.23559403e-03 9.99963272e-01 -2.54892856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61119381700001 meters Centerline goodness : 0.899971 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.41, Z:-2.55 [[ 9.99061530e-01 4.29573750e-02 5.54288988e-03 2.50152853e+01] [-4.29417389e-02 9.99073341e-01 -2.90981194e-03 -4.09926778e-01] [-5.66275140e-03 2.66905984e-03 9.99980404e-01 -2.54924047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64119381700002 meters Centerline goodness : 0.899793 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.41, Z:-2.55 [[ 9.98941190e-01 4.49342542e-02 9.86977032e-03 2.50289061e+01] [-4.48202002e-02 9.98929012e-01 -1.14882129e-02 -4.06061116e-01] [-1.03754142e-02 1.10336840e-02 9.99885298e-01 -2.55427982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67119381700002 meters Centerline goodness : 0.900290 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.41, Z:-2.56 [[ 9.98813462e-01 4.77930188e-02 9.35393575e-03 2.50314868e+01] [-4.77148972e-02 9.98825641e-01 -8.40405725e-03 -4.06342223e-01] [-9.74460613e-03 7.94776343e-03 9.99920935e-01 -2.55587603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70119381700002 meters Centerline goodness : 0.896679 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.40, Z:-2.55 [[ 9.99012211e-01 4.43774468e-02 -2.29029785e-03 2.50269253e+01] [-4.43952360e-02 9.98978647e-01 -8.40986016e-03 -4.03590234e-01] [ 1.91475053e-03 8.50323130e-03 9.99962014e-01 -2.54985204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73119381700002 meters Centerline goodness : 0.894943 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.40, Z:-2.55 [[ 9.99010224e-01 4.44098649e-02 -2.51700121e-03 2.50277828e+01] [-4.44295157e-02 9.98977382e-01 -8.37898837e-03 -4.03489493e-01] [ 2.14231754e-03 8.48252420e-03 9.99961728e-01 -2.55039764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76119381700002 meters Centerline goodness : 0.896096 Centerline is valid? [False, False] Translation: X:25.03, Y:-0.40, Z:-2.55 [[ 9.99053701e-01 4.33815647e-02 -3.12136135e-03 2.50299555e+01] [-4.34085061e-02 9.99015463e-01 -9.15458674e-03 -4.04396121e-01] [ 2.72114796e-03 9.28141739e-03 9.99953224e-01 -2.55174218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79119381700002 meters Centerline goodness : 0.895516 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.40, Z:-2.56 [[ 9.99135191e-01 4.15790013e-02 -2.37415866e-04 2.50482942e+01] [-4.15768401e-02 9.98983963e-01 -1.73898849e-02 -4.02635508e-01] [-4.85879402e-04 1.73847170e-02 9.99848756e-01 -2.55507587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82119381700002 meters Centerline goodness : 0.895998 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.40, Z:-2.56 [[ 9.99142053e-01 4.14118923e-02 -4.61029844e-04 2.50489118e+01] [-4.14136285e-02 9.98989646e-01 -1.74527622e-02 -4.03203578e-01] [-2.62187867e-04 1.74568816e-02 9.99847583e-01 -2.55528915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85119381700002 meters Centerline goodness : 0.898055 Centerline is valid? [False, False] Translation: X:25.07, Y:-0.40, Z:-2.56 [[ 9.99128874e-01 4.16930376e-02 1.78408533e-03 2.50684857e+01] [-4.16456785e-02 9.98905388e-01 -2.12993935e-02 -4.03432280e-01] [-2.67016886e-03 2.12065396e-02 9.99771550e-01 -2.55711272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88119381700002 meters Centerline goodness : 0.896818 Centerline is valid? [False, False] Translation: X:25.07, Y:-0.40, Z:-2.56 [[ 9.99098303e-01 4.24178765e-02 1.81786033e-03 2.50683335e+01] [-4.23714359e-02 9.98888804e-01 -2.06353954e-02 -4.04395722e-01] [-2.69114998e-03 2.05397632e-02 9.99785415e-01 -2.55694819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91119381700003 meters Centerline goodness : 0.899271 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.41, Z:-2.56 [[ 9.99030799e-01 4.39558716e-02 2.31172858e-03 2.50893806e+01] [-4.38915316e-02 9.98773514e-01 -2.29129055e-02 -4.05264213e-01] [-3.31605001e-03 2.27892330e-02 9.99734792e-01 -2.55893955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94119381700003 meters Centerline goodness : 0.897059 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.41, Z:-2.56 [[ 9.99023472e-01 4.41366433e-02 2.01463081e-03 2.50900170e+01] [-4.40804685e-02 9.98776035e-01 -2.24353169e-02 -4.06957805e-01] [-3.00238456e-03 2.23246023e-02 9.99746267e-01 -2.55910540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97119381700003 meters Centerline goodness : 0.895254 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.41, Z:-2.56 [[ 9.99016821e-01 4.42961446e-02 1.80102320e-03 2.50907269e+01] [-4.42468164e-02 9.98785512e-01 -2.16730134e-02 -4.09869041e-01] [-2.75886682e-03 2.15720154e-02 9.99763490e-01 -2.55954652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00119381700003 meters Centerline goodness : 0.898430 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.42, Z:-2.56 [[ 9.99192904e-01 3.99021900e-02 -4.62130310e-03 2.50886395e+01] [-3.99562229e-02 9.99126235e-01 -1.22583500e-02 -4.17986542e-01] [ 4.12813016e-03 1.24331061e-02 9.99914185e-01 -2.55557587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03119381700003 meters Centerline goodness : 0.894033 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.42, Z:-2.56 [[ 9.99218609e-01 3.91984074e-02 -5.06513288e-03 2.50909075e+01] [-3.92588081e-02 9.99151722e-01 -1.24331033e-02 -4.21056086e-01] [ 4.57347839e-03 1.26222393e-02 9.99909877e-01 -2.55746324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06119381700003 meters Centerline goodness : 0.892440 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.42, Z:-2.56 [[ 9.99221594e-01 3.90563291e-02 -5.55056209e-03 2.50929211e+01] [-3.91197770e-02 9.99164579e-01 -1.18231834e-02 -4.24582193e-01] [ 5.08415489e-03 1.20311169e-02 9.99914698e-01 -2.55893797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09119381700003 meters Centerline goodness : 0.894305 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.43, Z:-2.56 [[ 9.99255763e-01 3.81245039e-02 -5.86880704e-03 2.50936117e+01] [-3.81907370e-02 9.99202896e-01 -1.16206393e-02 -4.33275753e-01] [ 5.42109788e-03 1.18361248e-02 9.99915255e-01 -2.55943085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12119381700003 meters Centerline goodness : 0.894211 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.44, Z:-2.56 [[ 9.99256749e-01 3.80302618e-02 -6.29668465e-03 2.50952008e+01] [-3.80975993e-02 9.99214094e-01 -1.09437921e-02 -4.38554206e-01] [ 5.87554077e-03 1.11755467e-02 9.99920289e-01 -2.56047682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15119381700003 meters Centerline goodness : 0.894101 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.44, Z:-2.56 [[ 9.99292565e-01 3.69625492e-02 -6.93830014e-03 2.50970580e+01] [-3.70416797e-02 9.99245863e-01 -1.16456051e-02 -4.43495236e-01] [ 6.50261646e-03 1.18943729e-02 9.99908116e-01 -2.56166954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18119381700004 meters Centerline goodness : 0.894828 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.45, Z:-2.56 [[ 9.99282605e-01 3.71597373e-02 -7.30958695e-03 2.50987166e+01] [-3.72363474e-02 9.99249843e-01 -1.06397937e-02 -4.48493108e-01] [ 6.90873167e-03 1.09043431e-02 9.99916679e-01 -2.56289480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21119381700004 meters Centerline goodness : 0.895529 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.46, Z:-2.56 [[ 9.99324182e-01 3.59469513e-02 -7.68085362e-03 2.50994929e+01] [-3.60258567e-02 9.99296802e-01 -1.03942052e-02 -4.57595295e-01] [ 7.30181248e-03 1.06638899e-02 9.99916479e-01 -2.56336027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24119381700004 meters Centerline goodness : 0.896298 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.46, Z:-2.56 [[ 9.99313351e-01 3.61869068e-02 -7.95826496e-03 2.50998300e+01] [-3.62567965e-02 9.99303580e-01 -8.82043205e-03 -4.63334542e-01] [ 7.63353851e-03 9.10291671e-03 9.99929431e-01 -2.56295907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27119381700004 meters Centerline goodness : 0.897906 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.47, Z:-2.56 [[ 9.99425105e-01 3.29299363e-02 -8.06714284e-03 2.50993137e+01] [-3.30197687e-02 9.99391182e-01 -1.12676716e-02 -4.67590241e-01] [ 7.69118772e-03 1.15275690e-02 9.99903976e-01 -2.56234930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30119381700004 meters Centerline goodness : 0.897584 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.47, Z:-2.56 [[ 9.99529307e-01 2.95918641e-02 -8.09233875e-03 2.50988350e+01] [-2.97018912e-02 9.99463090e-01 -1.38321892e-02 -4.71557210e-01] [ 7.67867362e-03 1.40660362e-02 9.99871584e-01 -2.56198342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33119381700004 meters Centerline goodness : 0.900813 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.48, Z:-2.56 [[ 9.99700990e-01 2.31077559e-02 -7.99759153e-03 2.50975402e+01] [-2.32548986e-02 9.99552365e-01 -1.88223051e-02 -4.79592377e-01] [ 7.55907030e-03 1.90026602e-02 9.99790858e-01 -2.56103638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters Centerline goodness : 0.899610 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.48, Z:-2.56 [[ 9.99777448e-01 1.94640435e-02 -8.13669459e-03 2.50976421e+01] [-1.96370238e-02 9.99570583e-01 -2.17493973e-02 -4.83147391e-01] [ 7.70986935e-03 2.19043374e-02 9.99730343e-01 -2.56105889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39119381700002 meters Centerline goodness : 0.904543 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.49, Z:-2.56 [[ 9.99843194e-01 1.56785197e-02 -8.23235944e-03 2.50977330e+01] [-1.58795416e-02 9.99562596e-01 -2.49490766e-02 -4.85826943e-01] [ 7.83759399e-03 2.50758905e-02 9.99654826e-01 -2.56116988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42119381700002 meters Centerline goodness : 0.899840 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.49, Z:-2.56 [[ 9.99973527e-01 5.37680760e-03 -4.90254547e-03 2.50965733e+01] [-5.45088634e-03 9.99869247e-01 -1.52242293e-02 -4.93742263e-01] [ 4.82004669e-03 1.52505495e-02 9.99872086e-01 -2.56147442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45119381700002 meters Centerline goodness : 0.906356 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99986393e-01 8.94146051e-04 -5.13943476e-03 2.50976034e+01] [-9.91833918e-04 9.99818297e-01 -1.90364982e-02 -4.95642528e-01] [ 5.12147950e-03 1.90413366e-02 9.99805580e-01 -2.56218943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48119381700002 meters Centerline goodness : 0.899081 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99980114e-01 -3.44611404e-03 -5.28170817e-03 2.50981517e+01] [ 3.32583008e-03 9.99738700e-01 -2.26157194e-02 -4.98059991e-01] [ 5.35826441e-03 2.25977036e-02 9.99730280e-01 -2.56244006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51119381700002 meters Centerline goodness : 0.901591 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99954375e-01 -7.82786730e-03 -5.47465027e-03 2.50988413e+01] [ 7.68069543e-03 9.99621802e-01 -2.64056706e-02 -5.00008442e-01] [ 5.67927985e-03 2.63624167e-02 9.99636318e-01 -2.56273732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54119381700002 meters Centerline goodness : 0.900141 Centerline is valid? [False, False] Translation: X:25.09, Y:-0.50, Z:-2.56 [[ 9.99783939e-01 -1.91822925e-02 -8.00720659e-03 2.50946649e+01] [ 1.90078131e-02 9.99591880e-01 -2.13254909e-02 -5.03018643e-01] [ 8.41301049e-03 2.11686838e-02 9.99740520e-01 -2.56108531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57119381700002 meters Centerline goodness : 0.898886 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99769354e-01 -1.98939094e-02 -8.09141502e-03 2.50950003e+01] [ 1.97169738e-02 9.99576795e-01 -2.13885971e-02 -5.03969609e-01] [ 8.51349350e-03 2.12241257e-02 9.99738494e-01 -2.56101106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60119381700002 meters Centerline goodness : 0.899919 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99750782e-01 -2.07077243e-02 -8.34051024e-03 2.50957528e+01] [ 2.05212452e-02 9.99550508e-01 -2.18554261e-02 -5.03884681e-01] [ 8.78933739e-03 2.16788217e-02 9.99726351e-01 -2.56116418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63119381700002 meters Centerline goodness : 0.897518 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.51, Z:-2.56 [[ 9.99799131e-01 -1.82052410e-02 -8.38254225e-03 2.50961848e+01] [ 1.80487894e-02 9.99668228e-01 -1.83759400e-02 -5.05236999e-01] [ 8.71429957e-03 1.82209541e-02 9.99796008e-01 -2.56119355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66119381700003 meters Centerline goodness : 0.898267 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.51, Z:-2.56 [[ 9.99849552e-01 -1.51429705e-02 -8.45957715e-03 2.50965767e+01] [ 1.50180738e-02 9.99780078e-01 -1.46373534e-02 -5.05591333e-01] [ 8.67936972e-03 1.45081047e-02 9.99857082e-01 -2.56126121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69119381700003 meters Centerline goodness : 0.899642 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99885793e-01 -1.23457031e-02 -8.71693757e-03 2.50978032e+01] [ 1.22401024e-02 9.99852290e-01 -1.20655974e-02 -5.01802106e-01] [ 8.86460827e-03 1.19575232e-02 9.99889212e-01 -2.56215906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72119381700003 meters Centerline goodness : 0.896162 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99906973e-01 -9.94323175e-03 -9.33691155e-03 2.51002187e+01] [ 9.85382278e-03 9.99905620e-01 -9.57353071e-03 -5.00461585e-01] [ 9.43122217e-03 9.48063584e-03 9.99910581e-01 -2.56353609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75119381700003 meters Centerline goodness : 0.897391 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.56 [[ 9.99922855e-01 -7.56722119e-03 -9.84998419e-03 2.51024406e+01] [ 7.49688897e-03 9.99946280e-01 -7.15778421e-03 -4.98605489e-01] [ 9.90361959e-03 7.08338779e-03 9.99925869e-01 -2.56487392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78119381700003 meters Centerline goodness : 0.896265 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.50, Z:-2.57 [[ 9.99934909e-01 -5.17259327e-03 -1.01697054e-02 2.51041649e+01] [ 5.12415023e-03 9.99975429e-01 -4.78376475e-03 -4.96219051e-01] [ 1.01942000e-02 4.73134227e-03 9.99936844e-01 -2.56602981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81119381700003 meters Centerline goodness : 0.896542 Centerline is valid? [False, False] Translation: X:25.11, Y:-0.49, Z:-2.57 [[ 9.99928881e-01 -4.61544225e-03 -1.09968567e-02 2.51075122e+01] [ 4.56110260e-03 9.99977290e-01 -4.96134644e-03 -4.86457075e-01] [ 1.10195058e-02 4.91083580e-03 9.99927224e-01 -2.56784249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84119381700003 meters Centerline goodness : 0.893933 Centerline is valid? [False, False] Translation: X:25.11, Y:-0.48, Z:-2.57 [[ 9.99928043e-01 -3.39664704e-03 -1.15052849e-02 2.51100146e+01] [ 3.35200259e-03 9.99986787e-01 -3.89740590e-03 -4.82024950e-01] [ 1.15183710e-02 3.85855971e-03 9.99926217e-01 -2.56942232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87119381700003 meters Centerline goodness : 0.892575 Centerline is valid? [False, False] Translation: X:25.11, Y:-0.48, Z:-2.57 [[ 9.99920471e-01 -4.60413735e-03 -1.17411272e-02 2.51107985e+01] [ 4.53318979e-03 9.99971350e-01 -6.06212455e-03 -4.75769351e-01] [ 1.17687017e-02 6.00841768e-03 9.99912694e-01 -2.56977276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90119381700003 meters Centerline goodness : 0.891419 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.46, Z:-2.57 [[ 9.99869169e-01 -7.31710067e-03 -1.44258620e-02 2.51181015e+01] [ 7.20679846e-03 9.99944512e-01 -7.68335892e-03 -4.61208680e-01] [ 1.44812814e-02 7.57838942e-03 9.99866421e-01 -2.56993415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93119381700004 meters Centerline goodness : 0.889020 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.45, Z:-2.57 [[ 9.99863205e-01 -6.46743791e-03 -1.52231505e-02 2.51213885e+01] [ 6.35587497e-03 9.99952675e-01 -7.36551371e-03 -4.54272404e-01] [ 1.52700661e-02 7.26774970e-03 9.99856992e-01 -2.57183967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96119381700004 meters Centerline goodness : 0.890018 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.45, Z:-2.57 [[ 9.99853462e-01 -5.84149263e-03 -1.60913769e-02 2.51249428e+01] [ 5.72563042e-03 9.99957421e-01 -7.23695158e-03 -4.47021888e-01] [ 1.61329663e-02 7.14375781e-03 9.99844335e-01 -2.57381880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99119381700004 meters Centerline goodness : 0.888576 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.43, Z:-2.58 [[ 9.99892949e-01 -7.14042593e-03 -1.27712259e-02 2.51431997e+01] [ 6.92302609e-03 9.99831750e-01 -1.69865903e-02 -4.27476434e-01] [ 1.28903686e-02 1.68963563e-02 9.99774150e-01 -2.57892233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02119381700004 meters Centerline goodness : 0.888576 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.43, Z:-2.58 [[ 9.99892949e-01 -7.14042593e-03 -1.27712259e-02 2.51431997e+01] [ 6.92302609e-03 9.99831750e-01 -1.69865903e-02 -4.27476434e-01] [ 1.28903686e-02 1.68963563e-02 9.99774150e-01 -2.57892233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05119381700004 meters Centerline goodness : 0.890298 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.42, Z:-2.58 [[ 9.99893239e-01 -5.86283183e-03 -1.33842089e-02 2.51454636e+01] [ 5.63761990e-03 9.99842928e-01 -1.68028549e-02 -4.18420562e-01] [ 1.34806189e-02 1.67256059e-02 9.99769237e-01 -2.57995190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08119381700004 meters Centerline goodness : 0.887380 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.41, Z:-2.58 [[ 9.99895379e-01 -4.41099722e-03 -1.37758863e-02 2.51468926e+01] [ 4.18252379e-03 9.99853960e-01 -1.65700281e-02 -4.09029259e-01] [ 1.38469648e-02 1.65106766e-02 9.99767803e-01 -2.58046334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11119381700001 meters Centerline goodness : 0.884010 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.40, Z:-2.58 [[ 9.99898734e-01 -2.69631079e-03 -1.39732605e-02 2.51477875e+01] [ 2.46988264e-03 9.99865779e-01 -1.61963891e-02 -3.99142971e-01] [ 1.40150555e-02 1.61602367e-02 9.99771186e-01 -2.58069801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14119381700002 meters Centerline goodness : 0.886240 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.38, Z:-2.58 [[ 9.99952865e-01 -2.03698805e-03 -9.49305698e-03 2.51663758e+01] [ 1.83816677e-03 9.99779762e-01 -2.09057311e-02 -3.76323785e-01] [ 9.53355097e-03 2.08872959e-02 9.99736381e-01 -2.58434785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17119381700002 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.37, Z:-2.58 [[ 9.99952182e-01 -1.97868642e-04 -9.77720780e-03 2.51676116e+01] [-1.21797909e-06 9.99792752e-01 -2.03581185e-02 -3.67274307e-01] [ 9.77920973e-03 2.03571570e-02 9.99744944e-01 -2.58477084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20119381700002 meters Centerline goodness : 0.883346 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.36, Z:-2.59 [[ 9.99947687e-01 1.31182719e-03 -1.01440790e-02 2.51691288e+01] [-1.51535547e-03 9.99797185e-01 -2.00821647e-02 -3.58566257e-01] [ 1.01156773e-02 2.00964861e-02 9.99746870e-01 -2.58540857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23119381700002 meters Centerline goodness : 0.880565 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.35, Z:-2.59 [[ 9.99940312e-01 3.51381151e-03 -1.03453368e-02 2.51700564e+01] [-3.70945457e-03 9.99813491e-01 -1.89531772e-02 -3.51202557e-01] [ 1.02768094e-02 1.89904215e-02 9.99766848e-01 -2.58571706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26119381700002 meters Centerline goodness : 0.878595 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.33, Z:-2.59 [[ 9.99953337e-01 5.54637426e-03 -7.90963899e-03 2.51887608e+01] [-5.73133865e-03 9.99706067e-01 -2.35569799e-02 -3.32841881e-01] [ 7.77665826e-03 2.36012135e-02 9.99691205e-01 -2.58861635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29119381700002 meters Centerline goodness : 0.878090 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.32, Z:-2.59 [[ 9.99934594e-01 7.92462964e-03 -8.24666265e-03 2.51903002e+01] [-8.10757810e-03 9.99716375e-01 -2.23927933e-02 -3.24076753e-01] [ 8.06686910e-03 2.24581892e-02 9.99715237e-01 -2.58920333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32119381700002 meters Centerline goodness : 0.876456 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.32, Z:-2.59 [[ 9.99906372e-01 1.07953723e-02 -8.40873415e-03 2.51912104e+01] [-1.09667838e-02 9.99727384e-01 -2.06128131e-02 -3.15645844e-01] [ 8.18391880e-03 2.07030999e-02 9.99752172e-01 -2.58941458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35119381700002 meters Centerline goodness : 0.879463 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.30, Z:-2.59 [[ 9.99888044e-01 1.44264382e-02 -3.97203302e-03 2.52069297e+01] [-1.45188921e-02 9.99598678e-01 -2.43245786e-02 -2.98028710e-01] [ 3.61952193e-03 2.43795248e-02 9.99696223e-01 -2.59188606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38119381700002 meters Centerline goodness : 0.876477 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.29, Z:-2.59 [[ 9.99842954e-01 1.72253418e-02 -4.16601287e-03 2.52077447e+01] [-1.73156972e-02 9.99591817e-01 -2.27236828e-02 -2.91486903e-01] [ 3.77288917e-03 2.27922516e-02 9.99733104e-01 -2.59193891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41119381700003 meters Centerline goodness : 0.877893 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.28, Z:-2.59 [[ 9.99788445e-01 2.01237516e-02 -4.25443299e-03 2.52083475e+01] [-2.02106799e-02 9.99564852e-01 -2.14856909e-02 -2.84444164e-01] [ 3.82020897e-03 2.15671305e-02 9.99760104e-01 -2.59148136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44119381700003 meters Centerline goodness : 0.878543 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.28, Z:-2.59 [[ 9.99727434e-01 2.29822575e-02 -4.10765093e-03 2.52087054e+01] [-2.30607144e-02 9.99529976e-01 -2.01997637e-02 -2.76508132e-01] [ 3.64148406e-03 2.02889833e-02 9.99787526e-01 -2.59131741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47119381700003 meters Centerline goodness : 0.880433 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.26, Z:-2.59 [[ 9.99618677e-01 2.72714576e-02 -4.33231697e-03 2.52099438e+01] [-2.73433821e-02 9.99472648e-01 -1.75147398e-02 -2.60679051e-01] [ 3.85237983e-03 1.76265212e-02 9.99837219e-01 -2.59046345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50119381700003 meters Centerline goodness : 0.879567 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.25, Z:-2.59 [[ 9.99554764e-01 2.94976625e-02 -4.49006404e-03 2.52112247e+01] [-2.95670896e-02 9.99430326e-01 -1.62729883e-02 -2.54492333e-01] [ 4.00749105e-03 1.63985011e-02 9.99857504e-01 -2.59111093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53119381700003 meters Centerline goodness : 0.881603 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.25, Z:-2.59 [[ 9.99485380e-01 3.17715877e-02 -4.42055313e-03 2.52113056e+01] [-3.18336724e-02 9.99384114e-01 -1.47651608e-02 -2.49265384e-01] [ 3.94871797e-03 1.48982848e-02 9.99881217e-01 -2.59088060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56119381700003 meters Centerline goodness : 0.877746 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.24, Z:-2.59 [[ 9.99446779e-01 3.29527885e-02 -4.49998215e-03 2.52118095e+01] [-3.30173663e-02 9.99340373e-01 -1.51219465e-02 -2.35087266e-01] [ 3.99870354e-03 1.52621583e-02 9.99875531e-01 -2.59043799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59119381700003 meters Centerline goodness : 0.878787 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.23, Z:-2.59 [[ 9.99376653e-01 3.50318028e-02 -4.36783181e-03 2.52112842e+01] [-3.50902088e-02 9.99284659e-01 -1.41013504e-02 -2.28147387e-01] [ 3.87071159e-03 1.42458285e-02 9.99891031e-01 -2.58952085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62119381700003 meters Centerline goodness : 0.880539 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.22, Z:-2.59 [[ 9.99304938e-01 3.70476607e-02 -4.13656058e-03 2.52105445e+01] [-3.70989753e-02 9.99225640e-01 -1.31067203e-02 -2.21267274e-01] [ 3.64778407e-03 1.32510725e-02 9.99905547e-01 -2.58855408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65119381700003 meters Centerline goodness : 0.893106 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.21, Z:-2.59 [[ 9.99246488e-01 3.86936130e-02 -3.04314960e-03 2.52082824e+01] [-3.87287882e-02 9.99171533e-01 -1.25031721e-02 -2.06499466e-01] [ 2.55683554e-03 1.26116083e-02 9.99917202e-01 -2.58763765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68119381700004 meters Centerline goodness : 0.892252 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.20, Z:-2.59 [[ 9.99174805e-01 4.05273197e-02 -2.69167495e-03 2.52072751e+01] [-4.05557808e-02 9.99110756e-01 -1.15293711e-02 -2.00259716e-01] [ 2.22202689e-03 1.16290201e-02 9.99929912e-01 -2.58664898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71119381700004 meters Centerline goodness : 0.882592 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.19, Z:-2.59 [[ 9.99104533e-01 4.22486769e-02 -2.27608642e-03 2.52058132e+01] [-4.22703094e-02 9.99051182e-01 -1.04860697e-02 -1.94944525e-01] [ 1.83090426e-03 1.05728906e-02 9.99942429e-01 -2.58526438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74119381700004 meters Centerline goodness : 0.882924 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.19, Z:-2.59 [[ 9.99121939e-01 4.18251548e-02 -2.45103749e-03 2.52062343e+01] [-4.18517708e-02 9.99051052e-01 -1.20591850e-02 -1.89410168e-01] [ 1.94433431e-03 1.21511766e-02 9.99924281e-01 -2.58500179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77119381700004 meters Centerline goodness : 0.887846 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.19, Z:-2.58 [[ 9.99026274e-01 4.40671679e-02 -2.14225823e-03 2.52054453e+01] [-4.40870830e-02 9.98973932e-01 -1.03639448e-02 -1.85190058e-01] [ 1.68335043e-03 1.04482991e-02 9.99943998e-01 -2.58427370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80119381700004 meters Centerline goodness : 0.887146 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.18, Z:-2.58 [[ 9.98944785e-01 4.58830308e-02 -2.01586634e-03 2.52058856e+01] [-4.59012951e-02 9.98893786e-01 -1.02115036e-02 -1.75120952e-01] [ 1.54510163e-03 1.02932591e-02 9.99945829e-01 -2.58425785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83119381700004 meters Centerline goodness : 0.891767 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.17, Z:-2.58 [[ 9.98815334e-01 4.86207739e-02 -1.98703025e-03 2.52065024e+01] [-4.86351495e-02 9.98784783e-01 -7.97371662e-03 -1.71185303e-01] [ 1.59692731e-03 8.06090995e-03 9.99966235e-01 -2.58458326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters Centerline goodness : 0.890958 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.17, Z:-2.58 [[ 9.98671042e-01 5.15025802e-02 -1.90636988e-03 2.52069638e+01] [-5.15122652e-02 9.98657557e-01 -5.43785917e-03 -1.68023293e-01] [ 1.62374691e-03 5.52883391e-03 9.99983398e-01 -2.58485804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89119381700002 meters Centerline goodness : 0.891649 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.17, Z:-2.58 [[ 9.98518366e-01 5.43887128e-02 -1.71508258e-03 2.52068345e+01] [-5.43934791e-02 9.98515463e-01 -2.86696659e-03 -1.65191990e-01] [ 1.55660586e-03 2.95600811e-03 9.99994419e-01 -2.58462067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters Centerline goodness : 0.889030 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.16, Z:-2.58 [[ 9.98402265e-01 5.64933375e-02 -1.19136482e-03 2.52050730e+01] [-5.64958463e-02 9.98400434e-01 -2.18932625e-03 -1.57250984e-01] [ 1.06577681e-03 2.25313545e-03 9.99996894e-01 -2.58273712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95119381700002 meters Centerline goodness : 0.889766 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.15, Z:-2.58 [[ 9.98439848e-01 5.58234522e-02 -1.26980484e-03 2.52049032e+01] [-5.58280200e-02 9.98432773e-01 -3.90268511e-03 -1.52258787e-01] [ 1.04995341e-03 3.96748702e-03 9.99991578e-01 -2.58201901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98119381700002 meters Centerline goodness : 0.891043 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.15, Z:-2.58 [[ 9.98349057e-01 5.74326039e-02 -8.10332673e-04 2.52029124e+01] [-5.74344591e-02 9.98346174e-01 -2.48997218e-03 -1.49213414e-01] [ 6.65986938e-04 2.53240239e-03 9.99996572e-01 -2.58025439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01119381700002 meters Centerline goodness : 0.894034 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.15, Z:-2.58 [[ 9.98262054e-01 5.89303956e-02 -2.83600541e-04 2.52012260e+01] [-5.89306630e-02 9.98261525e-01 -1.05103930e-03 -1.46451439e-01] [ 2.21169347e-04 1.06592542e-03 9.99999407e-01 -2.57907378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04119381700002 meters Centerline goodness : 0.894043 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.14, Z:-2.58 [[ 9.98150111e-01 6.07974902e-02 1.48102633e-04 2.51999273e+01] [-6.07975818e-02 9.98149854e-01 7.22705937e-04 -1.43866483e-01] [-1.03889914e-04 -7.30373293e-04 9.99999728e-01 -2.57807565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07119381700002 meters Centerline goodness : 0.886972 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.14, Z:-2.58 [[ 9.98015277e-01 6.29718176e-02 2.38944467e-04 2.52016807e+01] [-6.29721473e-02 9.98013651e-01 1.80582760e-03 -1.37216897e-01] [-1.24753593e-04 -1.81729038e-03 9.99998341e-01 -2.57975801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10119381700002 meters Centerline goodness : 0.887020 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.13, Z:-2.58 [[ 9.97800604e-01 6.62861390e-02 3.18702915e-04 2.52028543e+01] [-6.62869026e-02 9.97790356e-01 4.52238138e-03 -1.33950601e-01] [-1.82274948e-05 -4.53356070e-03 9.99989723e-01 -2.58081297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13119381700002 meters Centerline goodness : 0.887612 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.13, Z:-2.58 [[ 9.97560850e-01 6.98020799e-02 1.41320637e-04 2.52044461e+01] [-6.98013164e-02 9.97535531e-01 7.11622694e-03 -1.29827180e-01] [ 3.55755085e-04 -7.10873376e-03 9.99974669e-01 -2.58161293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16119381700003 meters Centerline goodness : 0.886571 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.12, Z:-2.59 [[ 9.96943681e-01 7.81235826e-02 -4.89476323e-05 2.52092479e+01] [-7.81160262e-02 9.96855584e-01 1.32977773e-02 -1.21659267e-01] [ 1.08766372e-03 -1.32533115e-02 9.99911579e-01 -2.58538781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19119381700003 meters Centerline goodness : 0.885748 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.12, Z:-2.59 [[ 9.96676485e-01 8.14613823e-02 -1.67270689e-04 2.52115073e+01] [-8.14485072e-02 9.96551506e-01 1.58504563e-02 -1.18293108e-01] [ 1.45789394e-03 -1.57841531e-02 9.99874360e-01 -2.58710547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22119381700003 meters Centerline goodness : 0.882957 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.59 [[ 9.96650235e-01 8.17799187e-02 -5.95359520e-04 2.52131893e+01] [-8.17618439e-02 9.96539110e-01 1.49934508e-02 -1.14723975e-01] [ 1.81946224e-03 -1.48945486e-02 9.99887415e-01 -2.58792318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25119381700003 meters Centerline goodness : 0.886371 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.59 [[ 9.96648906e-01 8.17929392e-02 -9.34273809e-04 2.52142950e+01] [-8.17715963e-02 9.96550547e-01 1.41567730e-02 -1.12135218e-01] [ 2.08897515e-03 -1.40329353e-02 9.99899351e-01 -2.58839182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28119381700003 meters Centerline goodness : 0.890864 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.59 [[ 9.96632059e-01 8.19980428e-02 -9.27636478e-04 2.52142077e+01] [-8.19788597e-02 9.96547502e-01 1.31355252e-02 -1.08322101e-01] [ 2.00152117e-03 -1.30152389e-02 9.99913295e-01 -2.58784218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31119381700003 meters Centerline goodness : 0.882725 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.59 [[ 9.96624511e-01 8.20863865e-02 -1.18704748e-03 2.52145378e+01] [-8.20653466e-02 9.96549145e-01 1.24531079e-02 -1.05958144e-01] [ 2.20518178e-03 -1.23136571e-02 9.99921752e-01 -2.58737823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34119381700003 meters Centerline goodness : 0.884296 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.10, Z:-2.59 [[ 9.96608965e-01 8.22723305e-02 -1.35444128e-03 2.52144669e+01] [-8.22501342e-02 9.96538698e-01 1.20639470e-02 -1.04506145e-01] [ 2.34228218e-03 -1.19116347e-02 9.99926311e-01 -2.58662898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37119381700003 meters Centerline goodness : 0.886088 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.10, Z:-2.59 [[ 9.96587010e-01 8.25345395e-02 -1.54321665e-03 2.52143564e+01] [-8.25099539e-02 9.96516627e-01 1.21127999e-02 -1.04784513e-01] [ 2.53756542e-03 -1.19441283e-02 9.99925447e-01 -2.58596401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40119381700003 meters Centerline goodness : 0.888426 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.59 [[ 9.96502216e-01 8.35543110e-02 -1.41796200e-03 2.52134646e+01] [-8.35283533e-02 9.96417389e-01 1.32438713e-02 -1.08237905e-01] [ 2.51946453e-03 -1.30791070e-02 9.99911291e-01 -2.58504359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43119381700004 meters Centerline goodness : 0.887822 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.11, Z:-2.58 [[ 9.96719345e-01 8.09152641e-02 -1.80769310e-03 2.52138453e+01] [-8.08935011e-02 9.96673231e-01 9.93543629e-03 -1.08242455e-01] [ 2.60560778e-03 -9.75661093e-03 9.99949008e-01 -2.58493339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46119381700004 meters Centerline goodness : 0.890421 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.11, Z:-2.59 [[ 9.96908399e-01 7.85314717e-02 -2.54018010e-03 2.52151982e+01] [-7.85111651e-02 9.96886551e-01 7.29399103e-03 -1.09697229e-01] [ 3.10507923e-03 -7.07200842e-03 9.99970172e-01 -2.58523811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49119381700004 meters Centerline goodness : 0.889061 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.13, Z:-2.59 [[ 9.97206309e-01 7.45613527e-02 4.49245347e-03 2.52360984e+01] [-7.46525569e-02 9.96878940e-01 2.56782893e-02 -1.25726244e-01] [-2.56382427e-03 -2.59419252e-02 9.99660164e-01 -2.58772286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52119381700004 meters Centerline goodness : 0.887199 Centerline is valid? [False, False] Translation: X:25.25, Y:-0.13, Z:-2.59 [[ 9.97458443e-01 7.09155119e-02 6.90254974e-03 2.52546551e+01] [-7.10739987e-02 9.97122975e-01 2.63487848e-02 -1.33201435e-01] [-5.01415338e-03 -2.67724096e-02 9.99628979e-01 -2.58923496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55119381700004 meters Centerline goodness : 0.889091 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.14, Z:-2.59 [[ 9.97620712e-01 6.76455586e-02 1.33039066e-02 2.52640114e+01] [-6.80772650e-02 9.97057649e-01 3.52353582e-02 -1.42604795e-01] [-1.08812464e-02 -3.60572167e-02 9.99290486e-01 -2.59173163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58119381700004 meters Centerline goodness : 0.888164 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.17, Z:-2.59 [[ 9.98116007e-01 5.91141320e-02 1.64303355e-02 2.52830972e+01] [-6.02894132e-02 9.94652129e-01 8.38589803e-02 -1.71684992e-01] [-1.13852174e-02 -8.46915658e-02 9.96342168e-01 -2.58771018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61119381700001 meters Centerline goodness : 0.885101 Centerline is valid? [False, False] Translation: X:25.29, Y:-0.18, Z:-2.59 [[ 9.98217842e-01 5.60969391e-02 2.03536868e-02 2.52901126e+01] [-5.78099744e-02 9.93640082e-01 9.66301974e-02 -1.81560924e-01] [-1.48035808e-02 -9.76346332e-02 9.95112221e-01 -2.58621288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters Centerline goodness : 0.886505 Centerline is valid? [False, False] Translation: X:25.30, Y:-0.19, Z:-2.58 [[ 9.98274483e-01 5.43460204e-02 2.22388521e-02 2.52970214e+01] [-5.64971557e-02 9.92155457e-01 1.11515116e-01 -1.91105648e-01] [-1.60039956e-02 -1.12579127e-01 9.93513871e-01 -2.58160753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67119381700002 meters Centerline goodness : 0.886130 Centerline is valid? [False, False] Translation: X:25.29, Y:-0.19, Z:-2.58 [[ 9.98358538e-01 5.50324496e-02 1.58637400e-02 2.52938419e+01] [-5.63315083e-02 9.93546665e-01 9.84468714e-02 -1.92450876e-01] [-1.03435935e-02 -9.91789030e-02 9.95015857e-01 -2.57938745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70119381700002 meters Centerline goodness : 0.887787 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.21, Z:-2.57 [[ 9.98413926e-01 5.46641981e-02 1.34706113e-02 2.53081630e+01] [-5.59561424e-02 9.89886154e-01 1.30362238e-01 -2.13556480e-01] [-6.20822444e-03 -1.30909237e-01 9.91374919e-01 -2.57150936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73119381700002 meters Centerline goodness : 0.884324 Centerline is valid? [False, False] Translation: X:25.30, Y:-0.22, Z:-2.57 [[ 9.98342829e-01 5.56355764e-02 1.47063871e-02 2.53023249e+01] [-5.70232885e-02 9.90798665e-01 1.22745063e-01 -2.15817353e-01] [-7.74207635e-03 -1.23380260e-01 9.92329266e-01 -2.57341852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76119381700002 meters Centerline goodness : 0.886986 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.22, Z:-2.57 [[ 9.98370451e-01 5.57650593e-02 1.21120488e-02 2.53114850e+01] [-5.67847986e-02 9.91845489e-01 1.14096504e-01 -2.18002163e-01] [-5.65068269e-03 -1.14598358e-01 9.93395836e-01 -2.57057474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79119381700002 meters Centerline goodness : 0.884235 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.22, Z:-2.57 [[ 9.98411213e-01 5.49345682e-02 1.25396888e-02 2.53090742e+01] [-5.60106752e-02 9.91853722e-01 1.14407164e-01 -2.20982526e-01] [-6.15262886e-03 -1.14927752e-01 9.93354799e-01 -2.56743520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82119381700002 meters Centerline goodness : 0.889261 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.23, Z:-2.56 [[ 9.98519596e-01 5.28754772e-02 1.27593316e-02 2.53063688e+01] [-5.39952915e-02 9.91879231e-01 1.15152509e-01 -2.28929315e-01] [-6.56697220e-03 -1.15670980e-01 9.93265875e-01 -2.56238905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85119381700002 meters Centerline goodness : 0.886852 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.23, Z:-2.56 [[ 9.98637548e-01 5.05538066e-02 1.29368043e-02 2.53051696e+01] [-5.16931680e-02 9.92266848e-01 1.12846437e-01 -2.30655236e-01] [-7.13194502e-03 -1.13361434e-01 9.93528218e-01 -2.56102910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88119381700002 meters Centerline goodness : 0.885681 Centerline is valid? [False, False] Translation: X:25.29, Y:-0.23, Z:-2.56 [[ 9.98780631e-01 4.87250975e-02 7.94458156e-03 2.52949482e+01] [-4.92747002e-02 9.93806570e-01 9.96017323e-02 -2.27782402e-01] [-3.04227323e-03 -9.98717479e-02 9.94995668e-01 -2.55712595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91119381700003 meters Centerline goodness : 0.887281 Centerline is valid? [False, False] Translation: X:25.29, Y:-0.23, Z:-2.55 [[ 9.99030829e-01 4.32051297e-02 8.40945178e-03 2.52921828e+01] [-4.38073309e-02 9.94559132e-01 9.45148168e-02 -2.31333021e-01] [-4.28017215e-03 -9.47916114e-02 9.95487936e-01 -2.55487451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94119381700003 meters Centerline goodness : 0.887281 Centerline is valid? [False, False] Translation: X:25.29, Y:-0.23, Z:-2.56 [[ 9.98979997e-01 4.50183394e-02 3.50931782e-03 2.52895754e+01] [-4.51541163e-02 9.95479214e-01 8.35597953e-02 -2.29137762e-01] [ 2.68270271e-04 -8.36330242e-02 9.96496586e-01 -2.55575965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97119381700003 meters Centerline goodness : 0.885124 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.23, Z:-2.56 [[ 9.99116976e-01 4.14408594e-02 6.92266986e-03 2.52822854e+01] [-4.18433749e-02 9.96315504e-01 7.48635313e-02 -2.30186206e-01] [-3.79475424e-03 -7.50870929e-02 9.97169759e-01 -2.55753449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00119381700003 meters Centerline goodness : 0.883254 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.23, Z:-2.56 [[ 9.99336350e-01 3.60372483e-02 5.30809189e-03 2.52621656e+01] [-3.63179726e-02 9.96953306e-01 6.90297850e-02 -2.30256445e-01] [-2.80427626e-03 -6.91767525e-02 9.97600478e-01 -2.55642910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03119381700003 meters Centerline goodness : 0.884049 Centerline is valid? [False, False] Translation: X:25.25, Y:-0.23, Z:-2.55 [[ 9.99480406e-01 3.21988097e-02 1.46794590e-03 2.52529226e+01] [-3.22311677e-02 9.98035742e-01 5.37197261e-02 -2.28573878e-01] [ 2.64648764e-04 -5.37391272e-02 9.98554974e-01 -2.55491166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06119381700003 meters Centerline goodness : 0.885673 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.23, Z:-2.55 [[ 9.99682024e-01 2.52154715e-02 1.73076556e-04 2.52119451e+01] [-2.51965914e-02 9.98616751e-01 4.61488481e-02 -2.27959663e-01] [ 9.90827817e-04 -4.61385349e-02 9.98934559e-01 -2.55335484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09119381700003 meters Centerline goodness : 0.886790 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.23, Z:-2.55 [[ 9.99774722e-01 2.12246212e-02 -1.40440842e-04 2.52119235e+01] [-2.11998356e-02 9.98886142e-01 4.21549846e-02 -2.28148931e-01] [ 1.03500799e-03 -4.21425107e-02 9.99111074e-01 -2.55270980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12119381700003 meters Centerline goodness : 0.888585 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.23, Z:-2.55 [[ 9.99796527e-01 1.94717428e-02 -5.26830088e-03 2.52021130e+01] [-1.93084378e-02 9.99379724e-01 2.94508344e-02 -2.26090476e-01] [ 5.83849215e-03 -2.93431193e-02 9.99552346e-01 -2.54991855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15119381700003 meters Centerline goodness : 0.885927 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.22, Z:-2.55 [[ 9.99846262e-01 1.58903173e-02 -7.41284019e-03 2.51828523e+01] [-1.57156249e-02 9.99610611e-01 2.30574183e-02 -2.23091574e-01] [ 7.77634341e-03 -2.29373761e-02 9.99706660e-01 -2.54954806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18119381700004 meters Centerline goodness : 0.887375 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99853672e-01 1.51641548e-02 -7.91731718e-03 2.51856609e+01] [-1.49821912e-02 9.99633279e-01 2.25575051e-02 -2.23813570e-01] [ 8.25647923e-03 -2.24355856e-02 9.99714197e-01 -2.55185241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21119381700004 meters Centerline goodness : 0.885558 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99853725e-01 1.50371954e-02 -8.14936771e-03 2.51868869e+01] [-1.48503255e-02 9.99635970e-01 2.25254443e-02 -2.24086302e-01] [ 8.48512060e-03 -2.24011287e-02 9.99713055e-01 -2.55282938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24119381700004 meters Centerline goodness : 0.884607 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99853181e-01 1.49648327e-02 -8.34684564e-03 2.51873334e+01] [-1.47731836e-02 9.99636149e-01 2.25681871e-02 -2.24635660e-01] [ 8.68153778e-03 -2.24415642e-02 9.99710462e-01 -2.55291041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27119381700004 meters Centerline goodness : 0.886984 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99852206e-01 1.49715706e-02 -8.45092529e-03 2.51876065e+01] [-1.47789013e-02 9.99639437e-01 2.24183031e-02 -2.24642318e-01] [ 8.78351541e-03 -2.22900944e-02 9.99712960e-01 -2.55296846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30119381700004 meters Centerline goodness : 0.882293 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99851143e-01 1.49069170e-02 -8.68772392e-03 2.51884197e+01] [-1.47123078e-02 9.99648619e-01 2.20496416e-02 -2.23439435e-01] [ 9.01336339e-03 -2.19185429e-02 9.99719129e-01 -2.55338209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33119381700004 meters Centerline goodness : 0.884759 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99849385e-01 1.48693982e-02 -8.95033177e-03 2.51894175e+01] [-1.46746511e-02 9.99662335e-01 2.14446122e-02 -2.21316885e-01] [ 9.26617804e-03 -2.13100393e-02 9.99729974e-01 -2.55396494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700004 meters Centerline goodness : 0.884848 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99840354e-01 1.53823482e-02 -9.09122394e-03 2.51903128e+01] [-1.51901541e-02 9.99667328e-01 2.08444829e-02 -2.18204025e-01] [ 9.40883664e-03 -2.07030580e-02 9.99741395e-01 -2.55481042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39119381700002 meters Centerline goodness : 0.885636 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.22, Z:-2.55 [[ 9.99840976e-01 1.51604218e-02 -9.39061665e-03 2.51909979e+01] [-1.49680067e-02 9.99683257e-01 2.02322585e-02 -2.16471746e-01] [ 9.69437181e-03 -2.00884823e-02 9.99751205e-01 -2.55494496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters Centerline goodness : 0.885063 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.21, Z:-2.55 [[ 9.99846503e-01 1.46710069e-02 -9.57765980e-03 2.51910515e+01] [-1.44828468e-02 9.99706356e-01 1.94280315e-02 -2.14534415e-01] [ 9.85987617e-03 -1.92863376e-02 9.99765382e-01 -2.55449931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45119381700002 meters Centerline goodness : 0.882714 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.21, Z:-2.55 [[ 9.99856915e-01 1.38838013e-02 -9.66379833e-03 2.51910420e+01] [-1.37032787e-02 9.99734907e-01 1.85023349e-02 -2.12756564e-01] [ 9.91811927e-03 -1.83672618e-02 9.99782114e-01 -2.55428735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48119381700002 meters Centerline goodness : 0.885709 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.21, Z:-2.55 [[ 9.99893914e-01 1.18290739e-02 -8.49901816e-03 2.51680218e+01] [-1.16954175e-02 9.99809796e-01 1.56073643e-02 -2.09989453e-01] [ 8.68202227e-03 -1.55063090e-02 9.99842076e-01 -2.55314744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51119381700002 meters Centerline goodness : 0.889141 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.21, Z:-2.55 [[ 9.99939861e-01 6.92056005e-03 -8.50759999e-03 2.51677179e+01] [-6.83246176e-03 9.99923187e-01 1.03410586e-02 -2.07711456e-01] [ 8.57851242e-03 -1.02823089e-02 9.99910338e-01 -2.55279659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54119381700002 meters Centerline goodness : 0.886718 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.21, Z:-2.55 [[ 9.99943092e-01 6.24246675e-03 -8.65128881e-03 2.51678053e+01] [-6.16061237e-03 9.99936313e-01 9.45609465e-03 -2.05902193e-01] [ 8.70976719e-03 -9.40225928e-03 9.99917865e-01 -2.55251278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57119381700002 meters Centerline goodness : 0.890303 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.20, Z:-2.55 [[ 9.99942612e-01 6.08119875e-03 -8.81999414e-03 2.51676918e+01] [-6.00317711e-03 9.99942856e-01 8.84565756e-03 -2.03369003e-01] [ 8.87328234e-03 -8.79220194e-03 9.99921978e-01 -2.55182752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60119381700002 meters Centerline goodness : 0.888401 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.20, Z:-2.55 [[ 9.99936462e-01 7.26172943e-03 -8.62200124e-03 2.51655733e+01] [-7.17891473e-03 9.99928173e-01 9.59745252e-03 -2.01142966e-01] [ 8.69107605e-03 -9.53494611e-03 9.99916772e-01 -2.54961738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63119381700002 meters Centerline goodness : 0.894197 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.20, Z:-2.55 [[ 9.99897554e-01 1.14159199e-02 -8.63469508e-03 2.51649569e+01] [-1.13052530e-02 9.99854695e-01 1.27585625e-02 -1.98297769e-01] [ 8.77909114e-03 -1.26596381e-02 9.99881324e-01 -2.54860191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66119381700003 meters Centerline goodness : 0.893995 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.20, Z:-2.55 [[ 9.99838659e-01 1.46307432e-02 -1.04210313e-02 2.51443892e+01] [-1.44842383e-02 9.99797111e-01 1.39979796e-02 -1.95373468e-01] [ 1.06237178e-02 -1.38447804e-02 9.99847718e-01 -2.54729851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69119381700003 meters Centerline goodness : 0.895155 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.19, Z:-2.55 [[ 9.99825321e-01 1.54540611e-02 -1.05118595e-02 2.51448375e+01] [-1.53109051e-02 9.99790757e-01 1.35653260e-02 -1.92084228e-01] [ 1.07192993e-02 -1.34020104e-02 9.99852731e-01 -2.54748720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72119381700003 meters Centerline goodness : 0.895619 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.19, Z:-2.55 [[ 9.99729955e-01 1.99681798e-02 -1.18865206e-02 2.51244510e+01] [-1.97570492e-02 9.99649497e-01 1.76222219e-02 -1.90861474e-01] [ 1.22342380e-02 -1.73826205e-02 9.99774058e-01 -2.54643883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75119381700003 meters Centerline goodness : 0.894233 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.19, Z:-2.55 [[ 9.99614692e-01 2.49854123e-02 -1.20911990e-02 2.51254003e+01] [-2.47131449e-02 9.99448805e-01 2.21663517e-02 -1.90911844e-01] [ 1.26383698e-02 -2.18589993e-02 9.99681177e-01 -2.54689238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78119381700003 meters Centerline goodness : 0.897194 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.19, Z:-2.55 [[ 9.99514753e-01 2.85814263e-02 -1.23839006e-02 2.51263120e+01] [-2.82485506e-02 9.99255708e-01 2.62688069e-02 -1.92027062e-01] [ 1.31254834e-02 -2.59062327e-02 9.99578205e-01 -2.54712885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81119381700003 meters Centerline goodness : 0.897487 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.19, Z:-2.55 [[ 9.99442534e-01 3.10396199e-02 -1.22948300e-02 2.51256595e+01] [-3.06690144e-02 9.99101099e-01 2.92643998e-02 -1.93130819e-01] [ 1.31921340e-02 -2.88710156e-02 9.99496089e-01 -2.54644668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84119381700003 meters Centerline goodness : 0.898853 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.20, Z:-2.55 [[ 9.99354233e-01 3.37467287e-02 -1.23399877e-02 2.51258003e+01] [-3.33258756e-02 9.98904442e-01 3.28527350e-02 -1.95048753e-01] [ 1.34351408e-02 -3.24202789e-02 9.99384022e-01 -2.54624962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87119381700003 meters Centerline goodness : 0.899811 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.20, Z:-2.55 [[ 9.99339465e-01 3.29683455e-02 -1.52879798e-02 2.51203226e+01] [-3.22614787e-02 9.98493579e-01 4.43820869e-02 -2.00041677e-01] [ 1.67281536e-02 -4.38595581e-02 9.98897646e-01 -2.54732366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90119381700003 meters Centerline goodness : 0.896094 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.20, Z:-2.55 [[ 9.99319426e-01 3.33276667e-02 -1.58098368e-02 2.51221562e+01] [-3.25900138e-02 9.98463289e-01 4.48213222e-02 -2.00741899e-01] [ 1.72793318e-02 -4.42755752e-02 9.98869911e-01 -2.54823645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93119381700004 meters Centerline goodness : 0.895013 Centerline is valid? [False, False] Translation: X:25.12, Y:-0.20, Z:-2.55 [[ 9.99292750e-01 3.38546503e-02 -1.63665307e-02 2.51243477e+01] [-3.30816689e-02 9.98421278e-01 4.53933306e-02 -2.01571531e-01] [ 1.78774679e-02 -4.48197940e-02 9.98835113e-01 -2.54961608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96119381700004 meters Centerline goodness : 0.896147 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.20, Z:-2.55 [[ 9.99250117e-01 3.47019104e-02 -1.71750049e-02 2.51271398e+01] [-3.38761479e-02 9.98355941e-01 4.62365894e-02 -2.02339131e-01] [ 1.87512662e-02 -4.56200944e-02 9.98782858e-01 -2.55106554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99119381700004 meters Centerline goodness : 0.894921 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.21, Z:-2.55 [[ 9.99089552e-01 3.88013808e-02 -1.77346859e-02 2.51301619e+01] [-3.78516723e-02 9.97977548e-01 5.10692158e-02 -2.06267252e-01] [ 1.96803744e-02 -5.03514324e-02 9.98537639e-01 -2.55295758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02119381700004 meters Centerline goodness : 0.894817 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.20, Z:-2.56 [[ 9.99150976e-01 3.91013060e-02 -1.29774766e-02 2.51434611e+01] [-3.85126690e-02 9.98338065e-01 4.28705376e-02 -2.04334781e-01] [ 1.46322029e-02 -4.23343422e-02 9.98996347e-01 -2.55658974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05119381700004 meters Centerline goodness : 0.894245 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.21, Z:-2.56 [[ 9.99136180e-01 3.93252547e-02 -1.34319694e-02 2.51444846e+01] [-3.87106105e-02 9.98311608e-01 4.33061381e-02 -2.05078289e-01] [ 1.51123159e-02 -4.27487696e-02 9.98971551e-01 -2.55634523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08119381700004 meters Centerline goodness : 0.893261 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.22, Z:-2.55 [[ 9.99341945e-01 3.45447995e-02 -1.10604345e-02 2.51529521e+01] [-3.37063797e-02 9.97070583e-01 6.86595380e-02 -2.15048004e-01] [ 1.33998638e-02 -6.82415490e-02 9.97578836e-01 -2.55233685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11119381700004 meters Centerline goodness : 0.896644 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.22, Z:-2.55 [[ 9.99474328e-01 3.09215542e-02 -9.74298792e-03 2.51596387e+01] [-3.00723506e-02 9.96520111e-01 7.77388025e-02 -2.18887139e-01] [ 1.21128880e-02 -7.74049428e-02 9.96926152e-01 -2.54858185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters Centerline goodness : 0.897459 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.22, Z:-2.55 [[ 9.99592438e-01 2.66715204e-02 -1.01777980e-02 2.51595433e+01] [-2.58473305e-02 9.96926246e-01 7.39592833e-02 -2.19800409e-01] [ 1.21191204e-02 -7.36660714e-02 9.97209324e-01 -2.54727478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17119381700002 meters Centerline goodness : 0.897237 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.23, Z:-2.54 [[ 9.99723983e-01 2.01224626e-02 -1.21262153e-02 2.51453582e+01] [-1.88814859e-02 9.95301005e-01 9.49705162e-02 -2.25875666e-01] [ 1.39802750e-02 -9.47153418e-02 9.95406227e-01 -2.54070762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20119381700002 meters Centerline goodness : 0.893617 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.23, Z:-2.54 [[ 9.99737587e-01 1.91202860e-02 -1.26163464e-02 2.51431265e+01] [-1.78166979e-02 9.95183543e-01 9.63964788e-02 -2.31299282e-01] [ 1.43987085e-02 -9.61464015e-02 9.95263054e-01 -2.53586895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23119381700002 meters Centerline goodness : 0.894623 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.23, Z:-2.53 [[ 9.99598666e-01 2.04241738e-02 -1.96305986e-02 2.51411828e+01] [-1.87305733e-02 9.96382445e-01 8.28926372e-02 -2.28700752e-01] [ 2.12525975e-02 -8.24916772e-02 9.96365119e-01 -2.53289311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26119381700002 meters Centerline goodness : 0.897263 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.23, Z:-2.53 [[ 9.99490606e-01 2.20642180e-02 -2.30585769e-02 2.51331757e+01] [-2.03275021e-02 9.97123711e-01 7.30143707e-02 -2.27417974e-01] [ 2.46032588e-02 -7.25084543e-02 9.97064293e-01 -2.53308352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29119381700002 meters Centerline goodness : 0.893078 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.23, Z:-2.53 [[ 9.99464132e-01 2.26168451e-02 -2.36627844e-02 2.51347365e+01] [-2.08209878e-02 9.97072870e-01 7.35675110e-02 -2.28472132e-01] [ 2.52573854e-02 -7.30354060e-02 9.97009475e-01 -2.53349720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32119381700002 meters Centerline goodness : 0.897723 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.23, Z:-2.53 [[ 9.99372722e-01 2.44384890e-02 -2.56305035e-02 2.51360214e+01] [-2.23581765e-02 9.96661076e-01 7.85290469e-02 -2.34690928e-01] [ 2.74640564e-02 -7.79067360e-02 9.96582293e-01 -2.52903105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35119381700002 meters Centerline goodness : 0.894092 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.24, Z:-2.53 [[ 9.99322415e-01 2.50101187e-02 -2.70038039e-02 2.51395260e+01] [-2.33104306e-02 9.97833551e-01 6.15209523e-02 -2.35313760e-01] [ 2.84839479e-02 -6.08497963e-02 9.97740431e-01 -2.53047347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38119381700002 meters Centerline goodness : 0.895406 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.24, Z:-2.53 [[ 9.99135946e-01 2.54531859e-02 -3.28556888e-02 2.51407609e+01] [-2.38914641e-02 9.98605333e-01 4.70806314e-02 -2.37252573e-01] [ 3.40082182e-02 -4.62549807e-02 9.98350599e-01 -2.53094385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41119381700003 meters Centerline goodness : 0.898433 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.25, Z:-2.53 [[ 9.99195000e-01 2.20144137e-02 -3.35368189e-02 2.51439767e+01] [-2.04858505e-02 9.98765177e-01 4.52598209e-02 -2.45642203e-01] [ 3.44917753e-02 -4.45363564e-02 9.98412155e-01 -2.53349361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44119381700003 meters Centerline goodness : 0.899523 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.25, Z:-2.53 [[ 9.99224248e-01 1.94338026e-02 -3.42524406e-02 2.51462044e+01] [-1.79489457e-02 9.98907909e-01 4.31372850e-02 -2.48639271e-01] [ 3.50533553e-02 -4.24890260e-02 9.98481820e-01 -2.53456078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47119381700003 meters Centerline goodness : 0.896695 Centerline is valid? [False, False] Translation: X:25.15, Y:-0.25, Z:-2.53 [[ 9.99255244e-01 1.64032894e-02 -3.49269077e-02 2.51477686e+01] [-1.49892739e-02 9.99072404e-01 4.03689688e-02 -2.50678125e-01] [ 3.55566935e-02 -3.98153748e-02 9.98574212e-01 -2.53494807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50119381700003 meters Centerline goodness : 0.895824 Centerline is valid? [False, False] Translation: X:25.14, Y:-0.26, Z:-2.53 [[ 9.99333258e-01 1.16593421e-02 -3.45991133e-02 2.51448068e+01] [-1.03895234e-02 9.99273918e-01 3.66564353e-02 -2.56734851e-01] [ 3.50013814e-02 -3.62725267e-02 9.98728796e-01 -2.53235545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53119381700003 meters Centerline goodness : 0.894377 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.26, Z:-2.53 [[ 9.99346790e-01 1.02154818e-02 -3.46646311e-02 2.51616965e+01] [-9.56700830e-03 9.99777084e-01 1.88216513e-02 -2.57445439e-01] [ 3.48491761e-02 -1.84777200e-02 9.99221752e-01 -2.53046417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56119381700003 meters Centerline goodness : 0.894095 Centerline is valid? [False, False] Translation: X:25.17, Y:-0.26, Z:-2.53 [[ 9.99511478e-01 6.37841854e-03 -3.05960956e-02 2.51711129e+01] [-6.25099294e-03 9.99971394e-01 4.25861154e-03 -2.57343205e-01] [ 3.06223836e-02 -4.06527514e-03 9.99522758e-01 -2.53231927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59119381700003 meters Centerline goodness : 0.892042 Centerline is valid? [False, False] Translation: X:25.18, Y:-0.26, Z:-2.54 [[ 9.99681117e-01 1.58239010e-03 -2.52023715e-02 2.51832612e+01] [-1.35924728e-03 9.99959748e-01 8.86871202e-03 -2.61827170e-01] [ 2.52153909e-02 -8.83162768e-03 9.99643029e-01 -2.53597106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62119381700003 meters Centerline goodness : 0.891457 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.27, Z:-2.54 [[ 9.99781522e-01 -7.88345324e-03 -1.93587095e-02 2.51952563e+01] [ 8.05853155e-03 9.99927184e-01 8.98261000e-03 -2.66790898e-01] [ 1.92864859e-02 -9.13665027e-03 9.99772251e-01 -2.53982719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65119381700003 meters Centerline goodness : 0.891044 Centerline is valid? [False, False] Translation: X:25.21, Y:-0.27, Z:-2.54 [[ 9.99826390e-01 -1.04902641e-02 -1.53995032e-02 2.52062982e+01] [ 1.04361250e-02 9.99939091e-01 -3.59180514e-03 -2.66638678e-01] [ 1.54362443e-02 3.43047043e-03 9.99874969e-01 -2.54286824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68119381700004 meters Centerline goodness : 0.889563 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99842668e-01 -1.50720667e-02 -9.35268680e-03 2.52185699e+01] [ 1.50786557e-02 9.99886109e-01 6.34376304e-04 -2.70589381e-01] [ 9.34206026e-03 -7.75302440e-04 9.99956061e-01 -2.54702431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71119381700004 meters Centerline goodness : 0.886839 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99769646e-01 -1.92401446e-02 -9.51166714e-03 2.52193793e+01] [ 1.92093996e-02 9.99809993e-01 -3.31321919e-03 -2.70926573e-01] [ 9.57360667e-03 3.12974257e-03 9.99949274e-01 -2.54739790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74119381700004 meters Centerline goodness : 0.887292 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99737024e-01 -2.07634863e-02 -9.73447133e-03 2.52204986e+01] [ 2.07272502e-02 9.99777913e-01 -3.80869513e-03 -2.71585045e-01] [ 9.81139121e-03 3.60592471e-03 9.99945365e-01 -2.54804507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77119381700004 meters Centerline goodness : 0.882653 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99726491e-01 -2.10522842e-02 -1.01854890e-02 2.52217930e+01] [ 2.10097989e-02 9.99770193e-01 -4.26034385e-03 -2.70390602e-01] [ 1.02728383e-02 4.04518353e-03 9.99939051e-01 -2.54849501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80119381700004 meters Centerline goodness : 0.882971 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99724365e-01 -2.08587974e-02 -1.07752275e-02 2.52233599e+01] [ 2.08117785e-02 9.99773475e-01 -4.45747715e-03 -2.69376339e-01] [ 1.08657642e-02 4.23199686e-03 9.99932010e-01 -2.54898659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83119381700004 meters Centerline goodness : 0.882971 Centerline is valid? [False, False] Translation: X:25.22, Y:-0.27, Z:-2.55 [[ 9.99724365e-01 -2.08587974e-02 -1.07752275e-02 2.52233599e+01] [ 2.08117785e-02 9.99773475e-01 -4.45747715e-03 -2.69376339e-01] [ 1.08657642e-02 4.23199686e-03 9.99932010e-01 -2.54898659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700004 meters Centerline goodness : 0.882546 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.27, Z:-2.55 [[ 9.99873423e-01 -1.37799276e-02 -7.95311841e-03 2.52364932e+01] [ 1.37103320e-02 9.99867812e-01 -8.73989533e-03 -2.67625082e-01] [ 8.07250223e-03 8.62974917e-03 9.99930179e-01 -2.55305934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89119381700002 meters Centerline goodness : 0.884054 Centerline is valid? [False, False] Translation: X:25.25, Y:-0.27, Z:-2.56 [[ 9.99961779e-01 -8.05758911e-03 -3.39344716e-03 2.52510427e+01] [ 8.01575529e-03 9.99893861e-01 -1.21660868e-02 -2.65041871e-01] [ 3.49111631e-03 1.21384208e-02 9.99920232e-01 -2.55821562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92119381700002 meters Centerline goodness : 0.886784 Centerline is valid? [False, False] Translation: X:25.26, Y:-0.26, Z:-2.56 [[ 9.99999272e-01 -1.18374390e-03 -2.34767623e-04 2.52623972e+01] [ 1.17973017e-03 9.99864532e-01 -1.64172223e-02 -2.62429580e-01] [ 2.54169607e-04 1.64169334e-02 9.99865201e-01 -2.56082984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95119381700002 meters Centerline goodness : 0.881497 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.26, Z:-2.56 [[ 9.99996972e-01 1.92087660e-03 1.53828575e-03 2.52828735e+01] [-1.89409589e-03 9.99849833e-01 -1.72256654e-02 -2.59515331e-01] [-1.57114313e-03 1.72226996e-02 9.99850444e-01 -2.56245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98119381700002 meters Centerline goodness : 0.886813 Centerline is valid? [False, False] Translation: X:25.30, Y:-0.26, Z:-2.56 [[ 9.99985349e-01 4.44895113e-03 3.08347052e-03 2.53034185e+01] [-4.39069065e-03 9.99816425e-01 -1.86504395e-02 -2.57040196e-01] [-3.16587937e-03 1.86366277e-02 9.99821311e-01 -2.56380171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01119381700002 meters Centerline goodness : 0.884898 Centerline is valid? [False, False] Translation: X:25.33, Y:-0.25, Z:-2.56 [[ 9.99922941e-01 1.21105965e-02 2.72874503e-03 2.53320656e+01] [-1.20412002e-02 9.99635710e-01 -2.41548316e-02 -2.54549104e-01] [-3.02028039e-03 2.41201129e-02 9.99704505e-01 -2.56289652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04119381700002 meters Centerline goodness : 0.878701 Centerline is valid? [False, False] Translation: X:25.35, Y:-0.25, Z:-2.56 [[ 9.99898283e-01 1.36962975e-02 3.97940683e-03 2.53532062e+01] [-1.35921128e-02 9.99591938e-01 -2.51239188e-02 -2.53732749e-01] [-4.32188765e-03 2.50672747e-02 9.99676424e-01 -2.56445691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07119381700002 meters Centerline goodness : 0.884766 Centerline is valid? [False, False] Translation: X:25.37, Y:-0.25, Z:-2.57 [[ 9.99896146e-01 1.34169790e-02 5.26141615e-03 2.53737979e+01] [-1.32603494e-02 9.99498600e-01 -2.87526061e-02 -2.52401858e-01] [-5.64455119e-03 2.86798518e-02 9.99572711e-01 -2.56606735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10119381700002 meters Centerline goodness : 0.884715 Centerline is valid? [False, False] Translation: X:25.39, Y:-0.25, Z:-2.57 [[ 9.99896992e-01 1.25542842e-02 6.95668825e-03 2.53939020e+01] [-1.23190523e-02 9.99383277e-01 -3.28832277e-02 -2.51340674e-01] [-7.36522329e-03 3.27941406e-02 9.99434989e-01 -2.56778680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13119381700002 meters Centerline goodness : 0.880692 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.25, Z:-2.57 [[ 9.99838408e-01 1.66771131e-02 6.71063200e-03 2.53950100e+01] [-1.64827402e-02 9.99470718e-01 -2.80464594e-02 -2.54310957e-01] [-7.17481416e-03 2.79313177e-02 9.99584095e-01 -2.56847114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16119381700003 meters Centerline goodness : 0.881770 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.26, Z:-2.57 [[ 9.99769785e-01 2.05051962e-02 6.31770028e-03 2.53961584e+01] [-2.03528796e-02 9.99521375e-01 -2.32976803e-02 -2.56892777e-01] [-6.79239997e-03 2.31637334e-02 9.99708610e-01 -2.56903520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19119381700003 meters Centerline goodness : 0.879743 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.26, Z:-2.57 [[ 9.99682474e-01 2.44715582e-02 6.00788324e-03 2.53971246e+01] [-2.43575152e-02 9.99534458e-01 -1.83732931e-02 -2.59986397e-01] [-6.45470943e-03 1.82211220e-02 9.99813146e-01 -2.56951174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22119381700003 meters Centerline goodness : 0.879810 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.26, Z:-2.57 [[ 9.99654600e-01 2.56815661e-02 5.58015920e-03 2.53977484e+01] [-2.55822000e-02 9.99524691e-01 -1.72030033e-02 -2.61871702e-01] [-6.01930697e-03 1.70543086e-02 9.99836446e-01 -2.56919158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25119381700003 meters Centerline goodness : 0.878313 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.27, Z:-2.57 [[ 9.99615529e-01 2.72540379e-02 5.10006162e-03 2.53984289e+01] [-2.71739428e-02 9.99515681e-01 -1.51651059e-02 -2.66256360e-01] [-5.51090193e-03 1.50206865e-02 9.99871996e-01 -2.56894562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28119381700003 meters Centerline goodness : 0.882181 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.27, Z:-2.57 [[ 9.99609007e-01 2.75521170e-02 4.76581699e-03 2.53988713e+01] [-2.74818596e-02 9.99521046e-01 -1.42276516e-02 -2.68697077e-01] [-5.15553630e-03 1.40911152e-02 9.99887424e-01 -2.56877850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31119381700003 meters Centerline goodness : 0.878369 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.27, Z:-2.57 [[ 9.99606618e-01 2.76679373e-02 4.59293325e-03 2.53987294e+01] [-2.76055776e-02 9.99532702e-01 -1.31267008e-02 -2.72255862e-01] [-4.95397571e-03 1.29947464e-02 9.99903293e-01 -2.56839288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34119381700003 meters Centerline goodness : 0.881514 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.28, Z:-2.57 [[ 9.99600629e-01 2.79081150e-02 4.44068993e-03 2.53984151e+01] [-2.78574220e-02 9.99550332e-01 -1.10949099e-02 -2.77707111e-01] [-4.74833112e-03 1.09667727e-02 9.99928589e-01 -2.56795693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37119381700003 meters Centerline goodness : 0.878441 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.28, Z:-2.57 [[ 9.99686420e-01 2.46956101e-02 4.14594153e-03 2.53984341e+01] [-2.46383979e-02 9.99607609e-01 -1.33257942e-02 -2.81885072e-01] [-4.47340332e-03 1.32194662e-02 9.99902612e-01 -2.56777662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40119381700003 meters Centerline goodness : 0.877374 Centerline is valid? [False, False] Translation: X:25.39, Y:-0.30, Z:-2.57 [[ 9.99872782e-01 1.58290269e-02 1.96501746e-03 2.53935753e+01] [-1.58244502e-02 9.99872087e-01 -2.32318618e-03 -2.95243020e-01] [-2.00153989e-03 2.29179531e-03 9.99995371e-01 -2.56807092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43119381700004 meters Centerline goodness : 0.880693 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.30, Z:-2.57 [[ 9.99932082e-01 1.15818961e-02 1.30016407e-03 2.53967720e+01] [-1.15740937e-02 9.99915869e-01 -5.85626256e-03 -2.98460133e-01] [-1.36788131e-03 5.84081659e-03 9.99982007e-01 -2.57053684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46119381700004 meters Centerline goodness : 0.880042 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.30, Z:-2.57 [[ 9.99972960e-01 7.33186363e-03 5.67672735e-04 2.54000284e+01] [-7.32634276e-03 9.99930995e-01 -9.18317314e-03 -3.02639863e-01] [-6.34963335e-04 9.17876587e-03 9.99957673e-01 -2.57284498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49119381700004 meters Centerline goodness : 0.883777 Centerline is valid? [False, False] Translation: X:25.40, Y:-0.31, Z:-2.58 [[ 9.99996634e-01 -2.58037072e-03 -2.70725836e-04 2.54040425e+01] [ 2.57535439e-03 9.99849938e-01 -1.71309312e-02 -3.11999042e-01] [ 3.14889364e-04 1.71301763e-02 9.99853218e-01 -2.57610677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52119381700004 meters Centerline goodness : 0.882750 Centerline is valid? [False, False] Translation: X:25.41, Y:-0.32, Z:-2.58 [[ 9.99975654e-01 -6.89086425e-03 -1.09850108e-03 2.54081295e+01] [ 6.86712427e-03 9.99769938e-01 -2.03202682e-02 -3.16570071e-01] [ 1.23827257e-03 2.03122299e-02 9.99792919e-01 -2.57905026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55119381700004 meters Centerline goodness : 0.881847 Centerline is valid? [False, False] Translation: X:25.41, Y:-0.32, Z:-2.58 [[ 9.99938207e-01 -1.09715751e-02 -1.79067037e-03 2.54116477e+01] [ 1.09268982e-02 9.99668851e-01 -2.32978737e-02 -3.20965351e-01] [ 2.04569176e-03 2.32768675e-02 9.99726964e-01 -2.58167864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58119381700004 meters Centerline goodness : 0.879907 Centerline is valid? [False, False] Translation: X:25.41, Y:-0.33, Z:-2.58 [[ 9.99890219e-01 -1.46379281e-02 -2.29821384e-03 2.54138260e+01] [ 1.45737710e-02 9.99560544e-01 -2.58132381e-02 -3.25886903e-01] [ 2.67505620e-03 2.57769106e-02 9.99664141e-01 -2.58304753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61119381700004 meters Centerline goodness : 0.882613 Centerline is valid? [False, False] Translation: X:25.42, Y:-0.33, Z:-2.58 [[ 9.99706313e-01 -2.36174631e-02 -5.43175631e-03 2.54202876e+01] [ 2.34431858e-02 9.99269624e-01 -3.01767276e-02 -3.33680508e-01] [ 6.14048683e-03 3.00405274e-02 9.99529820e-01 -2.58180587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64119381700002 meters Centerline goodness : 0.883697 Centerline is valid? [False, False] Translation: X:25.42, Y:-0.34, Z:-2.58 [[ 9.99690256e-01 -2.42075534e-02 -5.77816856e-03 2.54210101e+01] [ 2.40268623e-02 9.99275284e-01 -2.95231438e-02 -3.36994718e-01] [ 6.48866411e-03 2.93751679e-02 9.99547396e-01 -2.58163162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67119381700002 meters Centerline goodness : 0.886074 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99661819e-01 -2.58808908e-02 -2.53522439e-03 2.54289897e+01] [ 2.58254272e-02 9.99468459e-01 -1.98958802e-02 -3.41153206e-01] [ 3.04879992e-03 1.98236786e-02 9.99798843e-01 -2.58094423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70119381700002 meters Centerline goodness : 0.883981 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99656717e-01 -2.60440756e-02 -2.85571412e-03 2.54292516e+01] [ 2.59838116e-02 9.99473603e-01 -1.94256980e-02 -3.42677222e-01] [ 3.36013523e-03 1.93448271e-02 9.99807225e-01 -2.58030945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73119381700002 meters Centerline goodness : 0.886377 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99642095e-01 -2.65721105e-02 -3.09927667e-03 2.54295106e+01] [ 2.65074474e-02 9.99462042e-01 -1.93127491e-02 -3.43721457e-01] [ 3.61078990e-03 1.92236831e-02 9.99808688e-01 -2.57970745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76119381700002 meters Centerline goodness : 0.888712 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99636848e-01 -2.67447364e-02 -3.30025646e-03 2.54293918e+01] [ 2.66759706e-02 9.99456500e-01 -1.93674247e-02 -3.43466048e-01] [ 3.81643944e-03 1.92723538e-02 9.99806987e-01 -2.57891686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79119381700002 meters Centerline goodness : 0.888523 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99705435e-01 -2.40283171e-02 -3.41802065e-03 2.54290929e+01] [ 2.39713802e-02 9.99587413e-01 -1.58232716e-02 -3.44101670e-01] [ 3.79681701e-03 1.57366759e-02 9.99868962e-01 -2.57795387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82119381700002 meters Centerline goodness : 0.890004 Centerline is valid? [False, False] Translation: X:25.43, Y:-0.34, Z:-2.58 [[ 9.99761291e-01 -2.15656878e-02 -3.50452526e-03 2.54289305e+01] [ 2.15195889e-02 9.99687778e-01 -1.26986053e-02 -3.43528512e-01] [ 3.77728522e-03 1.26201581e-02 9.99913228e-01 -2.57724592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85119381700002 meters Centerline goodness : 0.890824 Centerline is valid? [False, False] Translation: X:25.44, Y:-0.34, Z:-2.58 [[ 9.99752341e-01 -2.21239649e-02 2.40543070e-03 2.54421908e+01] [ 2.21608923e-02 9.99616664e-01 -1.65957995e-02 -3.36743838e-01] [-2.03734372e-03 1.66449959e-02 9.99859387e-01 -2.57537622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88119381700002 meters Centerline goodness : 0.894655 Centerline is valid? [False, False] Translation: X:25.44, Y:-0.33, Z:-2.57 [[ 9.99744211e-01 -2.25133169e-02 2.15951102e-03 2.54419499e+01] [ 2.25477897e-02 9.99591736e-01 -1.75487590e-02 -3.33626346e-01] [-1.76354859e-03 1.75929624e-02 9.99843677e-01 -2.57427094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91119381700003 meters Centerline goodness : 0.898538 Centerline is valid? [False, False] Translation: X:25.44, Y:-0.33, Z:-2.57 [[ 9.99805367e-01 -1.96428602e-02 1.84013996e-03 2.54419513e+01] [ 1.96676978e-02 9.99699617e-01 -1.46238674e-02 -3.31880830e-01] [-1.55233263e-03 1.46572124e-02 9.99891372e-01 -2.57332756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94119381700003 meters Centerline goodness : 0.896348 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.32, Z:-2.58 [[ 9.99845157e-01 -1.66839061e-02 5.59546136e-03 2.54598897e+01] [ 1.67814107e-02 9.99699718e-01 -1.78566140e-02 -3.20546006e-01] [-5.29586307e-03 1.79477487e-02 9.99824901e-01 -2.57548814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97119381700003 meters Centerline goodness : 0.899345 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.32, Z:-2.58 [[ 9.99893758e-01 -1.35845333e-02 5.28518754e-03 2.54609120e+01] [ 1.36656370e-02 9.99784538e-01 -1.56245675e-02 -3.15232359e-01] [-5.07179633e-03 1.56951329e-02 9.99863961e-01 -2.57613276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00119381700003 meters Centerline goodness : 0.899388 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.31, Z:-2.58 [[ 9.99929345e-01 -1.08689195e-02 4.81372468e-03 2.54629552e+01] [ 1.09355474e-02 9.99841658e-01 -1.40382390e-02 -3.09025588e-01] [-4.66038198e-03 1.40898878e-02 9.99889872e-01 -2.57764065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03119381700003 meters Centerline goodness : 0.897140 Centerline is valid? [False, False] Translation: X:25.46, Y:-0.30, Z:-2.58 [[ 9.99958784e-01 -8.02119728e-03 4.25340257e-03 2.54649430e+01] [ 8.07326947e-03 9.99890897e-01 -1.23699977e-02 -3.03036990e-01] [-4.15371632e-03 1.24038268e-02 9.99914442e-01 -2.57880092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06119381700003 meters Centerline goodness : 0.896430 Centerline is valid? [False, False] Translation: X:25.49, Y:-0.30, Z:-2.58 [[ 9.99980696e-01 -4.91641046e-03 3.79946969e-03 2.54873075e+01] [ 4.96730456e-03 9.99896482e-01 -1.35037650e-02 -2.97168696e-01] [-3.73268633e-03 1.35223775e-02 9.99901601e-01 -2.58096512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09119381700003 meters Centerline goodness : 0.896610 Centerline is valid? [False, False] Translation: X:25.50, Y:-0.29, Z:-2.59 [[ 9.99972871e-01 -2.15754857e-03 7.04294792e-03 2.55038541e+01] [ 2.29079982e-03 9.99817488e-01 -1.89668992e-02 -2.90495061e-01] [-7.00074049e-03 1.89825186e-02 9.99795306e-01 -2.58502027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12119381700003 meters Centerline goodness : 0.896890 Centerline is valid? [False, False] Translation: X:25.53, Y:-0.28, Z:-2.59 [[ 9.99980328e-01 1.20886113e-03 6.15487643e-03 2.55276571e+01] [-1.07349396e-03 9.99758505e-01 -2.19494826e-02 -2.78708766e-01] [-6.17992394e-03 2.19424436e-02 9.99740135e-01 -2.58942348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15119381700003 meters Centerline goodness : 0.895132 Centerline is valid? [False, False] Translation: X:25.55, Y:-0.27, Z:-2.59 [[ 9.99987560e-01 2.89461206e-03 4.06219862e-03 2.55513834e+01] [-2.79925638e-03 9.99724915e-01 -2.32864634e-02 -2.73252651e-01] [-4.12848644e-03 2.32748026e-02 9.99720581e-01 -2.59236220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18119381700004 meters Centerline goodness : 0.893814 Centerline is valid? [False, False] Translation: X:25.55, Y:-0.27, Z:-2.59 [[ 9.99983585e-01 4.73815309e-03 3.22167648e-03 2.55549658e+01] [-4.66654819e-03 9.99749678e-01 -2.18815979e-02 -2.68814747e-01] [-3.32454838e-03 2.18662046e-02 9.99755378e-01 -2.59466833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21119381700004 meters Centerline goodness : 0.892441 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.26, Z:-2.60 [[ 9.99983064e-01 5.40199064e-03 2.16552844e-03 2.55790319e+01] [-5.34598294e-03 9.99671040e-01 -2.50845004e-02 -2.60431843e-01] [-2.30032231e-03 2.50724987e-02 9.99682989e-01 -2.59774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24119381700004 meters Centerline goodness : 0.893126 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.26, Z:-2.60 [[ 9.99985627e-01 5.07949136e-03 1.71584704e-03 2.55801258e+01] [-5.03289921e-03 9.99645450e-01 -2.61465951e-02 -2.56792620e-01] [-1.84805009e-03 2.61375836e-02 9.99656647e-01 -2.59786024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27119381700004 meters Centerline goodness : 0.894604 Centerline is valid? [False, False] Translation: X:25.60, Y:-0.25, Z:-2.60 [[ 9.99981320e-01 5.77379397e-03 2.00595406e-03 2.56020401e+01] [-5.71713984e-03 9.99614061e-01 -2.71853669e-02 -2.54014721e-01] [-2.16214259e-03 2.71733907e-02 9.99628397e-01 -2.59938100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30119381700004 meters Centerline goodness : 0.895754 Centerline is valid? [False, False] Translation: X:25.60, Y:-0.25, Z:-2.60 [[ 9.99970029e-01 7.61765627e-03 1.38279665e-03 2.56040690e+01] [-7.58028917e-03 9.99651931e-01 -2.52696741e-02 -2.51533601e-01] [-1.57481103e-03 2.52584348e-02 9.99679714e-01 -2.60014522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33119381700004 meters Centerline goodness : 0.895021 Centerline is valid? [False, False] Translation: X:25.61, Y:-0.25, Z:-2.60 [[ 9.99965289e-01 8.05594644e-03 -2.12681647e-03 2.56106596e+01] [-8.10020914e-03 9.99731813e-01 -2.16953506e-02 -2.48597919e-01] [ 1.95146951e-03 2.17118252e-02 9.99762366e-01 -2.59825509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700004 meters Centerline goodness : 0.899337 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.24, Z:-2.60 [[ 9.99946840e-01 1.02656324e-02 9.66923205e-04 2.56289560e+01] [-1.02381586e-02 9.99633012e-01 -2.50803092e-02 -2.38146985e-01] [-1.22403359e-03 2.50690764e-02 9.99684972e-01 -2.59968572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39119381700002 meters Centerline goodness : 0.900383 Centerline is valid? [False, False] Translation: X:25.67, Y:-0.23, Z:-2.60 [[ 9.99909966e-01 1.28903913e-02 3.72804509e-03 2.56652849e+01] [-1.27891163e-02 9.99579587e-01 -2.60209115e-02 -2.34895548e-01] [-4.06189750e-03 2.59708903e-02 9.99654447e-01 -2.60052450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters Centerline goodness : 0.900932 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.22, Z:-2.60 [[ 9.99830705e-01 1.80962894e-02 3.32964632e-03 2.56924684e+01] [-1.79621311e-02 9.99165910e-01 -3.66721513e-02 -2.24829285e-01] [-3.99049896e-03 3.66061354e-02 9.99321803e-01 -2.59898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45119381700002 meters Centerline goodness : 0.904345 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.22, Z:-2.60 [[ 9.99758535e-01 2.17617595e-02 3.04908925e-03 2.56937851e+01] [-2.16479645e-02 9.99208134e-01 -3.33836828e-02 -2.22972050e-01] [-3.77316245e-03 3.33096152e-02 9.99437958e-01 -2.59952236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48119381700002 meters Centerline goodness : 0.901710 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.22, Z:-2.60 [[ 9.99666005e-01 2.56806173e-02 2.89571796e-03 2.56946167e+01] [-2.55834993e-02 9.99232037e-01 -2.96786266e-02 -2.21817354e-01] [-3.65565960e-03 2.95946315e-02 9.99555298e-01 -2.59992926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51119381700002 meters Centerline goodness : 0.900531 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.22, Z:-2.60 [[ 9.99563438e-01 2.94299877e-02 2.60939176e-03 2.56959735e+01] [-2.93524992e-02 9.99232271e-01 -2.59479952e-02 -2.21027853e-01] [-3.37103763e-03 2.58600751e-02 9.99659888e-01 -2.60068353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54119381700002 meters Centerline goodness : 0.902530 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.22, Z:-2.60 [[ 9.99444973e-01 3.32310844e-02 2.33254920e-03 2.56971174e+01] [-3.31700601e-02 9.99194606e-01 -2.25806620e-02 -2.19137551e-01] [-3.08105047e-03 2.24907583e-02 9.99742303e-01 -2.60102128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57119381700002 meters Centerline goodness : 0.902502 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.22, Z:-2.60 [[ 9.99331874e-01 3.64843435e-02 2.16743713e-03 2.56974455e+01] [-3.64369564e-02 9.99157091e-01 -1.89064938e-02 -2.19438394e-01] [-2.85540119e-03 1.88148871e-02 9.99818907e-01 -2.60068890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60119381700002 meters Centerline goodness : 0.904633 Centerline is valid? [False, False] Translation: X:25.69, Y:-0.22, Z:-2.60 [[ 9.99345192e-01 3.58332875e-02 5.01629938e-03 2.56878406e+01] [-3.57769724e-02 9.99300367e-01 -1.08988537e-02 -2.18548639e-01] [-5.40333157e-03 1.07122491e-02 9.99928023e-01 -2.60210932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63119381700002 meters Centerline goodness : 0.905846 Centerline is valid? [False, False] Translation: X:25.67, Y:-0.22, Z:-2.60 [[ 9.99445057e-01 3.29701011e-02 4.74871181e-03 2.56694755e+01] [-3.29862182e-02 9.99450170e-01 3.35660413e-03 -2.18619778e-01] [-4.63543325e-03 -3.51138345e-03 9.99983091e-01 -2.60137080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66119381700003 meters Centerline goodness : 0.904767 Centerline is valid? [False, False] Translation: X:25.67, Y:-0.22, Z:-2.60 [[ 9.99558918e-01 2.93910690e-02 4.25840621e-03 2.56702845e+01] [-2.93875148e-02 9.99567693e-01 -8.94824018e-04 -2.17192781e-01] [-4.28286511e-03 7.69285352e-04 9.99990533e-01 -2.60145415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69119381700003 meters Centerline goodness : 0.905383 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.22, Z:-2.60 [[ 9.99671387e-01 2.54861720e-02 2.75206062e-03 2.56511524e+01] [-2.55186676e-02 9.99596190e-01 1.25002173e-02 -2.19044293e-01] [-2.43236662e-03 -1.25663385e-02 9.99918082e-01 -2.60020437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72119381700003 meters Centerline goodness : 0.902493 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.22, Z:-2.60 [[ 9.99722343e-01 2.35631892e-02 -1.16033533e-04 2.56415143e+01] [-2.35542366e-02 9.99456152e-01 2.30780880e-02 -2.21274373e-01] [ 6.59763782e-04 -2.30689471e-02 9.99733659e-01 -2.59829916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75119381700003 meters Centerline goodness : 0.902493 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.22, Z:-2.60 [[ 9.99724257e-01 2.34815616e-02 -1.61851581e-04 2.56415431e+01] [-2.34717062e-02 9.99462435e-01 2.28892801e-02 -2.20621658e-01] [ 6.99240617e-04 -2.28791696e-02 9.99737993e-01 -2.59817820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78119381700003 meters Centerline goodness : 0.903510 Centerline is valid? [False, False] Translation: X:25.61, Y:-0.22, Z:-2.60 [[ 9.99771374e-01 2.13805811e-02 -2.63861339e-04 2.56130978e+01] [-2.13607157e-02 9.99243517e-01 3.24979065e-02 -2.22647217e-01] [ 9.58485858e-04 -3.24848404e-02 9.99471769e-01 -2.59811052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81119381700003 meters Centerline goodness : 0.904331 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.23, Z:-2.59 [[ 9.99820435e-01 1.84533145e-02 -4.30973412e-03 2.55919094e+01] [-1.82176060e-02 9.98608343e-01 4.94923920e-02 -2.27242982e-01] [ 5.21703512e-03 -4.94049918e-02 9.98765202e-01 -2.59494482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84119381700003 meters Centerline goodness : 0.903817 Centerline is valid? [False, False] Translation: X:25.57, Y:-0.23, Z:-2.59 [[ 9.99826162e-01 1.73235438e-02 -6.89499877e-03 2.55720966e+01] [-1.69713011e-02 9.98692134e-01 4.82285937e-02 -2.26047511e-01] [ 7.72147119e-03 -4.81031927e-02 9.98812526e-01 -2.59351682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87119381700003 meters Centerline goodness : 0.903948 Centerline is valid? [False, False] Translation: X:25.55, Y:-0.23, Z:-2.59 [[ 9.99862827e-01 1.38105924e-02 -9.14299739e-03 2.55471035e+01] [-1.32364592e-02 9.98102917e-01 6.01278844e-02 -2.27501474e-01] [ 9.95605407e-03 -5.99986156e-02 9.98148808e-01 -2.59020131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90119381700003 meters Centerline goodness : 0.905648 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.59 [[ 9.99908668e-01 1.06818315e-02 -8.27971964e-03 2.55177006e+01] [-1.01173938e-02 9.97804538e-01 6.54503026e-02 -2.27935386e-01] [ 8.96067093e-03 -6.53605557e-02 9.97821479e-01 -2.59023245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93119381700004 meters Centerline goodness : 0.904488 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.59 [[ 9.99818061e-01 1.24775017e-02 -1.44276316e-02 2.55175054e+01] [-1.17142565e-02 9.98587338e-01 5.18276360e-02 -2.28998266e-01] [ 1.50539297e-02 -5.16491975e-02 9.98551821e-01 -2.58952254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96119381700004 meters Centerline goodness : 0.904637 Centerline is valid? [False, False] Translation: X:25.53, Y:-0.23, Z:-2.59 [[ 9.99750414e-01 1.28236682e-02 -1.82937905e-02 2.55273126e+01] [-1.19966499e-02 9.98931885e-01 4.46225337e-02 -2.29626222e-01] [ 1.88464752e-02 -4.43919323e-02 9.98836406e-01 -2.58687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99119381700004 meters Centerline goodness : 0.907121 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.59 [[ 9.99772526e-01 1.30944086e-02 -1.68354565e-02 2.55172476e+01] [-1.25029485e-02 9.99317141e-01 3.47696288e-02 -2.28848146e-01] [ 1.72792480e-02 -3.45512267e-02 9.99253542e-01 -2.58816201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02119381700004 meters Centerline goodness : 0.904503 Centerline is valid? [False, False] Translation: X:25.53, Y:-0.23, Z:-2.59 [[ 9.99831750e-01 1.19984103e-02 -1.38748038e-02 2.55257277e+01] [-1.16884726e-02 9.99685053e-01 2.22075512e-02 -2.27156869e-01] [ 1.41368892e-02 -2.20416395e-02 9.99657098e-01 -2.58818371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05119381700004 meters Centerline goodness : 0.910560 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.59 [[ 9.99870021e-01 8.18649192e-03 -1.38896246e-02 2.55249337e+01] [-7.93514743e-03 9.99805498e-01 1.80554627e-02 -2.26599683e-01] [ 1.40347339e-02 -1.79428996e-02 9.99740506e-01 -2.58703232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08119381700004 meters Centerline goodness : 0.910000 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.58 [[ 9.99902422e-01 2.55913231e-03 -1.37330846e-02 2.55221940e+01] [-2.38680637e-03 9.99918397e-01 1.25499848e-02 -2.27140343e-01] [ 1.37640810e-02 -1.25159820e-02 9.99826935e-01 -2.58388380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11119381700004 meters Centerline goodness : 0.910551 Centerline is valid? [False, False] Translation: X:25.52, Y:-0.23, Z:-2.58 [[ 9.99903543e-01 -1.34872324e-03 -1.38233386e-02 2.55218494e+01] [ 1.46615140e-03 9.99962899e-01 8.48830965e-03 -2.27007098e-01] [ 1.38113773e-02 -8.50775800e-03 9.99868423e-01 -2.58310963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters Centerline goodness : 0.910160 Centerline is valid? [False, False] Translation: X:25.53, Y:-0.22, Z:-2.59 [[ 9.99952013e-01 -5.27536689e-03 -8.25479250e-03 2.55345621e+01] [ 5.23352283e-03 9.99973389e-01 -5.08248066e-03 -2.24226276e-01] [ 8.28138478e-03 5.03903512e-03 9.99953012e-01 -2.58789740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17119381700002 meters Centerline goodness : 0.911005 Centerline is valid? [False, False] Translation: X:25.55, Y:-0.23, Z:-2.59 [[ 9.99924584e-01 -1.22180595e-02 -1.24280891e-03 2.55452615e+01] [ 1.22137167e-02 9.99919479e-01 -3.44386859e-03 -2.25869434e-01] [ 1.28478623e-03 3.42842955e-03 9.99993298e-01 -2.59156580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20119381700002 meters Centerline goodness : 0.913468 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.22, Z:-2.59 [[ 9.99922332e-01 -1.22023309e-02 2.53634548e-03 2.55562466e+01] [ 1.22356498e-02 9.99833130e-01 -1.35647039e-02 -2.24893353e-01] [-2.37040124e-03 1.35946842e-02 9.99904778e-01 -2.59439206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23119381700002 meters Centerline goodness : 0.913040 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.23, Z:-2.60 [[ 9.99891927e-01 -1.45536795e-02 2.07962305e-03 2.55582444e+01] [ 1.45846450e-02 9.99769683e-01 -1.57438525e-02 -2.25203135e-01] [-1.85001309e-03 1.57724816e-02 9.99873895e-01 -2.59554926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26119381700002 meters Centerline goodness : 0.910234 Centerline is valid? [False, False] Translation: X:25.56, Y:-0.22, Z:-2.60 [[ 9.99850299e-01 -1.72363021e-02 1.51283287e-03 2.55607724e+01] [ 1.72612900e-02 9.99680857e-01 -1.84453545e-02 -2.24790450e-01] [-1.19442035e-03 1.84687067e-02 9.99828725e-01 -2.59710455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29119381700002 meters Centerline goodness : 0.912472 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.22, Z:-2.60 [[ 9.99782671e-01 -2.07747907e-02 -1.73725759e-03 2.55856900e+01] [ 2.07340441e-02 9.99567137e-01 -2.08719611e-02 -2.23890929e-01] [ 2.17011622e-03 2.08314046e-02 9.99780648e-01 -2.59986114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32119381700002 meters Centerline goodness : 0.909010 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.22, Z:-2.60 [[ 9.99762152e-01 -2.17070519e-02 -2.10804035e-03 2.55873929e+01] [ 2.16567287e-02 9.99533913e-01 -2.15161005e-02 -2.22972110e-01] [ 2.57410893e-03 2.14653297e-02 9.99766279e-01 -2.60111738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35119381700002 meters Centerline goodness : 0.907395 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.22, Z:-2.60 [[ 9.99729670e-01 -2.31099027e-02 -2.55326496e-03 2.55898142e+01] [ 2.30463940e-02 9.99478969e-01 -2.25976579e-02 -2.21858156e-01] [ 3.07416430e-03 2.25327056e-02 9.99741380e-01 -2.60303061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38119381700002 meters Centerline goodness : 0.909225 Centerline is valid? [False, False] Translation: X:25.59, Y:-0.22, Z:-2.60 [[ 9.99703922e-01 -2.41590997e-02 -2.89936151e-03 2.55915240e+01] [ 2.40850589e-02 9.99438030e-01 -2.33138012e-02 -2.20997271e-01] [ 3.46097261e-03 2.32370672e-02 9.99723992e-01 -2.60435800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41119381700003 meters Centerline goodness : 0.910239 Centerline is valid? [False, False] Translation: X:25.60, Y:-0.22, Z:-2.61 [[ 9.99645749e-01 -2.65753210e-02 1.45936386e-03 2.56022617e+01] [ 2.65939515e-02 9.99537835e-01 -1.47268112e-02 -2.22080049e-01] [-1.06731966e-03 1.47604044e-02 9.99890490e-01 -2.60743485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44119381700003 meters Centerline goodness : 0.907037 Centerline is valid? [False, False] Translation: X:25.60, Y:-0.22, Z:-2.61 [[ 9.99624356e-01 -2.73683957e-02 1.45522758e-03 2.56022801e+01] [ 2.73878276e-02 9.99502537e-01 -1.56392421e-02 -2.19948687e-01] [-1.02648270e-03 1.56732229e-02 9.99876641e-01 -2.60733330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47119381700003 meters Centerline goodness : 0.906404 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.21, Z:-2.61 [[ 9.99497945e-01 -3.08577865e-02 7.18707622e-03 2.56161952e+01] [ 3.10065856e-02 9.99285658e-01 -2.16047684e-02 -2.11775526e-01] [-6.51526686e-03 2.18167683e-02 9.99740756e-01 -2.60603578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50119381700003 meters Centerline goodness : 0.908530 Centerline is valid? [False, False] Translation: X:25.62, Y:-0.21, Z:-2.61 [[ 9.99574729e-01 -2.82710307e-02 7.14909336e-03 2.56159207e+01] [ 2.84024000e-02 9.99416072e-01 -1.89952518e-02 -2.09027816e-01] [-6.60790346e-03 1.91902250e-02 9.99794014e-01 -2.60562901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53119381700003 meters Centerline goodness : 0.909681 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.20, Z:-2.61 [[ 9.99588544e-01 -2.67494579e-02 1.03541661e-02 2.56342049e+01] [ 2.69327486e-02 9.99475408e-01 -1.79871173e-02 -2.04482333e-01] [-9.86758879e-03 1.82585826e-02 9.99784604e-01 -2.60594806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56119381700003 meters Centerline goodness : 0.906839 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.19, Z:-2.60 [[ 9.99634402e-01 -2.49709133e-02 1.03690001e-02 2.56329044e+01] [ 2.51425411e-02 9.99543283e-01 -1.67653864e-02 -1.91252480e-01] [-9.94561744e-03 1.70199600e-02 9.99805684e-01 -2.60428026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59119381700003 meters Centerline goodness : 0.907771 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.19, Z:-2.60 [[ 9.99692055e-01 -2.26369497e-02 1.01667635e-02 2.56334203e+01] [ 2.27877872e-02 9.99628179e-01 -1.49739895e-02 -1.86125985e-01] [-9.82401780e-03 1.52010564e-02 9.99836195e-01 -2.60444539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62119381700003 meters Centerline goodness : 0.911994 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.18, Z:-2.61 [[ 9.99671467e-01 -2.36223170e-02 9.94704453e-03 2.56346566e+01] [ 2.37934086e-02 9.99564620e-01 -1.74483371e-02 -1.78634243e-01] [-9.53054363e-03 1.76792789e-02 9.99798286e-01 -2.60517915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65119381700003 meters Centerline goodness : 0.910989 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.17, Z:-2.61 [[ 9.99746302e-01 -2.02831533e-02 9.79410700e-03 2.56367469e+01] [ 2.04321982e-02 9.99673161e-01 -1.53654220e-02 -1.65277671e-01] [-9.47924669e-03 1.55616390e-02 9.99833976e-01 -2.60752577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68119381700004 meters Centerline goodness : 0.908930 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.16, Z:-2.61 [[ 9.99790979e-01 -1.80731982e-02 9.55812277e-03 2.56385767e+01] [ 1.82070140e-02 9.99734762e-01 -1.41035843e-02 -1.58095067e-01] [-9.30069071e-03 1.42746612e-02 9.99854855e-01 -2.60931474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71119381700004 meters Centerline goodness : 0.912528 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.15, Z:-2.61 [[ 9.99826082e-01 -1.61628345e-02 9.30420254e-03 2.56405368e+01] [ 1.62845917e-02 9.99780753e-01 -1.31627265e-02 -1.50418002e-01] [-9.08941565e-03 1.33119524e-02 9.99870079e-01 -2.61114149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74119381700004 meters Centerline goodness : 0.911768 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.14, Z:-2.61 [[ 9.99859554e-01 -1.40960690e-02 9.06489406e-03 2.56421903e+01] [ 1.42044341e-02 9.99827063e-01 -1.20032184e-02 -1.42876820e-01] [-8.89412822e-03 1.21302943e-02 9.99886869e-01 -2.61257300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77119381700004 meters Centerline goodness : 0.908915 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.14, Z:-2.61 [[ 9.99889288e-01 -1.19158131e-02 8.91210730e-03 2.56433037e+01] [ 1.20110394e-02 9.99870518e-01 -1.07089682e-02 -1.35703369e-01] [-8.78334728e-03 1.08148262e-02 9.99902941e-01 -2.61358628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80119381700004 meters Centerline goodness : 0.913880 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.12, Z:-2.61 [[ 9.99888394e-01 -1.06337720e-02 1.04939140e-02 2.56402605e+01] [ 1.07329959e-02 9.99897794e-01 -9.44479706e-03 -1.18767162e-01] [-1.03924076e-02 9.55637410e-03 9.99900332e-01 -2.61421760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83119381700004 meters Centerline goodness : 0.913933 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.11, Z:-2.61 [[ 9.99907514e-01 -8.64483006e-03 1.04990942e-02 2.56404006e+01] [ 8.73516680e-03 9.99924959e-01 -8.58908083e-03 -1.10545553e-01] [-1.04240552e-02 8.67999779e-03 9.99907994e-01 -2.61421286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700004 meters Centerline goodness : 0.915733 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.10, Z:-2.61 [[ 9.99922270e-01 -6.60680724e-03 1.05737293e-02 2.56405827e+01] [ 6.68946044e-03 9.99947199e-01 -7.80066061e-03 -1.01737209e-01] [-1.05216335e-02 7.87078681e-03 9.99913669e-01 -2.61444427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89119381700002 meters Centerline goodness : 0.919255 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.08, Z:-2.61 [[ 9.99959554e-01 -5.34899350e-03 7.23038862e-03 2.56467756e+01] [ 5.38670777e-03 9.99971936e-01 -5.20670664e-03 -8.28055804e-02] [-7.20233507e-03 5.24544404e-03 9.99960305e-01 -2.61219224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters Centerline goodness : 0.919398 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.07, Z:-2.61 [[ 9.99970821e-01 -2.91681024e-03 7.06034165e-03 2.56473251e+01] [ 2.94559552e-03 9.99987379e-01 -4.07007800e-03 -7.46166303e-02] [-7.04838089e-03 4.09075615e-03 9.99966792e-01 -2.61222956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95119381700002 meters Centerline goodness : 0.920530 Centerline is valid? [False, False] Translation: X:25.65, Y:-0.07, Z:-2.61 [[ 9.99975654e-01 -9.20355298e-04 6.91696993e-03 2.56482782e+01] [ 9.43902526e-04 9.99993768e-01 -3.40177612e-03 -6.60266443e-02] [-6.91379598e-03 3.40822224e-03 9.99970291e-01 -2.61272299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98119381700002 meters Centerline goodness : 0.920422 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.04, Z:-2.61 [[ 9.99998767e-01 1.18716550e-03 1.02834147e-03 2.56341673e+01] [-1.17834100e-03 9.99962841e-01 -8.53980774e-03 -4.19312323e-02] [-1.03844143e-03 8.53858547e-03 9.99963006e-01 -2.60731947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01119381700002 meters Centerline goodness : 0.919672 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.03, Z:-2.61 [[ 9.99992552e-01 3.73729416e-03 9.63701073e-04 2.56345133e+01] [-3.73022588e-03 9.99966871e-01 -7.23486701e-03 -3.35163490e-02] [-9.90707972e-04 7.23121831e-03 9.99973364e-01 -2.60719739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04119381700002 meters Centerline goodness : 0.919720 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.03, Z:-2.61 [[ 9.99981385e-01 6.00011620e-03 1.10789993e-03 2.56341178e+01] [-5.99305390e-03 9.99962376e-01 -6.27141954e-03 -2.53707782e-02] [-1.14548749e-03 6.26466310e-03 9.99979721e-01 -2.60669170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07119381700002 meters Centerline goodness : 0.919686 Centerline is valid? [False, False] Translation: X:25.63, Y:-0.02, Z:-2.61 [[ 9.99967019e-01 8.04638331e-03 1.10325736e-03 2.56344780e+01] [-8.04013165e-03 9.99952229e-01 -5.55849320e-03 -1.75500471e-02] [-1.14793043e-03 5.54943954e-03 9.99983943e-01 -2.60671262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10119381700002 meters Centerline goodness : 0.921446 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.01, Z:-2.61 [[ 9.99945890e-01 1.03580483e-02 9.63128876e-04 2.56352521e+01] [-1.03535779e-02 9.99936112e-01 -4.53608539e-03 -1.02934332e-02] [-1.01005234e-03 4.52586811e-03 9.99989248e-01 -2.60685586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13119381700002 meters Centerline goodness : 0.923358 Centerline is valid? [False, False] Translation: X:25.64, Y:-0.00, Z:-2.61 [[ 9.99920657e-01 1.25500736e-02 1.08402982e-03 2.56350490e+01] [-1.25460900e-02 9.99914790e-01 -3.60660788e-03 -3.04280743e-03] [-1.12920064e-03 3.59272139e-03 9.99992909e-01 -2.60642101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16119381700003 meters Centerline goodness : 0.924317 Centerline is valid? [False, False] Translation: X:25.63, Y:0.01, Z:-2.60 [[ 9.99849643e-01 1.72820753e-02 1.42158294e-03 2.56341859e+01] [-1.72791873e-02 9.99848665e-01 -2.01932524e-03 1.21679070e-02] [-1.45626594e-03 1.99445783e-03 9.99996951e-01 -2.60435872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19119381700003 meters Centerline goodness : 0.927117 Centerline is valid? [False, False] Translation: X:25.63, Y:0.02, Z:-2.60 [[ 9.99799569e-01 1.99591329e-02 1.56686021e-03 2.56335558e+01] [-1.99579747e-02 9.99800537e-01 -7.51404525e-04 1.94494604e-02] [-1.58154506e-03 7.19982564e-04 9.99998490e-01 -2.60327384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22119381700003 meters Centerline goodness : 0.928777 Centerline is valid? [False, False] Translation: X:25.63, Y:0.03, Z:-2.60 [[ 9.99739619e-01 2.27653501e-02 1.56008372e-03 2.56336453e+01] [-2.27665879e-02 9.99740503e-01 7.80309595e-04 2.61744261e-02] [-1.54191486e-03 -8.15624200e-04 9.99998479e-01 -2.60279066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25119381700003 meters Centerline goodness : 0.929186 Centerline is valid? [False, False] Translation: X:25.63, Y:0.03, Z:-2.60 [[ 9.99667017e-01 2.57566581e-02 1.56523383e-03 2.56339788e+01] [-2.57606463e-02 9.99664801e-01 2.58364320e-03 3.21866136e-02] [-1.49816315e-03 -2.62310433e-03 9.99995437e-01 -2.60267825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28119381700003 meters Centerline goodness : 0.930958 Centerline is valid? [False, False] Translation: X:25.64, Y:0.04, Z:-2.60 [[ 9.99471309e-01 3.24746344e-02 1.58149605e-03 2.56361999e+01] [-3.24853275e-02 9.99445668e-01 7.28427857e-03 4.15558329e-02] [-1.34406509e-03 -7.33180285e-03 9.99972219e-01 -2.60439814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31119381700003 meters Centerline goodness : 0.928906 Centerline is valid? [False, False] Translation: X:25.64, Y:0.05, Z:-2.61 [[ 9.99340232e-01 3.62904860e-02 1.44976376e-03 2.56376011e+01] [-3.63032559e-02 9.99290247e-01 1.00536450e-02 4.60217160e-02] [-1.08388312e-03 -1.00996430e-02 9.99948410e-01 -2.60528279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34119381700003 meters Centerline goodness : 0.928798 Centerline is valid? [False, False] Translation: X:25.64, Y:0.05, Z:-2.61 [[ 9.99187708e-01 4.02760207e-02 1.32894005e-03 2.56391049e+01] [-4.02896955e-02 9.99106959e-01 1.27289001e-02 5.12567770e-02] [-8.15083807e-04 -1.27721031e-02 9.99918101e-01 -2.60612861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37119381700003 meters Centerline goodness : 0.933852 Centerline is valid? [False, False] Translation: X:25.64, Y:0.06, Z:-2.61 [[ 9.98667954e-01 5.15720682e-02 1.62473831e-03 2.56403022e+01] [-5.15950576e-02 9.98438424e-01 2.14164344e-02 6.17258599e-02] [-5.17711344e-04 -2.14717352e-02 9.99769322e-01 -2.60612331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40119381700003 meters Centerline goodness : 0.933358 Centerline is valid? [False, False] Translation: X:25.64, Y:0.07, Z:-2.61 [[ 9.98457674e-01 5.54956786e-02 1.58182441e-03 2.56410129e+01] [-5.55176464e-02 9.98171318e-01 2.39125795e-02 6.72963211e-02] [-2.51886935e-04 -2.39635177e-02 9.99712802e-01 -2.60588245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43119381700004 meters Centerline goodness : 0.933416 Centerline is valid? [False, False] Translation: X:25.64, Y:0.07, Z:-2.61 [[ 9.98238380e-01 5.93106904e-02 1.54261990e-03 2.56418664e+01] [-5.93307270e-02 9.97878589e-01 2.67990139e-02 7.11136688e-02] [ 5.01206457e-05 -2.68433289e-02 9.99639652e-01 -2.60606245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46119381700004 meters Centerline goodness : 0.934257 Centerline is valid? [False, False] Translation: X:25.64, Y:0.07, Z:-2.61 [[ 9.98231104e-01 5.94432676e-02 1.07713808e-03 2.56431492e+01] [-5.94512902e-02 9.97899682e-01 2.57248762e-02 7.49951894e-02] [ 4.54294952e-04 -2.57434088e-02 9.99668480e-01 -2.60613093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49119381700004 meters Centerline goodness : 0.935098 Centerline is valid? [False, False] Translation: X:25.64, Y:0.08, Z:-2.61 [[ 9.98232541e-01 5.94215329e-02 9.35779660e-04 2.56440096e+01] [-5.94265544e-02 9.97929447e-01 2.46029008e-02 7.85173983e-02] [ 5.28100002e-04 -2.46150264e-02 9.99696865e-01 -2.60658259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52119381700004 meters Centerline goodness : 0.938934 Centerline is valid? [False, False] Translation: X:25.64, Y:0.08, Z:-2.61 [[ 9.98250543e-01 5.91212450e-02 7.29876287e-04 2.56443928e+01] [-5.91217629e-02 9.97963807e-01 2.39344339e-02 8.01767815e-02] [ 6.86643411e-04 -2.39357132e-02 9.99713264e-01 -2.60646343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55119381700004 meters Centerline goodness : 0.937434 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98257043e-01 5.90139977e-02 4.72507339e-04 2.56451544e+01] [-5.90086502e-02 9.97977203e-01 2.36533725e-02 8.10753790e-02] [ 9.24328516e-04 -2.36400277e-02 9.99720108e-01 -2.60673580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58119381700004 meters Centerline goodness : 0.936192 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98451275e-01 5.56326969e-02 -2.32119042e-04 2.56465212e+01] [-5.56176361e-02 9.98262226e-01 1.94732443e-02 8.30115799e-02] [ 1.31506477e-03 -1.94301757e-02 9.99810351e-01 -2.60679946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61119381700004 meters Centerline goodness : 0.932744 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98638857e-01 5.21511134e-02 -8.33303232e-04 2.56476309e+01] [-5.21321185e-02 9.98521324e-01 1.54080585e-02 8.41132992e-02] [ 1.63561845e-03 -1.53436441e-02 9.99880942e-01 -2.60687578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters Centerline goodness : 0.932744 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98638857e-01 5.21511134e-02 -8.33303232e-04 2.56476309e+01] [-5.21321185e-02 9.98521324e-01 1.54080585e-02 8.41132992e-02] [ 1.63561845e-03 -1.53436441e-02 9.99880942e-01 -2.60687578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67119381700002 meters Centerline goodness : 0.933774 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98833496e-01 4.82677382e-02 -1.36837751e-03 2.56479954e+01] [-4.82476643e-02 9.98761816e-01 1.21242897e-02 8.11248026e-02] [ 1.95189525e-03 -1.20441256e-02 9.99925562e-01 -2.60664703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70119381700002 meters Centerline goodness : 0.932469 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.98995256e-01 4.47784536e-02 -1.83513196e-03 2.56485344e+01] [-4.47605459e-02 9.98958524e-01 8.85215421e-03 7.95182679e-02] [ 2.22960649e-03 -8.76111855e-03 9.99959135e-01 -2.60639462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73119381700002 meters Centerline goodness : 0.935001 Centerline is valid? [False, False] Translation: X:25.65, Y:0.08, Z:-2.61 [[ 9.99140268e-01 4.13908049e-02 -2.35089957e-03 2.56491967e+01] [-4.13770220e-02 9.99127705e-01 5.63661763e-03 7.79777012e-02] [ 2.58215303e-03 -5.53449842e-03 9.99981351e-01 -2.60614730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76119381700002 meters Centerline goodness : 0.932920 Centerline is valid? [False, False] Translation: X:25.65, Y:0.07, Z:-2.61 [[ 9.99267817e-01 3.81569054e-02 -2.80717096e-03 2.56498547e+01] [-3.81480194e-02 9.99267123e-01 3.15370200e-03 7.42321809e-02] [ 2.92544915e-03 -3.04430490e-03 9.99991087e-01 -2.60629301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79119381700002 meters Centerline goodness : 0.934672 Centerline is valid? [False, False] Translation: X:25.68, Y:0.07, Z:-2.61 [[ 9.99406414e-01 3.41852349e-02 -4.26492523e-03 2.56760429e+01] [-3.41134635e-02 9.99291521e-01 1.58973979e-02 6.76123653e-02] [ 4.80535990e-03 -1.57424700e-02 9.99864532e-01 -2.60687021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82119381700002 meters Centerline goodness : 0.931806 Centerline is valid? [False, False] Translation: X:25.69, Y:0.06, Z:-2.61 [[ 9.99485769e-01 3.20589194e-02 -6.49910583e-04 2.56937366e+01] [-3.20377544e-02 9.99258671e-01 2.13469092e-02 6.17658452e-02] [ 1.33378763e-03 -2.13151103e-02 9.99771918e-01 -2.61080089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85119381700002 meters Centerline goodness : 0.930808 Centerline is valid? [False, False] Translation: X:25.71, Y:0.06, Z:-2.61 [[ 9.99577353e-01 2.90112952e-02 1.86022671e-03 2.57125903e+01] [-2.90471602e-02 9.99299163e-01 2.36102908e-02 5.82195818e-02] [-1.17395788e-03 -2.36543463e-02 9.99719508e-01 -2.61256791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88119381700002 meters Centerline goodness : 0.931418 Centerline is valid? [False, False] Translation: X:25.73, Y:0.05, Z:-2.61 [[ 9.99618440e-01 2.72443163e-02 4.55217219e-03 2.57315447e+01] [-2.73612640e-02 9.99233884e-01 2.79822638e-02 5.28303606e-02] [-3.78632705e-03 -2.80961400e-02 9.99598055e-01 -2.61494862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91119381700003 meters Centerline goodness : 0.932177 Centerline is valid? [False, False] Translation: X:25.75, Y:0.05, Z:-2.62 [[ 9.99676450e-01 2.45276169e-02 6.73735525e-03 2.57506917e+01] [-2.47198918e-02 9.99240695e-01 3.01157792e-02 5.01828744e-02] [-5.99357125e-03 -3.02725819e-02 9.99523711e-01 -2.61629799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94119381700003 meters Centerline goodness : 0.931848 Centerline is valid? [False, False] Translation: X:25.78, Y:0.05, Z:-2.61 [[ 9.99750961e-01 2.18304180e-02 4.63139126e-03 2.57764666e+01] [-2.19441663e-02 9.99417813e-01 2.61244775e-02 4.93393946e-02] [-4.05838666e-03 -2.62196035e-02 9.99647969e-01 -2.61386698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97119381700003 meters Centerline goodness : 0.929838 Centerline is valid? [False, False] Translation: X:25.78, Y:0.05, Z:-2.61 [[ 9.99819892e-01 1.85014019e-02 4.22867382e-03 2.57771851e+01] [-1.85909392e-02 9.99580271e-01 2.22184365e-02 4.96144860e-02] [-3.81582669e-03 -2.22930498e-02 9.99744197e-01 -2.61368423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00119381700003 meters Centerline goodness : 0.928746 Centerline is valid? [False, False] Translation: X:25.80, Y:0.05, Z:-2.61 [[ 9.99872720e-01 1.53762839e-02 4.25604623e-03 2.57980449e+01] [-1.54720991e-02 9.99604609e-01 2.34784983e-02 4.72482855e-02] [-3.89335137e-03 -2.35413599e-02 9.99715283e-01 -2.61485351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03119381700003 meters Centerline goodness : 0.926674 Centerline is valid? [False, False] Translation: X:25.82, Y:0.04, Z:-2.62 [[ 9.99935311e-01 1.08936561e-02 3.27151723e-03 2.58203456e+01] [-1.09697183e-02 9.99646727e-01 2.42092399e-02 4.33291658e-02] [-3.00663436e-03 -2.42435614e-02 9.99701560e-01 -2.61686605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06119381700003 meters Centerline goodness : 0.926240 Centerline is valid? [False, False] Translation: X:25.84, Y:0.04, Z:-2.62 [[ 9.99972307e-01 6.57509036e-03 3.48618752e-03 2.58408848e+01] [-6.65901174e-03 9.99674364e-01 2.46338039e-02 4.12589638e-02] [-3.32308281e-03 -2.46563363e-02 9.99690463e-01 -2.61796554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09119381700003 meters Centerline goodness : 0.927042 Centerline is valid? [False, False] Translation: X:25.86, Y:0.04, Z:-2.62 [[ 9.99985662e-01 2.63306918e-03 4.66298785e-03 2.58603899e+01] [-2.75284726e-03 9.99661535e-01 2.58696382e-02 3.88246221e-02] [-4.59329304e-03 -2.58821038e-02 9.99654449e-01 -2.61926557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12119381700003 meters Centerline goodness : 0.925788 Centerline is valid? [False, False] Translation: X:25.88, Y:0.03, Z:-2.62 [[ 9.99972740e-01 8.20474713e-04 7.33802935e-03 2.58792188e+01] [-1.04886765e-03 9.99513389e-01 3.11750725e-02 3.42440037e-02] [-7.30888023e-03 -3.11819193e-02 9.99487003e-01 -2.62267442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15119381700003 meters Centerline goodness : 0.925786 Centerline is valid? [False, False] Translation: X:25.88, Y:0.03, Z:-2.62 [[ 9.99974361e-01 -2.36316493e-03 6.75957250e-03 2.58806946e+01] [ 2.17412121e-03 9.99610063e-01 2.78387389e-02 3.35094801e-02] [-6.82272423e-03 -2.78233290e-02 9.99589572e-01 -2.62292593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18119381700004 meters Centerline goodness : 0.923385 Centerline is valid? [False, False] Translation: X:25.91, Y:0.03, Z:-2.63 [[ 9.99953324e-01 -7.24977908e-03 6.38681982e-03 2.59118825e+01] [ 6.98365404e-03 9.99145033e-01 4.07484000e-02 2.53377120e-02] [-6.67677620e-03 -4.07018947e-02 9.99149026e-01 -2.62683255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21119381700004 meters Centerline goodness : 0.925999 Centerline is valid? [False, False] Translation: X:25.91, Y:0.02, Z:-2.63 [[ 9.99931587e-01 -1.01467235e-02 5.81933270e-03 2.59134346e+01] [ 9.92180609e-03 9.99248977e-01 3.74571668e-02 2.49612392e-02] [-6.19502977e-03 -3.73968660e-02 9.99281290e-01 -2.62708534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24119381700004 meters Centerline goodness : 0.925757 Centerline is valid? [False, False] Translation: X:25.93, Y:0.02, Z:-2.63 [[ 9.99915380e-01 -9.64954578e-03 8.72466584e-03 2.59318320e+01] [ 9.24829538e-03 9.98947937e-01 4.49164562e-02 2.02326373e-02] [-9.14891034e-03 -4.48319670e-02 9.98952648e-01 -2.63026316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27119381700004 meters Centerline goodness : 0.924556 Centerline is valid? [False, False] Translation: X:25.96, Y:0.02, Z:-2.63 [[ 9.99931845e-01 -7.53110141e-03 8.92119852e-03 2.59574866e+01] [ 7.09753174e-03 9.98837778e-01 4.76730332e-02 1.50702095e-02] [-9.26986055e-03 -4.76064656e-02 9.98823155e-01 -2.62888377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30119381700004 meters Centerline goodness : 0.926350 Centerline is valid? [False, False] Translation: X:25.96, Y:0.02, Z:-2.63 [[ 9.99945571e-01 -8.63391268e-03 5.85746754e-03 2.59636403e+01] [ 8.37830517e-03 9.99068044e-01 4.23420360e-02 1.51385845e-02] [-6.21758608e-03 -4.22906558e-02 9.99086003e-01 -2.62561141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33119381700004 meters Centerline goodness : 0.923261 Centerline is valid? [False, False] Translation: X:25.97, Y:0.01, Z:-2.63 [[ 9.99929435e-01 -1.07668102e-02 5.02000579e-03 2.59661348e+01] [ 1.05601416e-02 9.99162896e-01 3.95220196e-02 1.41991999e-02] [-5.44132960e-03 -3.94662187e-02 9.99206090e-01 -2.62623376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700004 meters Centerline goodness : 0.923674 Centerline is valid? [False, False] Translation: X:25.97, Y:0.01, Z:-2.63 [[ 9.99908396e-01 -1.28483709e-02 4.25675296e-03 2.59687852e+01] [ 1.26824899e-02 9.99237043e-01 3.69389668e-02 1.31546240e-02] [-4.72811079e-03 -3.68815968e-02 9.99308457e-01 -2.62731718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39119381700002 meters Centerline goodness : 0.922775 Centerline is valid? [False, False] Translation: X:25.99, Y:0.01, Z:-2.63 [[ 9.99888338e-01 -1.38777698e-02 5.54254075e-03 2.59905622e+01] [ 1.36295929e-02 9.99001333e-01 4.25507916e-02 6.28941390e-03] [-6.12751569e-03 -4.24704977e-02 9.99078931e-01 -2.63143819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42119381700002 meters Centerline goodness : 0.920885 Centerline is valid? [False, False] Translation: X:25.99, Y:0.01, Z:-2.63 [[ 9.99851516e-01 -1.66071763e-02 4.59858365e-03 2.59931777e+01] [ 1.64140424e-02 9.99094295e-01 3.92577305e-02 6.19701844e-03] [-5.24637874e-03 -3.91764200e-02 9.99218536e-01 -2.63219874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45119381700002 meters Centerline goodness : 0.921811 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.00, Z:-2.64 [[ 9.99803016e-01 -1.75780999e-02 9.21628290e-03 2.60063637e+01] [ 1.70938223e-02 9.98591631e-01 5.02250563e-02 -1.67215790e-04] [-1.00861640e-02 -5.00576212e-02 9.98695401e-01 -2.63775916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48119381700002 meters Centerline goodness : 0.921110 Centerline is valid? [False, False] Translation: X:26.02, Y:-0.00, Z:-2.64 [[ 9.99713720e-01 -2.04240396e-02 1.24634461e-02 2.60185248e+01] [ 1.96443121e-02 9.98019088e-01 5.97662225e-02 -3.81327646e-03] [-1.36594248e-02 -5.95042767e-02 9.98134591e-01 -2.64167643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51119381700002 meters Centerline goodness : 0.917750 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.01, Z:-2.64 [[ 9.99535089e-01 -2.70536786e-02 1.40607500e-02 2.60282392e+01] [ 2.60482389e-02 9.97389623e-01 6.73455892e-02 -8.15593631e-03] [-1.58459921e-02 -6.69480217e-02 9.97630626e-01 -2.64309681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54119381700002 meters Centerline goodness : 0.920372 Centerline is valid? [False, False] Translation: X:26.03, Y:-0.01, Z:-2.64 [[ 9.99423271e-01 -3.09763825e-02 1.39136074e-02 2.60287066e+01] [ 3.00410876e-02 9.97559220e-01 6.30328149e-02 -7.41468147e-03] [-1.58321759e-02 -6.25784821e-02 9.97914463e-01 -2.64290348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57119381700002 meters Centerline goodness : 0.922170 Centerline is valid? [False, False] Translation: X:26.01, Y:-0.01, Z:-2.64 [[ 9.99457203e-01 -3.05162169e-02 1.24120562e-02 2.60086055e+01] [ 2.97043086e-02 9.97693201e-01 6.10404062e-02 -7.30014388e-03] [-1.42461463e-02 -6.06385821e-02 9.98058119e-01 -2.64163972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60119381700002 meters Centerline goodness : 0.923258 Centerline is valid? [False, False] Translation: X:25.98, Y:-0.00, Z:-2.64 [[ 9.99453076e-01 -2.90627727e-02 1.57766678e-02 2.59782507e+01] [ 2.83325972e-02 9.98599323e-01 4.46839474e-02 -1.21219219e-03] [-1.70532092e-02 -4.42125147e-02 9.98876590e-01 -2.63820662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63119381700002 meters Centerline goodness : 0.922035 Centerline is valid? [False, False] Translation: X:25.95, Y:0.00, Z:-2.63 [[ 9.99545713e-01 -2.51528555e-02 1.66042491e-02 2.59481314e+01] [ 2.46128382e-02 9.99185953e-01 3.19630813e-02 3.86984919e-03] [-1.73946952e-02 -3.15398832e-02 9.99351120e-01 -2.63476058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66119381700003 meters Centerline goodness : 0.925663 Centerline is valid? [False, False] Translation: X:25.93, Y:0.01, Z:-2.63 [[ 9.99621851e-01 -2.23054575e-02 1.60817225e-02 2.59270677e+01] [ 2.17987070e-02 9.99280841e-01 3.10260602e-02 5.88587911e-03] [-1.67622077e-02 -3.06637670e-02 9.99389194e-01 -2.63312645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69119381700003 meters Centerline goodness : 0.924789 Centerline is valid? [False, False] Translation: X:25.91, Y:0.01, Z:-2.63 [[ 9.99738880e-01 -2.00457000e-02 1.09700146e-02 2.59134023e+01] [ 1.97883301e-02 9.99537593e-01 2.30872733e-02 1.12670002e-02] [-1.14277425e-02 -2.28641665e-02 9.99673265e-01 -2.62808617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72119381700003 meters Centerline goodness : 0.925534 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.62 [[ 9.99836380e-01 -1.68930478e-02 6.46821731e-03 2.58998298e+01] [ 1.67881941e-02 9.99732072e-01 1.59355237e-02 1.63298025e-02] [-6.73568386e-03 -1.58243266e-02 9.99852100e-01 -2.62364423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75119381700003 meters Centerline goodness : 0.924335 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.62 [[ 9.99880345e-01 -1.39745254e-02 6.63393215e-03 2.58992116e+01] [ 1.38507508e-02 9.99735667e-01 1.83508037e-02 1.97182224e-02] [-6.88862236e-03 -1.82567229e-02 9.99809601e-01 -2.62352608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78119381700003 meters Centerline goodness : 0.924782 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.63 [[ 9.99894051e-01 -1.32240827e-02 6.08354316e-03 2.59016300e+01] [ 1.31074007e-02 9.99736670e-01 1.88357969e-02 2.07031308e-02] [-6.33102732e-03 -1.87540618e-02 9.99804082e-01 -2.62523264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81119381700003 meters Centerline goodness : 0.918428 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.63 [[ 9.99936026e-01 -9.68789950e-03 5.83855487e-03 2.59026210e+01] [ 9.55139838e-03 9.99690518e-01 2.29703981e-02 2.02099902e-02] [-6.05928285e-03 -2.29131622e-02 9.99719097e-01 -2.62649335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84119381700003 meters Centerline goodness : 0.920161 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.63 [[ 9.99964800e-01 -6.55076767e-03 5.24274831e-03 2.59045124e+01] [ 6.40809485e-03 9.99620745e-01 2.67825132e-02 2.00697386e-02] [-5.41620599e-03 -2.67479744e-02 9.99627536e-01 -2.62798544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87119381700003 meters Centerline goodness : 0.920016 Centerline is valid? [False, False] Translation: X:25.89, Y:0.02, Z:-2.63 [[ 9.99993896e-01 -3.49144120e-03 1.30264418e-04 2.58890804e+01] [ 3.48692606e-03 9.99661962e-01 2.57643705e-02 2.41533431e-02] [-2.20175168e-04 -2.57637590e-02 9.99668035e-01 -2.62852866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90119381700003 meters Centerline goodness : 0.921848 Centerline is valid? [False, False] Translation: X:25.89, Y:0.03, Z:-2.63 [[ 9.99996100e-01 -2.75125642e-03 -4.80813369e-04 2.58918660e+01] [ 2.76292477e-03 9.99651926e-01 2.62372496e-02 2.54673115e-02] [ 4.08460609e-04 -2.62384757e-02 9.99655628e-01 -2.63053209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93119381700004 meters Centerline goodness : 0.919245 Centerline is valid? [False, False] Translation: X:25.89, Y:0.02, Z:-2.63 [[ 9.99999213e-01 8.99044257e-04 -8.75246159e-04 2.58933462e+01] [-8.72016929e-04 9.99537276e-01 3.04051658e-02 2.48238474e-02] [ 9.02176751e-04 -3.04043786e-02 9.99537273e-01 -2.63185625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96119381700004 meters Centerline goodness : 0.916064 Centerline is valid? [False, False] Translation: X:25.90, Y:0.02, Z:-2.64 [[ 9.99995338e-01 1.31373732e-03 2.75640021e-03 2.59047377e+01] [-1.43213233e-03 9.99056754e-01 4.33999045e-02 2.16414665e-02] [-2.69678417e-03 -4.34036497e-02 9.99053978e-01 -2.63662769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99119381700004 meters Centerline goodness : 0.917665 Centerline is valid? [False, False] Translation: X:25.91, Y:0.02, Z:-2.64 [[ 9.99990081e-01 3.85356380e-03 2.23344150e-03 2.59080538e+01] [-3.95019740e-03 9.98978666e-01 4.50113424e-02 2.45937694e-02] [-2.05770633e-03 -4.50197185e-02 9.98983979e-01 -2.63946244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02119381700004 meters Centerline goodness : 0.918067 Centerline is valid? [False, False] Translation: X:25.91, Y:0.03, Z:-2.64 [[ 9.99976900e-01 6.62184067e-03 1.53320046e-03 2.59111328e+01] [-6.68682141e-03 9.98863552e-01 4.71899522e-02 2.67044691e-02] [-1.21897371e-03 -4.71991143e-02 9.98884757e-01 -2.64157587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05119381700004 meters Centerline goodness : 0.917654 Centerline is valid? [False, False] Translation: X:25.91, Y:0.03, Z:-2.64 [[ 9.99936090e-01 1.10353429e-02 -2.45710257e-03 2.59079348e+01] [-1.09440346e-02 9.99344689e-01 3.45024726e-02 3.32850587e-02] [ 2.83623902e-03 -3.44733769e-02 9.99401592e-01 -2.63948510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08119381700004 meters Centerline goodness : 0.915668 Centerline is valid? [False, False] Translation: X:25.91, Y:0.04, Z:-2.64 [[ 9.99914656e-01 1.26662645e-02 -3.20094991e-03 2.59111506e+01] [-1.25455027e-02 9.99298523e-01 3.52855924e-02 3.61055445e-02] [ 3.64564117e-03 -3.52424234e-02 9.99372143e-01 -2.64146109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11119381700004 meters Centerline goodness : 0.916876 Centerline is valid? [False, False] Translation: X:25.91, Y:0.04, Z:-2.64 [[ 9.99863305e-01 1.61464678e-02 -3.55844802e-03 2.59121182e+01] [-1.60010837e-02 9.99162156e-01 3.76689807e-02 4.10452485e-02] [ 4.16368758e-03 -3.76068925e-02 9.99283936e-01 -2.64159482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters Centerline goodness : 0.917166 Centerline is valid? [False, False] Translation: X:25.91, Y:0.04, Z:-2.64 [[ 9.99865918e-01 1.59214109e-02 -3.82803831e-03 2.59126340e+01] [-1.57717063e-02 9.99213284e-01 3.63877322e-02 4.47718576e-02] [ 4.40437077e-03 -3.63224786e-02 9.99330415e-01 -2.64141549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17119381700002 meters Centerline goodness : 0.917740 Centerline is valid? [False, False] Translation: X:25.91, Y:0.05, Z:-2.64 [[ 9.99864438e-01 1.59106561e-02 -4.23758636e-03 2.59137333e+01] [-1.57500797e-02 9.99243533e-01 3.55569639e-02 4.78382393e-02] [ 4.80011539e-03 -3.54854014e-02 9.99358667e-01 -2.64166854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20119381700002 meters Centerline goodness : 0.920979 Centerline is valid? [False, False] Translation: X:25.91, Y:0.05, Z:-2.64 [[ 9.99869462e-01 1.55277877e-02 -4.46614021e-03 2.59142232e+01] [-1.53692538e-02 9.99318021e-01 3.35749710e-02 5.45088674e-02] [ 4.98443942e-03 -3.35019469e-02 9.99426223e-01 -2.64144951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23119381700002 meters Centerline goodness : 0.923040 Centerline is valid? [False, False] Translation: X:25.91, Y:0.06, Z:-2.64 [[ 9.99872492e-01 1.52218767e-02 -4.82637712e-03 2.59147230e+01] [-1.50570658e-02 9.99357664e-01 3.25198914e-02 5.78597989e-02] [ 5.31829075e-03 -3.24430738e-02 9.99459435e-01 -2.64101967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26119381700002 meters Centerline goodness : 0.918965 Centerline is valid? [False, False] Translation: X:25.91, Y:0.06, Z:-2.64 [[ 9.99877484e-01 1.47738690e-02 -5.17193165e-03 2.59148717e+01] [-1.46047666e-02 9.99402243e-01 3.13346094e-02 6.08583151e-02] [ 5.63177351e-03 -3.12552356e-02 9.99495569e-01 -2.64022540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29119381700002 meters Centerline goodness : 0.921169 Centerline is valid? [False, False] Translation: X:25.91, Y:0.06, Z:-2.64 [[ 9.99885879e-01 1.41321403e-02 -5.33954880e-03 2.59143855e+01] [-1.39646850e-02 9.99446478e-01 3.01947769e-02 6.33237916e-02] [ 5.76331007e-03 -3.01167660e-02 9.99529772e-01 -2.63909700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32119381700002 meters Centerline goodness : 0.926757 Centerline is valid? [False, False] Translation: X:25.91, Y:0.07, Z:-2.64 [[ 9.99929346e-01 1.03795996e-02 -5.79375915e-03 2.59145290e+01] [-1.02328760e-02 9.99639956e-01 2.48041838e-02 6.86487848e-02] [ 6.04913063e-03 -2.47431445e-02 9.99675540e-01 -2.63765547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35119381700002 meters Centerline goodness : 0.925552 Centerline is valid? [False, False] Translation: X:25.91, Y:0.07, Z:-2.64 [[ 9.99961333e-01 6.39174041e-03 -6.03974163e-03 2.59145538e+01] [-6.27126482e-03 9.99785087e-01 1.97598527e-02 7.20991963e-02] [ 6.16474345e-03 -1.97212118e-02 9.99786512e-01 -2.63667369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38119381700002 meters Centerline goodness : 0.922777 Centerline is valid? [False, False] Translation: X:25.92, Y:0.07, Z:-2.64 [[ 9.99973866e-01 3.01664696e-03 -6.57014780e-03 2.59158061e+01] [-2.91441298e-03 9.99875391e-01 1.55147568e-02 7.46290526e-02] [ 6.61613165e-03 -1.54952032e-02 9.99858053e-01 -2.63661620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41119381700003 meters Centerline goodness : 0.923326 Centerline is valid? [False, False] Translation: X:25.92, Y:0.08, Z:-2.64 [[ 9.99972964e-01 2.74317080e-03 -6.82243125e-03 2.59163529e+01] [-2.63910597e-03 9.99880749e-01 1.52158447e-02 7.51305315e-02] [ 6.86335734e-03 -1.51974282e-02 9.99860957e-01 -2.63667380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44119381700003 meters Centerline goodness : 0.923520 Centerline is valid? [False, False] Translation: X:25.93, Y:0.08, Z:-2.64 [[ 9.99992305e-01 -1.45617535e-03 -3.64280374e-03 2.59334168e+01] [ 1.51308321e-03 9.99876099e-01 1.56683270e-02 7.68601693e-02] [ 3.61953656e-03 -1.56737183e-02 9.99870608e-01 -2.63691534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47119381700003 meters Centerline goodness : 0.920071 Centerline is valid? [False, False] Translation: X:25.95, Y:0.07, Z:-2.64 [[ 9.99993908e-01 -3.23942947e-03 1.30022685e-03 2.59477854e+01] [ 3.20752115e-03 9.99710761e-01 2.38349838e-02 7.47033809e-02] [-1.37706252e-03 -2.38306681e-02 9.99715061e-01 -2.64239715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50119381700003 meters Centerline goodness : 0.922513 Centerline is valid? [False, False] Translation: X:25.95, Y:0.08, Z:-2.64 [[ 9.99993232e-01 -3.56045610e-03 9.26735953e-04 2.59487395e+01] [ 3.53783541e-03 9.99720807e-01 2.33621870e-02 7.56252688e-02] [-1.00965726e-03 -2.33587503e-02 9.99726637e-01 -2.64278769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53119381700003 meters Centerline goodness : 0.920370 Centerline is valid? [False, False] Translation: X:25.95, Y:0.08, Z:-2.64 [[ 9.99993126e-01 -3.65759442e-03 6.08317450e-04 2.59499168e+01] [ 3.64232491e-03 9.99718395e-01 2.34491893e-02 7.52957480e-02] [-6.93913769e-04 -2.34468124e-02 9.99724845e-01 -2.64358949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56119381700003 meters Centerline goodness : 0.920370 Centerline is valid? [False, False] Translation: X:25.95, Y:0.08, Z:-2.64 [[ 9.99993126e-01 -3.65759442e-03 6.08317450e-04 2.59499168e+01] [ 3.64232491e-03 9.99718395e-01 2.34491893e-02 7.52957480e-02] [-6.93913769e-04 -2.34468124e-02 9.99724845e-01 -2.64358949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59119381700003 meters Centerline goodness : 0.919416 Centerline is valid? [False, False] Translation: X:25.97, Y:0.07, Z:-2.65 [[ 9.99985168e-01 -5.03041452e-03 2.08795592e-03 2.59706091e+01] [ 4.96807664e-03 9.99571173e-01 2.88580729e-02 7.19532815e-02] [-2.23222862e-03 -2.88472718e-02 9.99581338e-01 -2.64802742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62119381700003 meters Centerline goodness : 0.918351 Centerline is valid? [False, False] Translation: X:25.99, Y:0.07, Z:-2.66 [[ 9.99955539e-01 -7.41109885e-03 5.83057059e-03 2.59863641e+01] [ 7.18676707e-03 9.99267090e-01 3.75983164e-02 6.79732968e-02] [-6.10494214e-03 -3.75547418e-02 9.99275923e-01 -2.65511329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65119381700003 meters Centerline goodness : 0.917675 Centerline is valid? [False, False] Translation: X:25.99, Y:0.07, Z:-2.66 [[ 9.99936849e-01 -1.00217145e-02 5.08553612e-03 2.59889738e+01] [ 9.84230512e-03 9.99368073e-01 3.41552870e-02 7.03073603e-02] [-5.42461697e-03 -3.41030767e-02 9.99403599e-01 -2.65630509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68119381700004 meters Centerline goodness : 0.918003 Centerline is valid? [False, False] Translation: X:25.99, Y:0.07, Z:-2.66 [[ 9.99936419e-01 -1.01935466e-02 4.82178259e-03 2.59895689e+01] [ 1.00241418e-02 9.99373564e-01 3.39410812e-02 7.08982025e-02] [-5.16474204e-03 -3.38905890e-02 9.99412204e-01 -2.65643944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71119381700004 meters Centerline goodness : 0.915953 Centerline is valid? [False, False] Translation: X:25.99, Y:0.07, Z:-2.66 [[ 9.99886148e-01 -1.44069822e-02 4.48655584e-03 2.59897812e+01] [ 1.42735267e-02 9.99492500e-01 2.84782098e-02 7.47524653e-02] [-4.89456397e-03 -2.84109285e-02 9.99584345e-01 -2.65533434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74119381700004 meters Centerline goodness : 0.914796 Centerline is valid? [False, False] Translation: X:26.00, Y:0.07, Z:-2.66 [[ 9.99834150e-01 -1.57530630e-02 9.13856612e-03 2.60018412e+01] [ 1.53864722e-02 9.99125188e-01 3.88859318e-02 7.18360605e-02] [-9.74314413e-03 -3.87388723e-02 9.99201867e-01 -2.66054603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77119381700004 meters Centerline goodness : 0.918747 Centerline is valid? [False, False] Translation: X:26.00, Y:0.07, Z:-2.66 [[ 9.99790031e-01 -1.86618841e-02 8.46338523e-03 2.60040526e+01] [ 1.83547654e-02 9.99218076e-01 3.50191312e-02 7.43814241e-02] [-9.11029048e-03 -3.48564348e-02 9.99350805e-01 -2.66132420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80119381700004 meters Centerline goodness : 0.917178 Centerline is valid? [False, False] Translation: X:26.00, Y:0.08, Z:-2.66 [[ 9.99784635e-01 -1.89964090e-02 8.35589814e-03 2.60041099e+01] [ 1.86980952e-02 9.99231948e-01 3.44368197e-02 7.57079191e-02] [-9.00365629e-03 -3.42731638e-02 9.99371945e-01 -2.66117203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83119381700004 meters Centerline goodness : 0.913964 Centerline is valid? [False, False] Translation: X:26.00, Y:0.08, Z:-2.66 [[ 9.99742172e-01 -2.08968269e-02 8.88323088e-03 2.60019649e+01] [ 2.06027435e-02 9.99275527e-01 3.19991865e-02 7.99689973e-02] [-9.54547668e-03 -3.18079173e-02 9.99448418e-01 -2.65966442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700004 meters Centerline goodness : 0.920145 Centerline is valid? [False, False] Translation: X:26.00, Y:0.08, Z:-2.66 [[ 9.99786404e-01 -1.87605097e-02 8.67121075e-03 2.60016269e+01] [ 1.84488074e-02 9.99226513e-01 3.47277724e-02 8.07908620e-02] [-9.31601439e-03 -3.45603812e-02 9.99359191e-01 -2.65941559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89119381700002 meters Centerline goodness : 0.914898 Centerline is valid? [False, False] Translation: X:26.00, Y:0.08, Z:-2.66 [[ 9.99770278e-01 -1.96309024e-02 8.60345693e-03 2.60017850e+01] [ 1.93337313e-02 9.99256370e-01 3.33603525e-02 8.39295854e-02] [-9.25195297e-03 -3.31863520e-02 9.99406357e-01 -2.65948542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92119381700002 meters Centerline goodness : 0.914127 Centerline is valid? [False, False] Translation: X:26.00, Y:0.09, Z:-2.66 [[ 9.99775345e-01 -1.96801899e-02 7.87077816e-03 2.60040722e+01] [ 1.94156610e-02 9.99287016e-01 3.23804193e-02 8.78348587e-02] [-8.50241922e-03 -3.22203285e-02 9.99444625e-01 -2.66088428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95119381700002 meters Centerline goodness : 0.911516 Centerline is valid? [False, False] Translation: X:26.00, Y:0.10, Z:-2.66 [[ 9.99756303e-01 -2.06785468e-02 7.72861344e-03 2.60044310e+01] [ 2.04433702e-02 9.99359794e-01 2.93610348e-02 9.75281950e-02] [-8.33080907e-03 -2.91958807e-02 9.99538993e-01 -2.66092439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98119381700002 meters Centerline goodness : 0.914535 Centerline is valid? [False, False] Translation: X:26.00, Y:0.10, Z:-2.66 [[ 9.99748879e-01 -2.11366868e-02 7.44447622e-03 2.60047839e+01] [ 2.09240672e-02 9.99400976e-01 2.75657719e-02 1.02758275e-01] [-8.02266589e-03 -2.74030808e-02 9.99592271e-01 -2.66031868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01119381700002 meters Centerline goodness : 0.916414 Centerline is valid? [False, False] Translation: X:26.01, Y:0.11, Z:-2.66 [[ 9.99749630e-01 -2.12439148e-02 7.02664228e-03 2.60053817e+01] [ 2.10547888e-02 9.99440835e-01 2.59752374e-02 1.07579741e-01] [-7.57452896e-03 -2.58207895e-02 9.99637891e-01 -2.65971666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04119381700002 meters Centerline goodness : 0.917862 Centerline is valid? [False, False] Translation: X:26.01, Y:0.11, Z:-2.66 [[ 9.99753043e-01 -2.12175655e-02 6.60811261e-03 2.60061948e+01] [ 2.10484513e-02 9.99473587e-01 2.46882995e-02 1.11833359e-01] [-7.12845963e-03 -2.45431120e-02 9.99673357e-01 -2.65923608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07119381700002 meters Centerline goodness : 0.915894 Centerline is valid? [False, False] Translation: X:26.01, Y:0.12, Z:-2.66 [[ 9.99759937e-01 -2.09903539e-02 6.28275628e-03 2.60072470e+01] [ 2.08410300e-02 9.99519193e-01 2.29572395e-02 1.19650813e-01] [-6.76161607e-03 -2.28207892e-02 9.99716706e-01 -2.65935171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10119381700002 meters Centerline goodness : 0.915479 Centerline is valid? [False, False] Translation: X:26.01, Y:0.12, Z:-2.66 [[ 9.99773154e-01 -2.05433605e-02 5.62238391e-03 2.60094781e+01] [ 2.04115611e-02 9.99536807e-01 2.25730048e-02 1.22902776e-01] [-6.08350503e-03 -2.24531226e-02 9.99729388e-01 -2.66047578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13119381700002 meters Centerline goodness : 0.917270 Centerline is valid? [False, False] Translation: X:26.01, Y:0.13, Z:-2.66 [[ 9.99767476e-01 -2.08917274e-02 5.34132355e-03 2.60099951e+01] [ 2.07740206e-02 9.99559050e-01 2.12166550e-02 1.27605731e-01] [-5.78222087e-03 -2.11007609e-02 9.99760633e-01 -2.66023182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16119381700003 meters Centerline goodness : 0.914895 Centerline is valid? [False, False] Translation: X:26.01, Y:0.13, Z:-2.66 [[ 9.99809684e-01 -1.87185280e-02 5.49651120e-03 2.60094253e+01] [ 1.85899986e-02 9.99572384e-01 2.25712411e-02 1.34869318e-01] [-5.91666122e-03 -2.24647653e-02 9.99730127e-01 -2.66017425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19119381700003 meters Centerline goodness : 0.915998 Centerline is valid? [False, False] Translation: X:26.01, Y:0.14, Z:-2.66 [[ 9.99805877e-01 -1.90010166e-02 5.21243966e-03 2.60101320e+01] [ 1.88838132e-02 9.99586571e-01 2.16815259e-02 1.37674397e-01] [-5.62225572e-03 -2.15788863e-02 9.99751340e-01 -2.66036059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22119381700003 meters Centerline goodness : 0.919282 Centerline is valid? [False, False] Translation: X:26.01, Y:0.14, Z:-2.66 [[ 9.99803808e-01 -1.91946611e-02 4.88983728e-03 2.60109977e+01] [ 1.90889677e-02 9.99601095e-01 2.08149504e-02 1.40091609e-01] [-5.28742262e-03 -2.07175247e-02 9.99771388e-01 -2.66064716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25119381700003 meters Centerline goodness : 0.917680 Centerline is valid? [False, False] Translation: X:26.01, Y:0.14, Z:-2.66 [[ 9.99793167e-01 -1.97859540e-02 4.70517401e-03 2.60112502e+01] [ 1.96899242e-02 9.99613060e-01 1.96478033e-02 1.43077957e-01] [-5.09210393e-03 -1.95510949e-02 9.99795892e-01 -2.66044777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28119381700003 meters Centerline goodness : 0.916748 Centerline is valid? [False, False] Translation: X:26.01, Y:0.15, Z:-2.66 [[ 9.99787089e-01 -2.01786310e-02 4.31264188e-03 2.60128654e+01] [ 2.00964202e-02 9.99630111e-01 1.83241794e-02 1.49058248e-01] [-4.68080354e-03 -1.82336094e-02 9.99822797e-01 -2.66161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31119381700003 meters Centerline goodness : 0.919211 Centerline is valid? [False, False] Translation: X:26.01, Y:0.15, Z:-2.66 [[ 9.99796037e-01 -1.98210127e-02 3.87450140e-03 2.60146991e+01] [ 1.97471295e-02 9.99638280e-01 1.82581455e-02 1.50915044e-01] [-4.23499484e-03 -1.81779112e-02 9.99825799e-01 -2.66279971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34119381700003 meters Centerline goodness : 0.919491 Centerline is valid? [False, False] Translation: X:26.02, Y:0.15, Z:-2.66 [[ 9.99806562e-01 -1.93914313e-02 3.28813624e-03 2.60169073e+01] [ 1.93291047e-02 9.99650567e-01 1.80313679e-02 1.53428817e-01] [-3.63664129e-03 -1.79643232e-02 9.99832015e-01 -2.66401004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37119381700003 meters Centerline goodness : 0.920858 Centerline is valid? [False, False] Translation: X:26.02, Y:0.16, Z:-2.66 [[ 9.99817245e-01 -1.89261290e-02 2.69766164e-03 2.60188987e+01] [ 1.88758494e-02 9.99667227e-01 1.75823324e-02 1.57076089e-01] [-3.02952943e-03 -1.75281985e-02 9.99841780e-01 -2.66480759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40119381700003 meters Centerline goodness : 0.923672 Centerline is valid? [False, False] Translation: X:26.02, Y:0.16, Z:-2.66 [[ 9.99873918e-01 -1.56644417e-02 2.60263369e-03 2.60188728e+01] [ 1.56111973e-02 9.99690822e-01 1.93533106e-02 1.64669172e-01] [-2.90498782e-03 -1.93102402e-02 9.99809320e-01 -2.66435719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43119381700004 meters Centerline goodness : 0.926123 Centerline is valid? [False, False] Translation: X:26.02, Y:0.17, Z:-2.67 [[ 9.99890753e-01 -1.46677649e-02 1.82723492e-03 2.60215716e+01] [ 1.46297813e-02 9.99706568e-01 1.93066867e-02 1.68368128e-01] [-2.10988469e-03 -1.92778454e-02 9.99811939e-01 -2.66549901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46119381700004 meters Centerline goodness : 0.917566 Centerline is valid? [False, False] Translation: X:26.02, Y:0.17, Z:-2.67 [[ 9.99906498e-01 -1.36316342e-02 1.08327972e-03 2.60243300e+01] [ 1.36083703e-02 9.99723591e-01 1.91717145e-02 1.71880123e-01] [-1.34432209e-03 -1.91551802e-02 9.99815619e-01 -2.66674364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49119381700004 meters Centerline goodness : 0.927333 Centerline is valid? [False, False] Translation: X:26.03, Y:0.18, Z:-2.67 [[ 9.99918323e-01 -1.27766732e-02 3.21045663e-04 2.60267908e+01] [ 1.27684541e-02 9.99744190e-01 1.86687471e-02 1.75598722e-01] [-5.59488016e-04 -1.86631231e-02 9.99825672e-01 -2.66731734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52119381700004 meters Centerline goodness : 0.931544 Centerline is valid? [False, False] Translation: X:26.03, Y:0.18, Z:-2.67 [[ 9.99954818e-01 -9.50392572e-03 1.92488230e-04 2.60260252e+01] [ 9.49827692e-03 9.99760155e-01 1.97335890e-02 1.82930333e-01] [-3.79988627e-04 -1.97308691e-02 9.99805255e-01 -2.66508008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55119381700004 meters Centerline goodness : 0.925395 Centerline is valid? [False, False] Translation: X:26.03, Y:0.19, Z:-2.66 [[ 9.99956146e-01 -9.35698248e-03 -3.90250323e-04 2.60268742e+01] [ 9.36258815e-03 9.99786129e-01 1.84401360e-02 1.86928580e-01] [ 2.17622831e-04 -1.84429810e-02 9.99829890e-01 -2.66384052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58119381700004 meters Centerline goodness : 0.927545 Centerline is valid? [False, False] Translation: X:26.03, Y:0.19, Z:-2.66 [[ 9.99958020e-01 -9.11706711e-03 -9.14794766e-04 2.60278354e+01] [ 9.13179593e-03 9.99802530e-01 1.76496550e-02 1.90098201e-01] [ 7.53701033e-04 -1.76572678e-02 9.99843814e-01 -2.66322503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61119381700004 meters Centerline goodness : 0.929403 Centerline is valid? [False, False] Translation: X:26.03, Y:0.20, Z:-2.66 [[ 9.99960837e-01 -8.73774342e-03 -1.40555707e-03 2.60291301e+01] [ 8.75941978e-03 9.99829822e-01 1.62357566e-02 1.95754160e-01] [ 1.26345400e-03 -1.62474327e-02 9.99867203e-01 -2.66268157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters Centerline goodness : 0.927443 Centerline is valid? [False, False] Translation: X:26.03, Y:0.20, Z:-2.66 [[ 9.99965981e-01 -7.99776169e-03 -2.01806566e-03 2.60315559e+01] [ 8.03008569e-03 9.99830748e-01 1.65527135e-02 1.97435298e-01] [ 1.88533944e-03 -1.65683556e-02 9.99860958e-01 -2.66409273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67119381700002 meters Centerline goodness : 0.928448 Centerline is valid? [False, False] Translation: X:26.03, Y:0.20, Z:-2.67 [[ 9.99970002e-01 -7.31945749e-03 -2.53392303e-03 2.60337667e+01] [ 7.36111011e-03 9.99831122e-01 1.68386681e-02 1.98861888e-01] [ 2.41024519e-03 -1.68568154e-02 9.99855009e-01 -2.66544480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70119381700002 meters Centerline goodness : 0.922463 Centerline is valid? [False, False] Translation: X:26.05, Y:0.20, Z:-2.67 [[ 9.99976861e-01 -6.80267410e-03 -1.23873527e-05 2.60520547e+01] [ 6.80059645e-03 9.99623014e-01 2.66004136e-02 1.96501523e-01] [-1.68571262e-04 -2.65998823e-02 9.99646146e-01 -2.67128768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73119381700002 meters Centerline goodness : 0.922913 Centerline is valid? [False, False] Translation: X:26.05, Y:0.20, Z:-2.67 [[ 9.99979891e-01 -6.32065147e-03 -5.17269474e-04 2.60541306e+01] [ 6.33226206e-03 9.99619410e-01 2.68502997e-02 1.97256193e-01] [ 3.47361220e-04 -2.68530352e-02 9.99639332e-01 -2.67264293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76119381700002 meters Centerline goodness : 0.923295 Centerline is valid? [False, False] Translation: X:26.07, Y:0.20, Z:-2.68 [[ 9.99971002e-01 -7.57878990e-03 7.46320123e-04 2.60738066e+01] [ 7.55007370e-03 9.99428070e-01 3.29625325e-02 1.97847558e-01] [-9.95709389e-04 -3.29559419e-02 9.99456309e-01 -2.67650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79119381700002 meters Centerline goodness : 0.921229 Centerline is valid? [False, False] Translation: X:26.09, Y:0.20, Z:-2.68 [[ 9.99945287e-01 -9.20295533e-03 4.97271324e-03 2.60852967e+01] [ 8.97780093e-03 9.99011060e-01 4.35465353e-02 1.96585944e-01] [-5.36855235e-03 -4.34995087e-02 9.99039024e-01 -2.68168377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82119381700002 meters Centerline goodness : 0.921854 Centerline is valid? [False, False] Translation: X:26.09, Y:0.20, Z:-2.68 [[ 9.99938644e-01 -9.97498376e-03 4.81753681e-03 2.60853885e+01] [ 9.76019153e-03 9.99039376e-01 4.27207690e-02 1.98527730e-01] [-5.23904794e-03 -4.26711277e-02 9.99075436e-01 -2.68155379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85119381700002 meters Centerline goodness : 0.920142 Centerline is valid? [False, False] Translation: X:26.08, Y:0.20, Z:-2.68 [[ 9.99925685e-01 -1.10977953e-02 5.04618191e-03 2.60845240e+01] [ 1.08781983e-02 9.99073460e-01 4.16399702e-02 2.00442295e-01] [-5.50361828e-03 -4.15819824e-02 9.99119937e-01 -2.68134222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88119381700002 meters Centerline goodness : 0.918827 Centerline is valid? [False, False] Translation: X:26.07, Y:0.21, Z:-2.68 [[ 9.99875588e-01 -1.57244988e-02 1.24445751e-03 2.60691556e+01] [ 1.56867007e-02 9.99536611e-01 2.60862008e-02 2.08732489e-01] [-1.65407327e-03 -2.60634339e-02 9.99658923e-01 -2.67582905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91119381700003 meters Centerline goodness : 0.916880 Centerline is valid? [False, False] Translation: X:26.07, Y:0.21, Z:-2.67 [[ 9.99852175e-01 -1.71346265e-02 1.42569534e-03 2.60679979e+01] [ 1.70944411e-02 9.99551869e-01 2.45731671e-02 2.10927661e-01] [-1.84610848e-03 -2.45451631e-02 9.99697018e-01 -2.67491865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94119381700003 meters Centerline goodness : 0.918032 Centerline is valid? [False, False] Translation: X:26.07, Y:0.22, Z:-2.67 [[ 9.99778297e-01 -2.10418136e-02 7.73335576e-04 2.60695176e+01] [ 2.10229206e-02 9.99591741e-01 1.93490976e-02 2.15265619e-01] [-1.18015996e-03 -1.93285501e-02 9.99812490e-01 -2.67418859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97119381700003 meters Centerline goodness : 0.919308 Centerline is valid? [False, False] Translation: X:26.07, Y:0.22, Z:-2.67 [[ 9.99759031e-01 -2.19342030e-02 8.77821950e-04 2.60690340e+01] [ 2.19160188e-02 9.99613860e-01 1.70827294e-02 2.21962915e-01] [-1.25217904e-03 -1.70593746e-02 9.99853694e-01 -2.67326822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00119381700003 meters Centerline goodness : 0.919469 Centerline is valid? [False, False] Translation: X:26.07, Y:0.23, Z:-2.67 [[ 9.99757056e-01 -2.20290898e-02 7.40997186e-04 2.60691025e+01] [ 2.20146329e-02 9.99632671e-01 1.58075574e-02 2.26481438e-01] [-1.08895110e-03 -1.57874042e-02 9.99874778e-01 -2.67239089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03119381700003 meters Centerline goodness : 0.919679 Centerline is valid? [False, False] Translation: X:26.07, Y:0.23, Z:-2.67 [[ 9.99765266e-01 -2.16640645e-02 2.84945519e-04 2.60702142e+01] [ 2.16575949e-02 9.99658783e-01 1.46036494e-02 2.31370050e-01] [-6.01222693e-04 -1.45940502e-02 9.99893320e-01 -2.67164421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06119381700003 meters Centerline goodness : 0.921353 Centerline is valid? [False, False] Translation: X:26.07, Y:0.23, Z:-2.67 [[ 9.99833575e-01 -1.82380019e-02 4.43927828e-04 2.60694500e+01] [ 1.82274806e-02 9.99681558e-01 1.74511359e-02 2.34533170e-01] [-7.62060312e-04 -1.74401399e-02 9.99847619e-01 -2.67111296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09119381700003 meters Centerline goodness : 0.919618 Centerline is valid? [False, False] Translation: X:26.07, Y:0.24, Z:-2.67 [[ 9.99895227e-01 -1.44721657e-02 3.03670759e-04 2.60693881e+01] [ 1.44629046e-02 9.99685379e-01 2.04931149e-02 2.37468591e-01] [-6.00154970e-04 -2.04865758e-02 9.99789948e-01 -2.67061789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12119381700003 meters Centerline goodness : 0.920024 Centerline is valid? [False, False] Translation: X:26.07, Y:0.25, Z:-2.67 [[ 9.99993784e-01 -2.63074895e-03 2.34757863e-03 2.60699833e+01] [ 2.60649186e-03 9.99943796e-01 1.02767309e-02 2.48057010e-01] [-2.37448219e-03 -1.02705481e-02 9.99944437e-01 -2.66783909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15119381700003 meters Centerline goodness : 0.914204 Centerline is valid? [False, False] Translation: X:26.07, Y:0.25, Z:-2.67 [[ 9.99996404e-01 1.95106699e-03 1.83985803e-03 2.60718144e+01] [-1.97635306e-03 9.99902224e-01 1.38433139e-02 2.51336016e-01] [-1.81266891e-03 -1.38469003e-02 9.99902484e-01 -2.66836763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18119381700004 meters Centerline goodness : 0.911539 Centerline is valid? [False, False] Translation: X:26.07, Y:0.25, Z:-2.67 [[ 9.99976721e-01 6.68149698e-03 1.38377061e-03 2.60738385e+01] [-6.70476243e-03 9.99823459e-01 1.75527147e-02 2.54566315e-01] [-1.26624790e-03 -1.75615839e-02 9.99844982e-01 -2.66926260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21119381700004 meters Centerline goodness : 0.911041 Centerline is valid? [False, False] Translation: X:26.08, Y:0.26, Z:-2.67 [[ 9.99932879e-01 1.15588706e-02 7.94288539e-04 2.60764527e+01] [-1.15733151e-02 9.99700410e-01 2.15673225e-02 2.57119187e-01] [-5.44756688e-04 -2.15750675e-02 9.99767083e-01 -2.67063155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24119381700004 meters Centerline goodness : 0.909807 Centerline is valid? [False, False] Translation: X:26.08, Y:0.26, Z:-2.67 [[ 9.99769521e-01 2.14667038e-02 2.93077147e-04 2.60807884e+01] [-2.14657039e-02 9.99308418e-01 3.03629558e-02 2.59869536e-01] [ 3.58918118e-04 -3.03622489e-02 9.99538896e-01 -2.67409239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27119381700004 meters Centerline goodness : 0.906581 Centerline is valid? [False, False] Translation: X:26.07, Y:0.27, Z:-2.67 [[ 9.99648487e-01 2.59122886e-02 -5.60848199e-03 2.60716014e+01] [-2.57958861e-02 9.99468797e-01 1.99172249e-02 2.66331683e-01] [ 6.12160363e-03 -1.97655480e-02 9.99785902e-01 -2.66724984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30119381700004 meters Centerline goodness : 0.909085 Centerline is valid? [False, False] Translation: X:26.07, Y:0.27, Z:-2.67 [[ 9.99607028e-01 2.73420299e-02 -6.18089956e-03 2.60742338e+01] [-2.72139286e-02 9.99430786e-01 1.99375779e-02 2.68936477e-01] [ 6.72251516e-03 -1.97615365e-02 9.99782121e-01 -2.66800096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33119381700004 meters Centerline goodness : 0.907286 Centerline is valid? [False, False] Translation: X:26.08, Y:0.27, Z:-2.67 [[ 9.99459402e-01 3.21865498e-02 -6.70289451e-03 2.60766170e+01] [-3.20123723e-02 9.99183541e-01 2.46467119e-02 2.68253064e-01] [ 7.49071449e-03 -2.44188124e-02 9.99673752e-01 -2.66962822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700004 meters Centerline goodness : 0.904130 Centerline is valid? [False, False] Translation: X:26.08, Y:0.27, Z:-2.67 [[ 9.99346852e-01 3.53636954e-02 -7.43490936e-03 2.60797762e+01] [-3.51456924e-02 9.98999608e-01 2.76507417e-02 2.68601911e-01] [ 8.40530394e-03 -2.73713766e-02 9.99589995e-01 -2.67160035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39119381700002 meters Centerline goodness : 0.908827 Centerline is valid? [False, False] Translation: X:26.08, Y:0.27, Z:-2.67 [[ 9.99298305e-01 3.65329532e-02 -8.26079906e-03 2.60818267e+01] [-3.62910786e-02 9.98956026e-01 2.77455435e-02 2.69386982e-01] [ 9.26580165e-03 -2.74262813e-02 9.99580884e-01 -2.67113237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42119381700002 meters Centerline goodness : 0.905365 Centerline is valid? [False, False] Translation: X:26.10, Y:0.27, Z:-2.67 [[ 9.99400836e-01 3.36792676e-02 -7.97971448e-03 2.61040769e+01] [-3.34461519e-02 9.99055517e-01 2.77385677e-02 2.68928743e-01] [ 8.90639242e-03 -2.74550570e-02 9.99583361e-01 -2.66952452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45119381700002 meters Centerline goodness : 0.905365 Centerline is valid? [False, False] Translation: X:26.10, Y:0.27, Z:-2.67 [[ 9.99397872e-01 3.37794093e-02 -7.92751519e-03 2.61040318e+01] [-3.35481454e-02 9.99053516e-01 2.76874280e-02 2.68985950e-01] [ 8.85527688e-03 -2.74048032e-02 9.99585194e-01 -2.66953975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48119381700002 meters Centerline goodness : 0.904658 Centerline is valid? [False, False] Translation: X:26.13, Y:0.26, Z:-2.67 [[ 9.99463171e-01 3.19317260e-02 -7.33042156e-03 2.61282412e+01] [-3.17102213e-02 9.99088701e-01 2.85697448e-02 2.64130511e-01] [ 8.23602261e-03 -2.83219584e-02 9.99564923e-01 -2.66858489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51119381700002 meters Centerline goodness : 0.908643 Centerline is valid? [False, False] Translation: X:26.15, Y:0.26, Z:-2.67 [[ 9.99538437e-01 2.93167416e-02 -7.96508148e-03 2.61527242e+01] [-2.90727447e-02 9.99150916e-01 2.91928420e-02 2.60745108e-01] [ 8.81415746e-03 -2.89478009e-02 9.99542063e-01 -2.66837855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54119381700002 meters Centerline goodness : 0.908638 Centerline is valid? [False, False] Translation: X:26.15, Y:0.26, Z:-2.67 [[ 9.99617236e-01 2.62080851e-02 -8.86103253e-03 2.61546456e+01] [-2.59735175e-02 9.99334161e-01 2.56244370e-02 2.59860932e-01] [ 9.52669993e-03 -2.53844767e-02 9.99632368e-01 -2.66819853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57119381700002 meters Centerline goodness : 0.910626 Centerline is valid? [False, False] Translation: X:26.18, Y:0.26, Z:-2.67 [[ 9.99683038e-01 2.35691119e-02 -8.84992729e-03 2.61778209e+01] [-2.33224231e-02 9.99362967e-01 2.70134293e-02 2.56751498e-01] [ 9.48097212e-03 -2.67984653e-02 9.99595895e-01 -2.66778822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60119381700002 meters Centerline goodness : 0.913929 Centerline is valid? [False, False] Translation: X:26.18, Y:0.25, Z:-2.67 [[ 9.99729249e-01 2.10364499e-02 -9.94464175e-03 2.61796146e+01] [-2.07876710e-02 9.99483908e-01 2.44906152e-02 2.51788362e-01] [ 1.04547050e-02 -2.42772584e-02 9.99650596e-01 -2.66670093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63119381700002 meters Centerline goodness : 0.913689 Centerline is valid? [False, False] Translation: X:26.18, Y:0.25, Z:-2.67 [[ 9.99772247e-01 1.83527945e-02 -1.08916821e-02 2.61814396e+01] [-1.81183438e-02 9.99610059e-01 2.12474761e-02 2.49839556e-01] [ 1.12773855e-02 -2.10452977e-02 9.99714917e-01 -2.66582962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66119381700003 meters Centerline goodness : 0.917602 Centerline is valid? [False, False] Translation: X:26.18, Y:0.25, Z:-2.66 [[ 9.99804595e-01 1.57994930e-02 -1.18805909e-02 2.61832964e+01] [-1.55842296e-02 9.99716556e-01 1.79982999e-02 2.48094673e-01] [ 1.21615875e-02 -1.78096331e-02 9.99767429e-01 -2.66486368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69119381700003 meters Centerline goodness : 0.923274 Centerline is valid? [False, False] Translation: X:26.18, Y:0.25, Z:-2.66 [[ 9.99834985e-01 1.30892935e-02 -1.25965377e-02 2.61845204e+01] [-1.29059658e-02 9.99811188e-01 1.45266892e-02 2.46858805e-01] [ 1.27843034e-02 -1.43617216e-02 9.99815134e-01 -2.66375183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72119381700003 meters Centerline goodness : 0.927812 Centerline is valid? [False, False] Translation: X:26.19, Y:0.24, Z:-2.66 [[ 9.99804702e-01 1.30638088e-02 -1.48288441e-02 2.61889857e+01] [-1.28677102e-02 9.99829503e-01 1.32434029e-02 2.38866024e-01] [ 1.49993251e-02 -1.30500032e-02 9.99802339e-01 -2.66173402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75119381700003 meters Centerline goodness : 0.930530 Centerline is valid? [False, False] Translation: X:26.19, Y:0.24, Z:-2.66 [[ 9.99827944e-01 1.03472452e-02 -1.53953776e-02 2.61902304e+01] [-1.01881674e-02 9.99894268e-01 1.03756259e-02 2.35762121e-01] [ 1.55011090e-02 -1.02169900e-02 9.99827650e-01 -2.66138329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78119381700003 meters Centerline goodness : 0.934540 Centerline is valid? [False, False] Translation: X:26.19, Y:0.23, Z:-2.66 [[ 9.99842974e-01 7.51188639e-03 -1.60499009e-02 2.61917361e+01] [-7.38993400e-03 9.99943476e-01 7.64417197e-03 2.32121652e-01] [ 1.61064159e-02 -7.52436393e-03 9.99841971e-01 -2.66130190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81119381700003 meters Centerline goodness : 0.933134 Centerline is valid? [False, False] Translation: X:26.19, Y:0.22, Z:-2.66 [[ 9.99855506e-01 3.01636763e-03 -1.67292949e-02 2.61922448e+01] [-2.95240639e-03 9.99988243e-01 3.84668864e-03 2.20773807e-01] [ 1.67407013e-02 -3.79674113e-03 9.99852656e-01 -2.65959466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84119381700003 meters Centerline goodness : 0.933107 Centerline is valid? [False, False] Translation: X:26.19, Y:0.21, Z:-2.66 [[ 9.99854559e-01 -1.99685180e-04 -1.70534991e-02 2.61928218e+01] [ 2.25573875e-04 9.99998825e-01 1.51617693e-03 2.14531356e-01] [ 1.70531763e-02 -1.51980324e-03 9.99853429e-01 -2.65948904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87119381700003 meters Centerline goodness : 0.932402 Centerline is valid? [False, False] Translation: X:26.20, Y:0.21, Z:-2.66 [[ 9.99836955e-01 -2.64092916e-03 -1.78630552e-02 2.61951750e+01] [ 2.64239654e-03 9.99996507e-01 5.85438028e-05 2.07310099e-01] [ 1.78628382e-02 -1.05735533e-04 9.99840441e-01 -2.66035806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90119381700003 meters Centerline goodness : 0.932184 Centerline is valid? [False, False] Translation: X:26.20, Y:0.20, Z:-2.66 [[ 9.99819588e-01 -5.43457596e-03 -1.82004650e-02 2.61964081e+01] [ 5.40791440e-03 9.99984231e-01 -1.51378091e-03 2.00284687e-01] [ 1.82084048e-02 1.41508125e-03 9.99833212e-01 -2.66114133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93119381700004 meters Centerline goodness : 0.927300 Centerline is valid? [False, False] Translation: X:26.21, Y:0.18, Z:-2.67 [[ 9.99834483e-01 -1.09723959e-02 -1.45125117e-02 2.62111607e+01] [ 1.10708685e-02 9.99916118e-01 6.72251060e-03 1.82482191e-01] [ 1.44375323e-02 -6.88206401e-03 9.99872089e-01 -2.66750415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96119381700004 meters Centerline goodness : 0.925544 Centerline is valid? [False, False] Translation: X:26.21, Y:0.18, Z:-2.67 [[ 9.99792860e-01 -1.38454890e-02 -1.49177898e-02 2.62123191e+01] [ 1.39220613e-02 9.99890374e-01 5.04138189e-03 1.75536042e-01] [ 1.48463540e-02 -5.24802400e-03 9.99876014e-01 -2.66782734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99119381700004 meters Centerline goodness : 0.927689 Centerline is valid? [False, False] Translation: X:26.21, Y:0.17, Z:-2.67 [[ 9.99740205e-01 -1.69032274e-02 -1.52906261e-02 2.62133221e+01] [ 1.69546276e-02 9.99851016e-01 3.23817424e-03 1.68754316e-01] [ 1.52336124e-02 -3.49657985e-03 9.99877848e-01 -2.66803071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02119381700004 meters Centerline goodness : 0.926408 Centerline is valid? [False, False] Translation: X:26.21, Y:0.16, Z:-2.67 [[ 9.99678472e-01 -2.00609235e-02 -1.55084436e-02 2.62140215e+01] [ 2.00842597e-02 9.99797379e-01 1.35044469e-03 1.62152610e-01] [ 1.54782101e-02 -1.66148610e-03 9.99878825e-01 -2.66821574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05119381700004 meters Centerline goodness : 0.923401 Centerline is valid? [False, False] Translation: X:26.23, Y:0.15, Z:-2.67 [[ 9.99583538e-01 -2.63896965e-02 -1.16762503e-02 2.62295592e+01] [ 2.64818421e-02 9.99618795e-01 7.80873368e-03 1.47252364e-01] [ 1.14657292e-02 -8.11469025e-03 9.99901340e-01 -2.67343329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08119381700004 meters Centerline goodness : 0.921703 Centerline is valid? [False, False] Translation: X:26.23, Y:0.14, Z:-2.67 [[ 9.99482263e-01 -2.98794645e-02 -1.19341344e-02 2.62307074e+01] [ 2.99454984e-02 9.99536982e-01 5.39333518e-03 1.42594151e-01] [ 1.17674588e-02 -5.74791646e-03 9.99914241e-01 -2.67397925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11119381700004 meters Centerline goodness : 0.920797 Centerline is valid? [False, False] Translation: X:26.23, Y:0.14, Z:-2.67 [[ 9.99367240e-01 -3.34274011e-02 -1.21543911e-02 2.62317297e+01] [ 3.34650190e-02 9.99435668e-01 2.90485137e-03 1.37950698e-01] [ 1.20504304e-02 -3.30976022e-03 9.99921913e-01 -2.67447873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters Centerline goodness : 0.920581 Centerline is valid? [False, False] Translation: X:26.25, Y:0.13, Z:-2.68 [[ 9.99247868e-01 -3.80969361e-02 -7.23330943e-03 2.62457820e+01] [ 3.81598630e-02 9.99233157e-01 8.77052850e-03 1.31155277e-01] [ 6.89363236e-03 -9.03995401e-03 9.99935376e-01 -2.67906964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17119381700002 meters Centerline goodness : 0.920044 Centerline is valid? [False, False] Translation: X:26.26, Y:0.12, Z:-2.68 [[ 9.99143572e-01 -4.12640113e-02 -3.06647316e-03 2.62614119e+01] [ 4.13071330e-02 9.99023718e-01 1.56630639e-02 1.24012982e-01] [ 2.41715857e-03 -1.57763169e-02 9.99872624e-01 -2.68323350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20119381700002 meters Centerline goodness : 0.921348 Centerline is valid? [False, False] Translation: X:26.28, Y:0.12, Z:-2.69 [[ 9.98900381e-01 -4.68630291e-02 1.37327417e-03 2.62768983e+01] [ 4.68279495e-02 9.98717183e-01 1.92647825e-02 1.15942137e-01] [-2.27431858e-03 -1.91792910e-02 9.99813474e-01 -2.68578539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23119381700002 meters Centerline goodness : 0.922564 Centerline is valid? [False, False] Translation: X:26.28, Y:0.12, Z:-2.69 [[ 9.98736014e-01 -5.02518697e-02 1.06014367e-03 2.62779628e+01] [ 5.02289124e-02 9.98612886e-01 1.57911269e-02 1.15348386e-01] [-1.85220678e-03 -1.57179173e-02 9.99874750e-01 -2.68564246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26119381700002 meters Centerline goodness : 0.922352 Centerline is valid? [False, False] Translation: X:26.28, Y:0.12, Z:-2.69 [[ 9.98599878e-01 -5.28964085e-02 5.04031372e-04 2.62803851e+01] [ 5.28855259e-02 9.98517311e-01 1.28957510e-02 1.15401919e-01] [-1.18542296e-03 -1.28510395e-02 9.99916719e-01 -2.68666832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29119381700002 meters Centerline goodness : 0.920914 Centerline is valid? [False, False] Translation: X:26.30, Y:0.11, Z:-2.69 [[ 9.98499789e-01 -5.46652822e-02 3.14291802e-03 2.62998978e+01] [ 5.45995644e-02 9.98343255e-01 1.81558105e-02 1.11966917e-01] [-4.13020351e-03 -1.79569710e-02 9.99830230e-01 -2.68978049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32119381700002 meters Centerline goodness : 0.924205 Centerline is valid? [False, False] Translation: X:26.33, Y:0.11, Z:-2.69 [[ 9.98306080e-01 -5.79820956e-02 4.80065852e-03 2.63275028e+01] [ 5.77837602e-02 9.97737197e-01 3.43732757e-02 1.08823764e-01] [-6.78283014e-03 -3.40376501e-02 9.99397534e-01 -2.69336680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35119381700002 meters Centerline goodness : 0.926614 Centerline is valid? [False, False] Translation: X:26.34, Y:0.11, Z:-2.70 [[ 9.98258146e-01 -5.84082048e-02 8.31603704e-03 2.63444941e+01] [ 5.80051114e-02 9.97413227e-01 4.24530463e-02 1.05324936e-01] [-1.07741316e-02 -4.18967266e-02 9.99063853e-01 -2.69739865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38119381700002 meters Centerline goodness : 0.926325 Centerline is valid? [False, False] Translation: X:26.36, Y:0.10, Z:-2.70 [[ 9.98185009e-01 -5.88877917e-02 1.26061913e-02 2.63582931e+01] [ 5.81433065e-02 9.96902548e-01 5.29591037e-02 1.02152623e-01] [-1.56857889e-02 -5.21300177e-02 9.98517109e-01 -2.70269868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41119381700003 meters Centerline goodness : 0.925649 Centerline is valid? [False, False] Translation: X:26.37, Y:0.10, Z:-2.71 [[ 9.98026301e-01 -6.06298482e-02 1.63561486e-02 2.63739845e+01] [ 5.95239567e-02 9.96345938e-01 6.12508883e-02 9.85278491e-02] [-2.00100143e-02 -6.01564149e-02 9.97988379e-01 -2.70725840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44119381700003 meters Centerline goodness : 0.925932 Centerline is valid? [False, False] Translation: X:26.39, Y:0.10, Z:-2.71 [[ 9.97929529e-01 -6.11446668e-02 1.99495384e-02 2.63902577e+01] [ 5.96208624e-02 9.95787564e-01 6.96597411e-02 9.61218630e-02] [-2.41248239e-02 -6.83261040e-02 9.97371313e-01 -2.71186859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47119381700003 meters Centerline goodness : 0.929379 Centerline is valid? [False, False] Translation: X:26.39, Y:0.10, Z:-2.71 [[ 9.97700075e-01 -6.48444106e-02 1.97423985e-02 2.63910932e+01] [ 6.34479339e-02 9.95890340e-01 6.46280998e-02 9.97625636e-02] [-2.38520350e-02 -6.32268457e-02 9.97714111e-01 -2.71154700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50119381700003 meters Centerline goodness : 0.933578 Centerline is valid? [False, False] Translation: X:26.39, Y:0.10, Z:-2.71 [[ 9.97683690e-01 -6.51885187e-02 1.94348123e-02 2.63917841e+01] [ 6.38270206e-02 9.95910279e-01 6.39439371e-02 1.01592903e-01] [-2.35237399e-02 -6.25553569e-02 9.97764231e-01 -2.71177061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53119381700003 meters Centerline goodness : 0.928709 Centerline is valid? [False, False] Translation: X:26.39, Y:0.10, Z:-2.71 [[ 9.97655599e-01 -6.56865221e-02 1.91986234e-02 2.63921588e+01] [ 6.43585404e-02 9.95929684e-01 6.31034353e-02 1.03715297e-01] [-2.32655241e-02 -6.17199001e-02 9.97822313e-01 -2.71174242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56119381700003 meters Centerline goodness : 0.930529 Centerline is valid? [False, False] Translation: X:26.39, Y:0.11, Z:-2.71 [[ 9.97333345e-01 -7.03001355e-02 1.95982186e-02 2.63919039e+01] [ 6.90885265e-02 9.95990016e-01 5.68389329e-02 1.10065700e-01] [-2.35154147e-02 -5.53333511e-02 9.98190987e-01 -2.71182586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59119381700003 meters Centerline goodness : 0.931735 Centerline is valid? [False, False] Translation: X:26.37, Y:0.11, Z:-2.71 [[ 9.97374821e-01 -6.97652298e-02 1.93979082e-02 2.63676264e+01] [ 6.85515531e-02 9.95993015e-01 5.74334360e-02 1.12511563e-01] [-2.33270379e-02 -5.59529062e-02 9.98160870e-01 -2.71404572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62119381700003 meters Centerline goodness : 0.931972 Centerline is valid? [False, False] Translation: X:26.35, Y:0.12, Z:-2.71 [[ 9.97495022e-01 -6.90047342e-02 1.55572700e-02 2.63507219e+01] [ 6.81449222e-02 9.96406571e-01 5.03012403e-02 1.19065689e-01] [-1.89723898e-02 -4.91150878e-02 9.98612916e-01 -2.71149112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65119381700003 meters Centerline goodness : 0.934056 Centerline is valid? [False, False] Translation: X:26.35, Y:0.12, Z:-2.71 [[ 9.97453887e-01 -6.95928297e-02 1.55750255e-02 2.63506912e+01] [ 6.87654752e-02 9.96452672e-01 4.85116726e-02 1.24027822e-01] [-1.88958403e-02 -4.73171323e-02 9.98701175e-01 -2.71154253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68119381700004 meters Centerline goodness : 0.931778 Centerline is valid? [False, False] Translation: X:26.35, Y:0.14, Z:-2.71 [[ 9.97746806e-01 -6.58403051e-02 1.28983062e-02 2.63454440e+01] [ 6.53832076e-02 9.97310115e-01 3.31295988e-02 1.37367154e-01] [-1.50448741e-02 -3.22116188e-02 9.99367832e-01 -2.70813448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71119381700004 meters Centerline goodness : 0.934058 Centerline is valid? [False, False] Translation: X:26.35, Y:0.14, Z:-2.71 [[ 9.97855643e-01 -6.42708680e-02 1.23843228e-02 2.63474005e+01] [ 6.38256113e-02 9.97398510e-01 3.35037760e-02 1.43069155e-01] [-1.45054219e-02 -3.26414950e-02 9.99361859e-01 -2.70974834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74119381700004 meters Centerline goodness : 0.933588 Centerline is valid? [False, False] Translation: X:26.34, Y:0.15, Z:-2.71 [[ 9.98228581e-01 -5.89147374e-02 8.29180889e-03 2.63442201e+01] [ 5.87314776e-02 9.98056305e-01 2.08381024e-02 1.51476832e-01] [-9.50336347e-03 -2.03141992e-02 9.99748478e-01 -2.70692891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77119381700004 meters Centerline goodness : 0.932080 Centerline is valid? [False, False] Translation: X:26.34, Y:0.16, Z:-2.71 [[ 9.98628970e-01 -5.14808670e-02 9.48159714e-03 2.63427484e+01] [ 5.13894872e-02 9.98632144e-01 9.64162197e-03 1.58884229e-01] [-9.96498674e-03 -9.14114860e-03 9.99908565e-01 -2.70682683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80119381700004 meters Centerline goodness : 0.938107 Centerline is valid? [False, False] Translation: X:26.34, Y:0.17, Z:-2.71 [[ 9.99002972e-01 -4.37332109e-02 8.97037134e-03 2.63434112e+01] [ 4.35973697e-02 9.98939289e-01 1.48177548e-02 1.69316343e-01] [-9.60888436e-03 -1.44118965e-02 9.99849972e-01 -2.70683524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83119381700004 meters Centerline goodness : 0.937849 Centerline is valid? [False, False] Translation: X:26.34, Y:0.17, Z:-2.71 [[ 9.99156565e-01 -4.01198311e-02 8.74969453e-03 2.63431333e+01] [ 3.99647966e-02 9.99052573e-01 1.72270643e-02 1.74580992e-01] [-9.43255174e-03 -1.68628546e-02 9.99813318e-01 -2.70613683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700004 meters Centerline goodness : 0.937176 Centerline is valid? [False, False] Translation: X:26.34, Y:0.18, Z:-2.71 [[ 9.99300522e-01 -3.64262716e-02 8.46127576e-03 2.63432378e+01] [ 3.62524280e-02 9.99145247e-01 1.98629516e-02 1.79235733e-01] [-9.17757673e-03 -1.95423161e-02 9.99766908e-01 -2.70579203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89119381700002 meters Centerline goodness : 0.938652 Centerline is valid? [False, False] Translation: X:26.34, Y:0.19, Z:-2.70 [[ 9.99644824e-01 -2.59210617e-02 6.19070548e-03 2.63401892e+01] [ 2.58591322e-02 9.99616747e-01 9.88251363e-03 1.89565528e-01] [-6.44449812e-03 -9.71891732e-03 9.99932003e-01 -2.70202769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92119381700002 meters Centerline goodness : 0.939050 Centerline is valid? [False, False] Translation: X:26.33, Y:0.19, Z:-2.70 [[ 9.99811856e-01 -1.86803047e-02 5.22490285e-03 2.63337465e+01] [ 1.86682841e-02 9.99822994e-01 2.34003042e-03 1.92877141e-01] [-5.26769049e-03 -2.24205019e-03 9.99983612e-01 -2.70235723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95119381700002 meters Centerline goodness : 0.939473 Centerline is valid? [False, False] Translation: X:26.33, Y:0.19, Z:-2.70 [[ 9.99877160e-01 -1.48032792e-02 5.15057337e-03 2.63338624e+01] [ 1.47723461e-02 9.99872924e-01 5.99285087e-03 1.93840037e-01] [-5.23863270e-03 -5.91602865e-03 9.99968778e-01 -2.70249845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98119381700002 meters Centerline goodness : 0.938249 Centerline is valid? [False, False] Translation: X:26.33, Y:0.20, Z:-2.70 [[ 9.99885836e-01 -1.42372582e-02 5.06107411e-03 2.63340108e+01] [ 1.42082178e-02 9.99882649e-01 5.72836643e-03 1.95771852e-01] [-5.14203642e-03 -5.65580362e-03 9.99970785e-01 -2.70199650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01119381700002 meters Centerline goodness : 0.945978 Centerline is valid? [False, False] Translation: X:26.33, Y:0.20, Z:-2.70 [[ 9.99941249e-01 -9.50812468e-03 5.20511116e-03 2.63334327e+01] [ 9.45556591e-03 9.99904984e-01 1.00306915e-02 1.95399199e-01] [-5.29998965e-03 -9.98088494e-03 9.99936144e-01 -2.70137326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04119381700002 meters Centerline goodness : 0.944008 Centerline is valid? [False, False] Translation: X:26.33, Y:0.20, Z:-2.70 [[ 9.99951588e-01 -8.59511313e-03 4.79008827e-03 2.63345201e+01] [ 8.54563747e-03 9.99910897e-01 1.02552427e-02 1.96160896e-01] [-4.87780643e-03 -1.02138119e-02 9.99935940e-01 -2.70133032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07119381700002 meters Centerline goodness : 0.943786 Centerline is valid? [False, False] Translation: X:26.34, Y:0.20, Z:-2.70 [[ 9.99964856e-01 -7.22407800e-03 4.25441138e-03 2.63362489e+01] [ 7.17725520e-03 9.99914617e-01 1.09200117e-02 1.96519887e-01] [-4.33293514e-03 -1.08890929e-02 9.99931324e-01 -2.70178230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10119381700002 meters Centerline goodness : 0.946070 Centerline is valid? [False, False] Translation: X:26.34, Y:0.20, Z:-2.70 [[ 9.99973753e-01 -5.95201714e-03 4.13129155e-03 2.63368974e+01] [ 5.90349445e-03 9.99914597e-01 1.16596272e-02 1.96296576e-01] [-4.20033703e-03 -1.16349321e-02 9.99923490e-01 -2.70187513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13119381700002 meters Centerline goodness : 0.948579 Centerline is valid? [False, False] Translation: X:26.33, Y:0.19, Z:-2.70 [[ 9.99992113e-01 3.97116420e-03 6.06948009e-05 2.63324774e+01] [-3.97141430e-03 9.99980066e-01 4.90878555e-03 1.93945902e-01] [-4.11999976e-05 -4.90898788e-03 9.99987950e-01 -2.69732691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16119381700003 meters Centerline goodness : 0.947265 Centerline is valid? [False, False] Translation: X:26.34, Y:0.19, Z:-2.70 [[ 9.99982627e-01 5.85592661e-03 -6.73831571e-04 2.63353352e+01] [-5.85116219e-03 9.99959298e-01 6.86776785e-03 1.91158509e-01] [ 7.14021289e-04 -6.86370584e-03 9.99976190e-01 -2.69900841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19119381700003 meters Centerline goodness : 0.943487 Centerline is valid? [False, False] Translation: X:26.34, Y:0.19, Z:-2.70 [[ 9.99990223e-01 4.22195501e-03 -1.31488664e-03 2.63380558e+01] [-4.21572697e-03 9.99980051e-01 4.70385367e-03 1.89408660e-01] [ 1.33471987e-03 -4.69826448e-03 9.99988072e-01 -2.70034824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22119381700003 meters Centerline goodness : 0.938727 Centerline is valid? [False, False] Translation: X:26.34, Y:0.18, Z:-2.70 [[ 9.99992970e-01 3.03748218e-03 -2.19861883e-03 2.63410477e+01] [-3.02790054e-03 9.99985962e-01 4.34831603e-03 1.79806355e-01] [ 2.21179590e-03 -4.34162826e-03 9.99988129e-01 -2.70176515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25119381700003 meters Centerline goodness : 0.935969 Centerline is valid? [False, False] Translation: X:26.34, Y:0.17, Z:-2.70 [[ 9.99995670e-01 7.25391722e-04 -2.85186419e-03 2.63432466e+01] [-7.17841606e-04 9.99996238e-01 2.64756459e-03 1.74576918e-01] [ 2.85377399e-03 -2.64550594e-03 9.99992429e-01 -2.70283630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28119381700003 meters Centerline goodness : 0.931406 Centerline is valid? [False, False] Translation: X:26.35, Y:0.17, Z:-2.70 [[ 9.99993066e-01 -1.66509182e-03 -3.33091359e-03 2.63451652e+01] [ 1.66882194e-03 9.99997983e-01 1.11738305e-03 1.68616163e-01] [ 3.32904633e-03 -1.12293401e-03 9.99993828e-01 -2.70403460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31119381700003 meters Centerline goodness : 0.929402 Centerline is valid? [False, False] Translation: X:26.35, Y:0.16, Z:-2.70 [[ 9.99983861e-01 -4.20745080e-03 -3.81771804e-03 2.63467754e+01] [ 4.20581445e-03 9.99991060e-01 -4.36548789e-04 1.62435871e-01] [ 3.81952066e-03 4.20485130e-04 9.99992617e-01 -2.70486036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34119381700003 meters Centerline goodness : 0.928055 Centerline is valid? [False, False] Translation: X:26.35, Y:0.15, Z:-2.71 [[ 9.99971331e-01 -6.33839291e-03 -4.14265444e-03 2.63475816e+01] [ 6.34051558e-03 9.99979774e-01 4.99459734e-04 1.46610974e-01] [ 4.13940488e-03 -5.25711980e-04 9.99991294e-01 -2.70584463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37119381700003 meters Centerline goodness : 0.928055 Centerline is valid? [False, False] Translation: X:26.35, Y:0.15, Z:-2.71 [[ 9.99971331e-01 -6.33839291e-03 -4.14265444e-03 2.63475816e+01] [ 6.34051558e-03 9.99979774e-01 4.99459734e-04 1.46610974e-01] [ 4.13940488e-03 -5.25711980e-04 9.99991294e-01 -2.70584463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40119381700003 meters Centerline goodness : 0.924893 Centerline is valid? [False, False] Translation: X:26.35, Y:0.14, Z:-2.71 [[ 9.99952641e-01 -8.52631024e-03 -4.69237145e-03 2.63495676e+01] [ 8.52404831e-03 9.99963544e-01 -5.01831149e-04 1.39039982e-01] [ 4.69647915e-03 4.61809382e-04 9.99988865e-01 -2.70695881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43119381700004 meters Centerline goodness : 0.922080 Centerline is valid? [False, False] Translation: X:26.37, Y:0.13, Z:-2.71 [[ 9.99954332e-01 -9.46768949e-03 -1.30252032e-03 2.63664943e+01] [ 9.47912328e-03 9.99913923e-01 9.07152438e-03 1.26725301e-01] [ 1.21652183e-03 -9.08345686e-03 9.99958005e-01 -2.71210141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46119381700004 meters Centerline goodness : 0.920935 Centerline is valid? [False, False] Translation: X:26.37, Y:0.12, Z:-2.71 [[ 9.99932292e-01 -1.14833939e-02 -1.88213905e-03 2.63682263e+01] [ 1.14986201e-02 9.99899531e-01 8.28916933e-03 1.17808751e-01] [ 1.78676216e-03 -8.31025009e-03 9.99963873e-01 -2.71259269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49119381700004 meters Centerline goodness : 0.922864 Centerline is valid? [False, False] Translation: X:26.39, Y:0.09, Z:-2.72 [[ 9.99925180e-01 -1.20156728e-02 2.29324702e-03 2.63869926e+01] [ 1.19778956e-02 9.99802928e-01 1.58314599e-02 9.46762980e-02] [-2.48302072e-03 -1.58028071e-02 9.99872045e-01 -2.71722880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52119381700004 meters Centerline goodness : 0.923433 Centerline is valid? [False, False] Translation: X:26.39, Y:0.09, Z:-2.72 [[ 9.99901521e-01 -1.39263593e-02 1.73321708e-03 2.63881962e+01] [ 1.38985805e-02 9.99789055e-01 1.51220289e-02 8.61091962e-02] [-1.94344627e-03 -1.50964505e-02 9.99884153e-01 -2.71705808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55119381700004 meters Centerline goodness : 0.923395 Centerline is valid? [False, False] Translation: X:26.39, Y:0.08, Z:-2.72 [[ 9.99873663e-01 -1.58494347e-02 1.20543209e-03 2.63890242e+01] [ 1.58304634e-02 9.99771159e-01 1.43883841e-02 7.76936875e-02] [-1.43320400e-03 -1.43674837e-02 9.99895755e-01 -2.71647170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58119381700004 meters Centerline goodness : 0.922491 Centerline is valid? [False, False] Translation: X:26.39, Y:0.07, Z:-2.72 [[ 9.99841758e-01 -1.77740458e-02 7.36721062e-04 2.63901520e+01] [ 1.77621953e-02 9.99747033e-01 1.37976218e-02 6.88991322e-02] [-9.81774257e-04 -1.37823526e-02 9.99904537e-01 -2.71642249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61119381700004 meters Centerline goodness : 0.922184 Centerline is valid? [False, False] Translation: X:26.41, Y:0.04, Z:-2.72 [[ 9.99816083e-01 -1.88716121e-02 3.41489731e-03 2.64124203e+01] [ 1.88039751e-02 9.99645310e-01 1.88590785e-02 4.43917918e-02] [-3.76958729e-03 -1.87913964e-02 9.99816320e-01 -2.71938118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters Centerline goodness : 0.920027 Centerline is valid? [False, False] Translation: X:26.41, Y:0.04, Z:-2.72 [[ 9.99715257e-01 -2.36518300e-02 3.16162095e-03 2.64135678e+01] [ 2.36019925e-02 9.99609394e-01 1.49668258e-02 3.56392612e-02] [-3.51437882e-03 -1.48879436e-02 9.99882992e-01 -2.71937875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67119381700002 meters Centerline goodness : 0.921158 Centerline is valid? [False, False] Translation: X:26.43, Y:0.02, Z:-2.72 [[ 9.99634869e-01 -2.63056535e-02 6.17585666e-03 2.64324295e+01] [ 2.61762259e-02 9.99453685e-01 2.01776285e-02 2.41083915e-02] [-6.70326840e-03 -2.00086004e-02 9.99777336e-01 -2.72240444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70119381700002 meters Centerline goodness : 0.922557 Centerline is valid? [False, False] Translation: X:26.43, Y:0.02, Z:-2.72 [[ 9.99544449e-01 -2.95501651e-02 6.13854823e-03 2.64324985e+01] [ 2.94326215e-02 9.99396860e-01 1.84292403e-02 1.60222135e-02] [-6.67943292e-03 -1.82401713e-02 9.99811323e-01 -2.72161633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73119381700002 meters Centerline goodness : 0.923807 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.01, Z:-2.73 [[ 9.99358850e-01 -3.46203772e-02 9.12791154e-03 2.64688293e+01] [ 3.43475419e-02 9.99002902e-01 2.85210104e-02 -5.92548026e-03] [-1.01062183e-02 -2.81892029e-02 9.99551516e-01 -2.72525942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76119381700002 meters Centerline goodness : 0.921932 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.01, Z:-2.73 [[ 9.99170719e-01 -3.97714878e-02 8.72375431e-03 2.64708774e+01] [ 3.95516081e-02 9.98927462e-01 2.40748059e-02 -1.32073453e-02] [-9.67188860e-03 -2.37098026e-02 9.99672096e-01 -2.72568357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79119381700002 meters Centerline goodness : 0.924452 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.02, Z:-2.73 [[ 9.99052218e-01 -4.26799995e-02 8.54887436e-03 2.64721104e+01] [ 4.24788589e-02 9.98844660e-01 2.24697858e-02 -2.05650751e-02] [-9.49800796e-03 -2.20853430e-02 9.99710971e-01 -2.72602459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82119381700002 meters Centerline goodness : 0.921796 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.03, Z:-2.73 [[ 9.98946210e-01 -4.51459938e-02 8.26496967e-03 2.64737836e+01] [ 4.49628724e-02 9.98764902e-01 2.11426197e-02 -2.69844837e-02] [-9.20926620e-03 -2.07487231e-02 9.99742307e-01 -2.72674400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85119381700002 meters Centerline goodness : 0.921231 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.04, Z:-2.73 [[ 9.98735905e-01 -4.94387566e-02 9.07750015e-03 2.64740733e+01] [ 4.92617444e-02 9.98609225e-01 1.87855182e-02 -3.86261635e-02] [-9.99360806e-03 -1.83145980e-02 9.99782328e-01 -2.72708817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88119381700002 meters Centerline goodness : 0.919377 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.04, Z:-2.73 [[ 9.98633869e-01 -5.14388048e-02 9.18938867e-03 2.64753994e+01] [ 5.12725328e-02 9.98531434e-01 1.74957966e-02 -4.37933468e-02] [-1.00758563e-02 -1.70007319e-02 9.99804707e-01 -2.72826337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91119381700003 meters Centerline goodness : 0.921955 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.05, Z:-2.73 [[ 9.98848290e-01 -4.79443135e-02 1.85377828e-03 2.64637094e+01] [ 4.78844826e-02 9.98551098e-01 2.45516084e-02 -5.43582254e-02] [-3.02820235e-03 -2.44345649e-02 9.99696845e-01 -2.72575244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94119381700003 meters Centerline goodness : 0.922409 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.06, Z:-2.73 [[ 9.98871680e-01 -4.74555605e-02 1.82656975e-03 2.64642973e+01] [ 4.73913890e-02 9.98531382e-01 2.62514040e-02 -5.88571321e-02] [-3.06966231e-03 -2.61352204e-02 9.99653704e-01 -2.72585767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97119381700003 meters Centerline goodness : 0.918746 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.07, Z:-2.73 [[ 9.98807377e-01 -4.87781145e-02 2.12600928e-03 2.64651843e+01] [ 4.87070975e-02 9.98479038e-01 2.58307999e-02 -6.63948777e-02] [-3.38275341e-03 -2.56964417e-02 9.99664069e-01 -2.72675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00119381700003 meters Centerline goodness : 0.920539 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.07, Z:-2.73 [[ 9.98849006e-01 -4.79220812e-02 2.03406720e-03 2.64656044e+01] [ 4.78462894e-02 9.98460412e-01 2.80631268e-02 -7.17562957e-02] [-3.37577901e-03 -2.79335037e-02 9.99604083e-01 -2.72636704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03119381700003 meters Centerline goodness : 0.916546 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.08, Z:-2.73 [[ 9.98766376e-01 -4.96012150e-02 2.33376381e-03 2.64657865e+01] [ 4.95232036e-02 9.98428913e-01 2.62136890e-02 -7.53221157e-02] [-3.63032809e-03 -2.60657757e-02 9.99653638e-01 -2.72671555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06119381700003 meters Centerline goodness : 0.919925 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.08, Z:-2.73 [[ 9.98806163e-01 -4.87942283e-02 2.31780715e-03 2.64659755e+01] [ 4.87087418e-02 9.98407737e-01 2.84508349e-02 -8.03493824e-02] [-3.70235312e-03 -2.83039718e-02 9.99592506e-01 -2.72621207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09119381700003 meters Centerline goodness : 0.917264 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.09, Z:-2.73 [[ 9.98923252e-01 -4.63385136e-02 2.25376818e-03 2.64667367e+01] [ 4.62397068e-02 9.98390452e-01 3.28389110e-02 -8.92274874e-02] [-3.77184695e-03 -3.26993382e-02 9.99458116e-01 -2.72601041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12119381700003 meters Centerline goodness : 0.917613 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.09, Z:-2.73 [[ 9.98966896e-01 -4.53774332e-02 2.45545253e-03 2.64663116e+01] [ 4.52639284e-02 9.98361863e-01 3.49966745e-02 -9.41344271e-02] [-4.03948942e-03 -3.48493758e-02 9.99384412e-01 -2.72528840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15119381700003 meters Centerline goodness : 0.914491 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.10, Z:-2.72 [[ 9.98884287e-01 -4.71278409e-02 3.02453118e-03 2.64651791e+01] [ 4.70005923e-02 9.98334400e-01 3.34569842e-02 -9.81371054e-02] [-4.59624896e-03 -3.32775011e-02 9.99435582e-01 -2.72440689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18119381700004 meters Centerline goodness : 0.918728 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.10, Z:-2.72 [[ 9.98829757e-01 -4.82315299e-02 3.58276575e-03 2.64636259e+01] [ 4.80878971e-02 9.98300522e-01 3.29184131e-02 -1.03143105e-01] [-5.16438234e-03 -3.27076029e-02 9.99451621e-01 -2.72286247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21119381700004 meters Centerline goodness : 0.920050 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.11, Z:-2.72 [[ 9.98732821e-01 -5.01526888e-02 4.17847473e-03 2.64622625e+01] [ 4.99962331e-02 9.98249532e-01 3.15950791e-02 -1.07937881e-01] [-5.75573861e-03 -3.13461345e-02 9.99492017e-01 -2.72157777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24119381700004 meters Centerline goodness : 0.917285 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.12, Z:-2.72 [[ 9.98837804e-01 -4.80149121e-02 4.19634114e-03 2.64610454e+01] [ 4.78285324e-02 9.98177249e-01 3.68050441e-02 -1.20132057e-01] [-5.95588322e-03 -3.65615646e-02 9.99313654e-01 -2.71821419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27119381700004 meters Centerline goodness : 0.923286 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.12, Z:-2.72 [[ 9.98852804e-01 -4.72027026e-02 8.06107033e-03 2.64669634e+01] [ 4.69886817e-02 9.98583905e-01 2.49448960e-02 -1.20558829e-01] [-9.22712160e-03 -2.45375002e-02 9.99656327e-01 -2.71770599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30119381700004 meters Centerline goodness : 0.916865 Centerline is valid? [False, False] Translation: X:26.46, Y:-0.13, Z:-2.71 [[ 9.98912209e-01 -4.66302233e-02 -1.42541889e-04 2.64637903e+01] [ 4.65908817e-02 9.97934217e-01 4.42333377e-02 -1.32526998e-01] [-1.92036299e-03 -4.41918622e-02 9.99021217e-01 -2.71036556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33119381700004 meters Centerline goodness : 0.914965 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.14, Z:-2.71 [[ 9.98943086e-01 -4.59201464e-02 2.01266694e-03 2.64715433e+01] [ 4.58278143e-02 9.98394110e-01 3.33018368e-02 -1.35189774e-01] [-3.53866004e-03 -3.31744035e-02 9.99443313e-01 -2.70984686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700004 meters Centerline goodness : 0.910369 Centerline is valid? [False, False] Translation: X:26.47, Y:-0.15, Z:-2.71 [[ 9.99047391e-01 -4.35632729e-02 -2.55949806e-03 2.64734703e+01] [ 4.36071936e-02 9.98832008e-01 2.08094115e-02 -1.45832622e-01] [ 1.64998252e-03 -2.09012008e-02 9.99780185e-01 -2.71072585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39119381700002 meters Centerline goodness : 0.915736 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.15, Z:-2.71 [[ 9.98968135e-01 -4.53224733e-02 -2.92199664e-03 2.64760127e+01] [ 4.53716714e-02 9.98773017e-01 1.98462199e-02 -1.51700102e-01] [ 2.01893163e-03 -1.99583172e-02 9.99798774e-01 -2.71241905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42119381700002 meters Centerline goodness : 0.908360 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.16, Z:-2.71 [[ 9.98865978e-01 -4.75069292e-02 -3.13837577e-03 2.64779841e+01] [ 4.75572470e-02 9.98695371e-01 1.85974457e-02 -1.57638850e-01] [ 2.25077382e-03 -1.87256083e-02 9.99822127e-01 -2.71361527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45119381700002 meters Centerline goodness : 0.911912 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.17, Z:-2.71 [[ 9.98624469e-01 -5.23289181e-02 -3.29443554e-03 2.64799429e+01] [ 5.23746182e-02 9.98502718e-01 1.57867437e-02 -1.70353417e-01] [ 2.46339963e-03 -1.59375733e-02 9.99869954e-01 -2.71428916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48119381700002 meters Centerline goodness : 0.912686 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.18, Z:-2.72 [[ 9.98478204e-01 -5.50291636e-02 -3.61479706e-03 2.64819522e+01] [ 5.50754326e-02 9.98380182e-01 1.42726446e-02 -1.76701761e-01] [ 2.82353005e-03 -1.44500111e-02 9.99891607e-01 -2.71528918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51119381700002 meters Centerline goodness : 0.907127 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.18, Z:-2.72 [[ 9.98303371e-01 -5.81146387e-02 -3.61509521e-03 2.64827184e+01] [ 5.81549995e-02 9.98231847e-01 1.22953424e-02 -1.82699554e-01] [ 2.89416379e-03 -1.24847176e-02 9.99917874e-01 -2.71545441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54119381700002 meters Centerline goodness : 0.905764 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.19, Z:-2.72 [[ 9.98137648e-01 -6.08984698e-02 -3.55143999e-03 2.64834469e+01] [ 6.09326663e-02 9.98086836e-01 1.04822772e-02 -1.88306553e-01] [ 2.90629086e-03 -1.06791542e-02 9.99938753e-01 -2.71572639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57119381700002 meters Centerline goodness : 0.905483 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.20, Z:-2.72 [[ 9.98048588e-01 -6.23366194e-02 -3.62795386e-03 2.64851624e+01] [ 6.23725346e-02 9.97994375e-01 1.08117784e-02 -2.00611535e-01] [ 2.94670782e-03 -1.10169649e-02 9.99934970e-01 -2.71661809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60119381700002 meters Centerline goodness : 0.907350 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.21, Z:-2.72 [[ 9.97941281e-01 -6.40474888e-02 -3.33448578e-03 2.64844595e+01] [ 6.40766827e-02 9.97899354e-01 9.54244185e-03 -2.05375957e-01] [ 2.71631177e-03 -9.73645944e-03 9.99948910e-01 -2.71575915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63119381700002 meters Centerline goodness : 0.904729 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.21, Z:-2.71 [[ 9.97870524e-01 -6.51629711e-02 -2.86437572e-03 2.64829567e+01] [ 6.51858395e-02 9.97834449e-01 8.78741188e-03 -2.10716736e-01] [ 2.28555890e-03 -8.95541604e-03 9.99957287e-01 -2.71437406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66119381700003 meters Centerline goodness : 0.907504 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.22, Z:-2.71 [[ 9.97809008e-01 -6.61138734e-02 -2.47789919e-03 2.64817028e+01] [ 6.61322000e-02 9.97776868e-01 8.23735066e-03 -2.16272257e-01] [ 1.92778734e-03 -8.38317161e-03 9.99963002e-01 -2.71307229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69119381700003 meters Centerline goodness : 0.908349 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.23, Z:-2.71 [[ 9.97869973e-01 -6.51951758e-02 -2.25952151e-03 2.64816340e+01] [ 6.52151946e-02 9.97817493e-01 1.03551336e-02 -2.27896954e-01] [ 1.57948533e-03 -1.04804321e-02 9.99943831e-01 -2.71278945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72119381700003 meters Centerline goodness : 0.908615 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.23, Z:-2.71 [[ 9.97760255e-01 -6.68653398e-02 -1.87080421e-03 2.64807529e+01] [ 6.68797509e-02 9.97718987e-01 9.16089512e-03 -2.32469273e-01] [ 1.25399051e-03 -9.26549597e-03 9.99956288e-01 -2.71203034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75119381700003 meters Centerline goodness : 0.907716 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.24, Z:-2.71 [[ 9.97629066e-01 -6.88016356e-02 -1.60675643e-03 2.64799665e+01] [ 6.88123517e-02 9.97597503e-01 8.00511053e-03 -2.37788408e-01] [ 1.05213150e-03 -8.09669563e-03 9.99966668e-01 -2.71088576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78119381700003 meters Centerline goodness : 0.909472 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.24, Z:-2.71 [[ 9.97453658e-01 -7.13020307e-02 -1.49044636e-03 2.64796525e+01] [ 7.13101754e-02 9.97433586e-01 6.41088335e-03 -2.43497410e-01] [ 1.02951226e-03 -6.50084304e-03 9.99978339e-01 -2.70990831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81119381700003 meters Centerline goodness : 0.910775 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.26, Z:-2.71 [[ 9.97101346e-01 -7.60806503e-02 -8.00745609e-04 2.64780162e+01] [ 7.60832172e-02 9.97093788e-01 3.91444716e-03 -2.57137555e-01] [ 5.00604786e-04 -3.96402383e-03 9.99992018e-01 -2.70739853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84119381700003 meters Centerline goodness : 0.911677 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.26, Z:-2.71 [[ 9.96888883e-01 -7.88172192e-02 -6.33354889e-04 2.64772435e+01] [ 7.88185552e-02 9.96885912e-01 2.47249851e-03 -2.63736152e-01] [ 4.36507109e-04 -2.51472640e-03 9.99996743e-01 -2.70575588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87119381700003 meters Centerline goodness : 0.912833 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.27, Z:-2.70 [[ 9.96619538e-01 -8.21538956e-02 -4.83562814e-04 2.64772171e+01] [ 8.21540754e-02 9.96619574e-01 3.64544071e-04 -2.69389841e-01] [ 4.51979450e-04 -4.03038399e-04 9.99999817e-01 -2.70493850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90119381700003 meters Centerline goodness : 0.917763 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.27, Z:-2.70 [[ 9.96338445e-01 -8.54953660e-02 -4.96349001e-04 2.64777457e+01] [ 8.54942500e-02 9.96336757e-01 -1.94945220e-03 -2.74275008e-01] [ 6.61199883e-04 1.89987919e-03 9.99997977e-01 -2.70446674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93119381700004 meters Centerline goodness : 0.916658 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.28, Z:-2.70 [[ 9.96040937e-01 -8.88949240e-02 -3.79172649e-04 2.64783715e+01] [ 8.88923182e-02 9.96031004e-01 -4.51609117e-03 -2.78275124e-01] [ 7.79125295e-04 4.46450614e-03 9.99989731e-01 -2.70454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96119381700004 meters Centerline goodness : 0.914038 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.29, Z:-2.71 [[ 9.95446883e-01 -9.53178874e-02 -6.65658971e-05 2.64799393e+01] [ 9.53130171e-02 9.95402611e-01 -9.43773900e-03 -2.85645869e-01] [ 9.65845211e-04 9.38842326e-03 9.99955461e-01 -2.70522093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99119381700004 meters Centerline goodness : 0.913508 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.29, Z:-2.71 [[ 9.95107418e-01 -9.87989183e-02 2.11123444e-05 2.64809701e+01] [ 9.87917399e-02 9.95032495e-01 -1.22689129e-02 -2.89140851e-01] [ 1.19114785e-03 1.22109719e-02 9.99924734e-01 -2.70564610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02119381700004 meters Centerline goodness : 0.913311 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.29, Z:-2.71 [[ 9.94755365e-01 -1.02282729e-01 8.99564304e-05 2.64821584e+01] [ 1.02272408e-01 9.94641700e-01 -1.51077187e-02 -2.92679145e-01] [ 1.45578428e-03 1.50376843e-02 9.99885868e-01 -2.70617838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05119381700004 meters Centerline goodness : 0.909359 Centerline is valid? [False, False] Translation: X:26.48, Y:-0.30, Z:-2.71 [[ 9.94436333e-01 -1.05339350e-01 2.08670550e-05 2.64845338e+01] [ 1.05324879e-01 9.94296403e-01 -1.67729871e-02 -2.99923734e-01] [ 1.74610752e-03 1.66818656e-02 9.99859323e-01 -2.70759732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08119381700004 meters Centerline goodness : 0.911040 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.30, Z:-2.71 [[ 9.94457780e-01 -1.05136222e-01 -3.14448544e-04 2.64857717e+01] [ 1.05117849e-01 9.94331724e-01 -1.59580564e-02 -3.02362082e-01] [ 1.99043592e-03 1.58365592e-02 9.99872613e-01 -2.70823856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11119381700004 meters Centerline goodness : 0.909724 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.30, Z:-2.71 [[ 9.94467209e-01 -1.05045137e-01 -6.99173780e-04 2.64871271e+01] [ 1.05021792e-01 9.94349293e-01 -1.54889377e-02 -3.03853045e-01] [ 2.32226055e-03 1.53298122e-02 9.99879795e-01 -2.70894697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters Centerline goodness : 0.908039 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.31, Z:-2.71 [[ 9.94493708e-01 -1.04790827e-01 -1.07120608e-03 2.64885251e+01] [ 1.04763429e-01 9.94385823e-01 -1.48815267e-02 -3.05540353e-01] [ 2.62463962e-03 1.46873614e-02 9.99888690e-01 -2.70974587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17119381700002 meters Centerline goodness : 0.905305 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.31, Z:-2.71 [[ 9.94524609e-01 -1.04492591e-01 -1.44907935e-03 2.64898897e+01] [ 1.04461845e-01 9.94428221e-01 -1.41504730e-02 -3.07561696e-01] [ 2.91962498e-03 1.39216201e-02 9.99898827e-01 -2.71050243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20119381700002 meters Centerline goodness : 0.904582 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.31, Z:-2.71 [[ 9.94570312e-01 -1.04050246e-01 -1.85498513e-03 2.64913543e+01] [ 1.04018367e-01 9.94493333e-01 -1.27745731e-02 -3.12057648e-01] [ 3.17396782e-03 1.25122587e-02 9.99916681e-01 -2.71104667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23119381700002 meters Centerline goodness : 0.903740 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.31, Z:-2.71 [[ 9.94597867e-01 -1.03779930e-01 -2.19276298e-03 2.64921492e+01] [ 1.03746179e-01 9.94530152e-01 -1.21040386e-02 -3.14138179e-01] [ 3.43692518e-03 1.18111602e-02 9.99924339e-01 -2.71104706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26119381700002 meters Centerline goodness : 0.903740 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.31, Z:-2.71 [[ 9.94597867e-01 -1.03779930e-01 -2.19276298e-03 2.64921492e+01] [ 1.03746179e-01 9.94530152e-01 -1.21040386e-02 -3.14138179e-01] [ 3.43692518e-03 1.18111602e-02 9.99924339e-01 -2.71104706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29119381700002 meters Centerline goodness : 0.903414 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.32, Z:-2.71 [[ 9.94633372e-01 -1.03432853e-01 -2.47001513e-03 2.64927287e+01] [ 1.03398280e-01 9.94574196e-01 -1.14440062e-02 -3.15774926e-01] [ 3.64029952e-03 1.11271952e-02 9.99931465e-01 -2.71098607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32119381700002 meters Centerline goodness : 0.903504 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.32, Z:-2.71 [[ 9.95002924e-01 -9.97908384e-02 -3.31221403e-03 2.64939916e+01] [ 9.97668360e-02 9.94987896e-01 -6.75765373e-03 -3.19053405e-01] [ 3.96996480e-03 6.39343610e-03 9.99971681e-01 -2.71106397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35119381700002 meters Centerline goodness : 0.904135 Centerline is valid? [False, False] Translation: X:26.49, Y:-0.32, Z:-2.71 [[ 9.95073884e-01 -9.90707648e-02 -3.59835186e-03 2.64948701e+01] [ 9.90499176e-02 9.95066867e-01 -5.57178434e-03 -3.21789232e-01] [ 4.13260165e-03 5.18792063e-03 9.99978003e-01 -2.71141142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38119381700002 meters Centerline goodness : 0.905619 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.32, Z:-2.71 [[ 9.95060321e-01 -9.91976976e-02 -3.84382865e-03 2.64957049e+01] [ 9.91768304e-02 9.95055790e-01 -5.28500829e-03 -3.23201954e-01] [ 4.34908460e-03 4.87768330e-03 9.99978647e-01 -2.71166854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41119381700003 meters Centerline goodness : 0.903706 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.33, Z:-2.71 [[ 9.95068275e-01 -9.91117852e-02 -3.99774730e-03 2.64961173e+01] [ 9.90935500e-02 9.95067821e-01 -4.52763551e-03 -3.25441691e-01] [ 4.42677174e-03 4.10915548e-03 9.99981759e-01 -2.71158737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44119381700003 meters Centerline goodness : 0.904432 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.33, Z:-2.71 [[ 9.95030586e-01 -9.94742328e-02 -4.36010465e-03 2.64970549e+01] [ 9.94567529e-02 9.95033610e-01 -4.05815239e-03 -3.27573027e-01] [ 4.74213227e-03 3.60434390e-03 9.99982260e-01 -2.71155222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47119381700003 meters Centerline goodness : 0.904545 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.33, Z:-2.71 [[ 9.94572889e-01 -1.03956630e-01 -4.21758243e-03 2.64976186e+01] [ 1.03923796e-01 9.94557927e-01 -7.37386746e-03 -3.30416693e-01] [ 4.96119245e-03 6.89554149e-03 9.99963918e-01 -2.71117486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50119381700003 meters Centerline goodness : 0.906074 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.33, Z:-2.71 [[ 9.94487014e-01 -1.04769645e-01 -4.34753843e-03 2.64981688e+01] [ 1.04737807e-01 9.94475240e-01 -6.99919373e-03 -3.33306078e-01] [ 5.05682236e-03 6.50525563e-03 9.99966055e-01 -2.71093461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53119381700003 meters Centerline goodness : 0.904855 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.34, Z:-2.71 [[ 9.94399338e-01 -1.05589417e-01 -4.56410283e-03 2.64990541e+01] [ 1.05557778e-01 9.94390651e-01 -6.69244945e-03 -3.36090323e-01] [ 5.24515302e-03 6.17319076e-03 9.99967190e-01 -2.71094862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56119381700003 meters Centerline goodness : 0.903980 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.34, Z:-2.71 [[ 9.93819547e-01 -1.10921364e-01 -4.37714967e-03 2.65008260e+01] [ 1.10866165e-01 9.93771055e-01 -1.13041392e-02 -3.36479951e-01] [ 5.60375519e-03 1.07489967e-02 9.99926526e-01 -2.71225321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59119381700003 meters Centerline goodness : 0.901865 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.34, Z:-2.71 [[ 9.93645408e-01 -1.12451787e-01 -4.83730616e-03 2.65033327e+01] [ 1.12385493e-01 9.93588590e-01 -1.22969181e-02 -3.36202009e-01] [ 6.18910263e-03 1.16751332e-02 9.99912689e-01 -2.71385661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62119381700003 meters Centerline goodness : 0.902336 Centerline is valid? [False, False] Translation: X:26.50, Y:-0.34, Z:-2.71 [[ 9.93530006e-01 -1.13451975e-01 -5.17464838e-03 2.65049199e+01] [ 1.13377591e-01 9.93467949e-01 -1.29211374e-02 -3.35690873e-01] [ 6.60677587e-03 1.22508485e-02 9.99903129e-01 -2.71481206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65119381700003 meters Centerline goodness : 0.903956 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.34, Z:-2.72 [[ 9.93429600e-01 -1.14317963e-01 -5.38826088e-03 2.65059441e+01] [ 1.14237189e-01 9.93362267e-01 -1.34637056e-02 -3.35087241e-01] [ 6.89163844e-03 1.27597039e-02 9.99894842e-01 -2.71543743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68119381700004 meters Centerline goodness : 0.901268 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.33, Z:-2.72 [[ 9.93200717e-01 -1.16290960e-01 -5.36182131e-03 2.65071027e+01] [ 1.16198622e-01 9.93110486e-01 -1.51474020e-02 -3.32758490e-01] [ 7.08638689e-03 1.44213743e-02 9.99870895e-01 -2.71656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71119381700004 meters Centerline goodness : 0.902783 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.33, Z:-2.72 [[ 9.93514695e-01 -1.13554559e-01 -5.82344532e-03 2.65074814e+01] [ 1.13481321e-01 9.93471740e-01 -1.16572381e-02 -3.33337209e-01] [ 7.10916089e-03 1.09207851e-02 9.99915095e-01 -2.71647289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74119381700004 meters Centerline goodness : 0.900145 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.33, Z:-2.72 [[ 9.93718952e-01 -1.11707979e-01 -6.63113979e-03 2.65096316e+01] [ 1.11641654e-01 9.93701691e-01 -9.64833739e-03 -3.31477266e-01] [ 7.66717109e-03 8.84742430e-03 9.99931466e-01 -2.71768951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77119381700004 meters Centerline goodness : 0.903844 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.33, Z:-2.72 [[ 9.94057936e-01 -1.08616506e-01 -7.16062401e-03 2.65098096e+01] [ 1.08571283e-01 9.94067878e-01 -6.42883505e-03 -3.29969070e-01] [ 7.81642392e-03 5.61319636e-03 9.99953697e-01 -2.71749311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80119381700004 meters Centerline goodness : 0.901721 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.33, Z:-2.72 [[ 9.94372594e-01 -1.05651121e-01 -7.80931385e-03 2.65103298e+01] [ 1.05627352e-01 9.94399981e-01 -3.39695052e-03 -3.27944490e-01] [ 8.12447317e-03 2.55295735e-03 9.99963737e-01 -2.71746417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83119381700004 meters Centerline goodness : 0.902248 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.32, Z:-2.72 [[ 9.94544360e-01 -1.03974170e-01 -8.41952141e-03 2.65108852e+01] [ 1.03956479e-01 9.94578671e-01 -2.51351019e-03 -3.21001385e-01] [ 8.63521655e-03 1.62453358e-03 9.99961396e-01 -2.71764179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700004 meters Centerline goodness : 0.904541 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.32, Z:-2.72 [[ 9.94482926e-01 -1.04556220e-01 -8.46800950e-03 2.65109335e+01] [ 1.04527082e-01 9.94514725e-01 -3.81466752e-03 -3.16972294e-01] [ 8.82040736e-03 2.90848539e-03 9.99956870e-01 -2.71775289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89119381700002 meters Centerline goodness : 0.903390 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.31, Z:-2.72 [[ 9.94624900e-01 -1.03140084e-01 -9.13412743e-03 2.65129239e+01] [ 1.03121393e-01 9.94665648e-01 -2.49540468e-03 -3.13615362e-01] [ 9.34277903e-03 1.54006769e-03 9.99955169e-01 -2.71912532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92119381700002 meters Centerline goodness : 0.902975 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.31, Z:-2.72 [[ 9.94543542e-01 -1.03917696e-01 -9.17907861e-03 2.65129976e+01] [ 1.03882181e-01 9.94580461e-01 -4.26599923e-03 -3.07851759e-01] [ 9.57264505e-03 3.28917928e-03 9.99948772e-01 -2.71940617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95119381700002 meters Centerline goodness : 0.902999 Centerline is valid? [False, False] Translation: X:26.51, Y:-0.30, Z:-2.72 [[ 9.94731745e-01 -1.02037659e-01 -9.85249460e-03 2.65145879e+01] [ 1.02014269e-01 9.94778855e-01 -2.84945462e-03 -3.03022296e-01] [ 1.00918050e-02 1.82934793e-03 9.99947403e-01 -2.72057595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98119381700002 meters Centerline goodness : 0.903033 Centerline is valid? [False, False] Translation: X:26.53, Y:-0.29, Z:-2.72 [[ 9.95034418e-01 -9.94546579e-02 -3.90876868e-03 2.65268007e+01] [ 9.94186183e-02 9.95009127e-01 -8.53089901e-03 -2.88025963e-01] [ 4.73769816e-03 8.09993375e-03 9.99955972e-01 -2.72401792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01119381700002 meters Centerline goodness : 0.901379 Centerline is valid? [False, False] Translation: X:26.53, Y:-0.28, Z:-2.72 [[ 9.95279989e-01 -9.69462261e-02 -4.37859256e-03 2.65273036e+01] [ 9.69148206e-02 9.95268821e-01 -6.89137438e-03 -2.82546105e-01] [ 5.02596939e-03 6.43449650e-03 9.99966668e-01 -2.72437226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04119381700002 meters Centerline goodness : 0.903886 Centerline is valid? [False, False] Translation: X:26.54, Y:-0.27, Z:-2.73 [[ 9.95609603e-01 -9.36007934e-02 6.39780287e-04 2.65407434e+01] [ 9.36020590e-02 9.95546235e-01 -1.12405254e-02 -2.66420286e-01] [ 4.15191238e-04 1.12510598e-02 9.99936619e-01 -2.72675901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07119381700002 meters Centerline goodness : 0.902624 Centerline is valid? [False, False] Translation: X:26.54, Y:-0.26, Z:-2.73 [[ 9.95870734e-01 -9.07822514e-02 2.51895037e-04 2.65408879e+01] [ 9.07806116e-02 9.95826709e-01 -9.38325834e-03 -2.60174451e-01] [ 6.00989512e-04 9.36737956e-03 9.99955945e-01 -2.72696415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10119381700002 meters Centerline goodness : 0.899948 Centerline is valid? [False, False] Translation: X:26.54, Y:-0.25, Z:-2.73 [[ 9.96073745e-01 -8.85270612e-02 -2.32347149e-04 2.65417355e+01] [ 8.85222355e-02 9.96040843e-01 -8.15183232e-03 -2.53140285e-01] [ 9.53085009e-04 8.09925826e-03 9.99966746e-01 -2.72775971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13119381700002 meters Centerline goodness : 0.898534 Centerline is valid? [False, False] Translation: X:26.54, Y:-0.25, Z:-2.73 [[ 9.96262807e-01 -8.63702390e-02 -7.75317429e-04 2.65427265e+01] [ 8.63627427e-02 9.96239170e-01 -6.99944262e-03 -2.46075297e-01] [ 1.37694512e-03 6.90632581e-03 9.99975203e-01 -2.72853097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16119381700003 meters Centerline goodness : 0.899711 Centerline is valid? [False, False] Translation: X:26.54, Y:-0.24, Z:-2.73 [[ 9.96481159e-01 -8.38086555e-02 -1.18693160e-03 2.65430694e+01] [ 8.38013043e-02 9.96468505e-01 -5.27817773e-03 -2.39975324e-01] [ 1.62509694e-03 5.16013825e-03 9.99985366e-01 -2.72884280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19119381700003 meters Centerline goodness : 0.898337 Centerline is valid? [False, False] Translation: X:26.56, Y:-0.22, Z:-2.73 [[ 9.96535453e-01 -8.30922747e-02 3.57268044e-03 2.65575617e+01] [ 8.31286182e-02 9.96470844e-01 -1.16400091e-02 -2.24231596e-01] [-2.59287706e-03 1.18966737e-02 9.99925870e-01 -2.73154275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22119381700003 meters Centerline goodness : 0.901177 Centerline is valid? [False, False] Translation: X:26.56, Y:-0.22, Z:-2.73 [[ 9.96716112e-01 -8.09223575e-02 2.92646582e-03 2.65589683e+01] [ 8.09478353e-02 9.96668132e-01 -1.00041230e-02 -2.19990987e-01] [-2.10715800e-03 1.02081616e-02 9.99945675e-01 -2.73235032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25119381700003 meters Centerline goodness : 0.896571 Centerline is valid? [False, False] Translation: X:26.56, Y:-0.22, Z:-2.73 [[ 9.96917462e-01 -7.84158380e-02 2.55527747e-03 2.65596157e+01] [ 7.84344218e-02 9.96885224e-01 -8.23962539e-03 -2.15162619e-01] [-1.90120122e-03 8.41464814e-03 9.99962789e-01 -2.73291329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28119381700003 meters Centerline goodness : 0.896983 Centerline is valid? [False, False] Translation: X:26.56, Y:-0.21, Z:-2.73 [[ 9.97137976e-01 -7.55721618e-02 2.16934191e-03 2.65602084e+01] [ 7.55846400e-02 9.97118835e-01 -6.40237625e-03 -2.09383818e-01] [-1.67925026e-03 6.54802142e-03 9.99977152e-01 -2.73348878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31119381700003 meters Centerline goodness : 0.897540 Centerline is valid? [False, False] Translation: X:26.57, Y:-0.20, Z:-2.74 [[ 9.97445032e-01 -7.10992500e-02 6.95022944e-03 2.65715960e+01] [ 7.11806801e-02 9.97387968e-01 -1.22699952e-02 -2.01097739e-01] [-6.05968776e-03 1.27333678e-02 9.99900566e-01 -2.73751415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34119381700003 meters Centerline goodness : 0.895588 Centerline is valid? [False, False] Translation: X:26.59, Y:-0.19, Z:-2.74 [[ 9.97707966e-01 -6.71635894e-02 8.23811792e-03 2.65914317e+01] [ 6.72789392e-02 9.97626930e-01 -1.46305295e-02 -1.86103563e-01] [-7.23592941e-03 1.51512476e-02 9.99859031e-01 -2.74052086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37119381700003 meters Centerline goodness : 0.899145 Centerline is valid? [False, False] Translation: X:26.59, Y:-0.18, Z:-2.74 [[ 9.97910958e-01 -6.41311849e-02 7.80453329e-03 2.65919576e+01] [ 6.42236493e-02 9.97860495e-01 -1.22374406e-02 -1.82037420e-01] [-7.00303389e-03 1.27131117e-02 9.99894662e-01 -2.74067105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40119381700003 meters Centerline goodness : 0.895347 Centerline is valid? [False, False] Translation: X:26.60, Y:-0.18, Z:-2.74 [[ 9.98063896e-01 -6.07554810e-02 1.33128296e-02 2.66037712e+01] [ 6.09924146e-02 9.97972664e-01 -1.81792824e-02 -1.75843721e-01] [-1.21813490e-02 1.89560671e-02 9.99746109e-01 -2.74475434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43119381700004 meters Centerline goodness : 0.897044 Centerline is valid? [False, False] Translation: X:26.60, Y:-0.17, Z:-2.74 [[ 9.98263497e-01 -5.74805677e-02 1.28830985e-02 2.66038896e+01] [ 5.76733480e-02 9.98220882e-01 -1.51279741e-02 -1.73377322e-01] [-1.19906134e-02 1.58447158e-02 9.99802566e-01 -2.74434255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46119381700004 meters Centerline goodness : 0.898613 Centerline is valid? [False, False] Translation: X:26.63, Y:-0.16, Z:-2.74 [[ 9.98561334e-01 -5.22147646e-02 1.22016929e-02 2.66295977e+01] [ 5.24526966e-02 9.98421723e-01 -2.00692999e-02 -1.63297898e-01] [-1.11345214e-02 2.06804386e-02 9.99724133e-01 -2.74260934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49119381700004 meters Centerline goodness : 0.894141 Centerline is valid? [False, False] Translation: X:26.63, Y:-0.16, Z:-2.74 [[ 9.98736767e-01 -4.88279217e-02 1.18619195e-02 2.66300455e+01] [ 4.90295047e-02 9.98646744e-01 -1.73432245e-02 -1.59611140e-01] [-1.09990337e-02 1.79029000e-02 9.99779229e-01 -2.74265079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52119381700004 meters Centerline goodness : 0.892065 Centerline is valid? [False, False] Translation: X:26.64, Y:-0.15, Z:-2.75 [[ 9.98887164e-01 -4.42641233e-02 1.62825157e-02 2.66430716e+01] [ 4.46282839e-02 9.98745127e-01 -2.27263735e-02 -1.53274971e-01] [-1.52561202e-02 2.34277435e-02 9.99609119e-01 -2.74723215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55119381700004 meters Centerline goodness : 0.892833 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99243809e-01 -3.58156405e-02 1.51343938e-02 2.66463307e+01] [ 3.60464219e-02 9.99233578e-01 -1.52614884e-02 -1.48301871e-01] [-1.45761944e-02 1.57954886e-02 9.99768992e-01 -2.74949975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58119381700004 meters Centerline goodness : 0.893069 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99386769e-01 -3.17558628e-02 1.47530354e-02 2.66471059e+01] [ 3.19266324e-02 9.99424197e-01 -1.14875592e-02 -1.46872516e-01] [-1.43797432e-02 1.19515294e-02 9.99825177e-01 -2.74997864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61119381700004 meters Centerline goodness : 0.891220 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99512991e-01 -2.77232488e-02 1.43249083e-02 2.66477080e+01] [ 2.78324008e-02 9.99584637e-01 -7.47736302e-03 -1.46230964e-01] [-1.41116615e-02 7.87241806e-03 9.99869434e-01 -2.74999430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700004 meters Centerline goodness : 0.892865 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99568176e-01 -2.56110722e-02 1.44060418e-02 2.66460322e+01] [ 2.56940167e-02 9.99654156e-01 -5.60227550e-03 -1.45546487e-01] [-1.42575793e-02 5.97000539e-03 9.99880533e-01 -2.74827940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67119381700002 meters Centerline goodness : 0.891617 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.14, Z:-2.75 [[ 9.99593596e-01 -2.47823092e-02 1.40882871e-02 2.66466706e+01] [ 2.48619017e-02 9.99675750e-01 -5.50273802e-03 -1.44376685e-01] [-1.39473485e-02 5.85076329e-03 9.99885613e-01 -2.74843483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70119381700002 meters Centerline goodness : 0.892820 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99684748e-01 -2.09941312e-02 1.37713721e-02 2.66472000e+01] [ 2.10109545e-02 9.99778664e-01 -1.07805537e-03 -1.45739200e-01] [-1.37456912e-02 1.36706518e-03 9.99904589e-01 -2.74852787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73119381700002 meters Centerline goodness : 0.891421 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.14, Z:-2.75 [[ 9.99699363e-01 -2.04799576e-02 1.34816892e-02 2.66478075e+01] [ 2.04948362e-02 9.99789492e-01 -9.66366174e-04 -1.44896936e-01] [-1.34590601e-02 1.24238066e-03 9.99908651e-01 -2.74871811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76119381700002 meters Centerline goodness : 0.890319 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.15, Z:-2.75 [[ 9.99781725e-01 -1.64480024e-02 1.28827613e-02 2.66491171e+01] [ 1.63968179e-02 9.99857285e-01 4.06870328e-03 -1.47641550e-01] [-1.29478448e-02 -3.85657889e-03 9.99908736e-01 -2.74901007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79119381700002 meters Centerline goodness : 0.890984 Centerline is valid? [False, False] Translation: X:26.64, Y:-0.15, Z:-2.75 [[ 9.99898658e-01 -8.46733914e-03 1.14445836e-02 2.66410457e+01] [ 8.61447010e-03 9.99880091e-01 -1.28683812e-02 -1.48061022e-01] [-1.13342503e-02 1.29656661e-02 9.99851702e-01 -2.74885169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82119381700002 meters Centerline goodness : 0.891744 Centerline is valid? [False, False] Translation: X:26.64, Y:-0.15, Z:-2.75 [[ 9.99927746e-01 -4.42434904e-03 1.11771244e-02 2.66414712e+01] [ 4.50810737e-03 9.99961865e-01 -7.47968078e-03 -1.52699823e-01] [-1.11436055e-02 7.52952802e-03 9.99909559e-01 -2.74853977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85119381700002 meters Centerline goodness : 0.893053 Centerline is valid? [False, False] Translation: X:26.66, Y:-0.16, Z:-2.75 [[ 9.99903631e-01 -3.68471103e-04 1.38777858e-02 2.66597161e+01] [ 3.56448413e-04 9.99999559e-01 8.68789752e-04 -1.59339559e-01] [-1.38780998e-02 -8.63759313e-04 9.99903321e-01 -2.74993882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88119381700002 meters Centerline goodness : 0.887293 Centerline is valid? [False, False] Translation: X:26.66, Y:-0.16, Z:-2.75 [[ 9.99904184e-01 6.71113349e-04 1.38265187e-02 2.66594062e+01] [-7.07105520e-04 9.99996374e-01 2.59840189e-03 -1.63192360e-01] [-1.38247248e-02 -2.60792973e-03 9.99901033e-01 -2.74901215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91119381700003 meters Centerline goodness : 0.889404 Centerline is valid? [False, False] Translation: X:26.67, Y:-0.18, Z:-2.75 [[ 9.99820011e-01 3.04442136e-03 1.87263799e-02 2.66737844e+01] [-3.22425558e-03 9.99948907e-01 9.58057219e-03 -1.75582343e-01] [-1.86962558e-02 -9.63922642e-03 9.99778743e-01 -2.74799276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94119381700003 meters Centerline goodness : 0.893022 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.18, Z:-2.75 [[ 9.99743295e-01 5.11031649e-03 2.20732393e-02 2.66907555e+01] [-5.48534687e-03 9.99841066e-01 1.69632764e-02 -1.84542519e-01] [-2.19830434e-02 -1.70800013e-02 9.99612435e-01 -2.74845498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97119381700003 meters Centerline goodness : 0.890839 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.19, Z:-2.75 [[ 9.99744563e-01 5.61752640e-03 2.18918085e-02 2.66910300e+01] [-6.05738898e-03 9.99780060e-01 2.00783234e-02 -1.91560978e-01] [-2.17742031e-02 -2.02058019e-02 9.99558707e-01 -2.74702480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00119381700003 meters Centerline goodness : 0.891438 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.20, Z:-2.75 [[ 9.99757143e-01 2.64724883e-03 2.18780173e-02 2.66911557e+01] [-3.03555921e-03 9.99838118e-01 1.77347750e-02 -1.95738598e-01] [-2.18275273e-02 -1.77968800e-02 9.99603336e-01 -2.74703612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03119381700003 meters Centerline goodness : 0.890068 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.20, Z:-2.75 [[ 9.99763094e-01 -1.27975626e-04 2.17655544e-02 2.66916885e+01] [-2.08066621e-04 9.99880833e-01 1.54362117e-02 -1.99831617e-01] [-2.17649361e-02 -1.54370834e-02 9.99643929e-01 -2.74742435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06119381700003 meters Centerline goodness : 0.889734 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.21, Z:-2.75 [[ 9.99765178e-01 -2.09997593e-03 2.15680238e-02 2.66928181e+01] [ 1.77684112e-03 9.99886059e-01 1.49903754e-02 -2.10922859e-01] [-2.15970458e-02 -1.49485324e-02 9.99654995e-01 -2.74813305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09119381700003 meters Centerline goodness : 0.889457 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.22, Z:-2.75 [[ 9.99759374e-01 -4.66397119e-03 2.14345637e-02 2.66931561e+01] [ 4.38649507e-03 9.99906211e-01 1.29741011e-02 -2.15209085e-01] [-2.14930643e-02 -1.28769566e-02 9.99686067e-01 -2.74817923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12119381700003 meters Centerline goodness : 0.888480 Centerline is valid? [False, False] Translation: X:26.69, Y:-0.22, Z:-2.75 [[ 9.99745613e-01 -7.28852293e-03 2.13444619e-02 2.66934399e+01] [ 7.05927982e-03 9.99916804e-01 1.07958927e-02 -2.19287791e-01] [-2.14213723e-02 -1.06424698e-02 9.99713890e-01 -2.74817704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15119381700003 meters Centerline goodness : 0.887935 Centerline is valid? [False, False] Translation: X:26.70, Y:-0.23, Z:-2.75 [[ 9.99819436e-01 -7.25612641e-03 1.75625573e-02 2.67018649e+01] [ 7.11456130e-03 9.99941806e-01 8.10972332e-03 -2.32403241e-01] [-1.76203804e-02 -7.98330911e-03 9.99812877e-01 -2.74758499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18119381700004 meters Centerline goodness : 0.887935 Centerline is valid? [False, False] Translation: X:26.70, Y:-0.23, Z:-2.75 [[ 9.99819436e-01 -7.25612641e-03 1.75625573e-02 2.67018649e+01] [ 7.11456130e-03 9.99941806e-01 8.10972332e-03 -2.32403241e-01] [-1.76203804e-02 -7.98330911e-03 9.99812877e-01 -2.74758499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21119381700004 meters Centerline goodness : 0.889038 Centerline is valid? [False, False] Translation: X:26.70, Y:-0.24, Z:-2.75 [[ 9.99818938e-01 -8.78326355e-03 1.68803081e-02 2.67042183e+01] [ 8.66012738e-03 9.99935459e-01 7.35397158e-03 -2.38471303e-01] [-1.69438105e-02 -7.20645444e-03 9.99830473e-01 -2.74889594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24119381700004 meters Centerline goodness : 0.887762 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.24, Z:-2.75 [[ 9.99797901e-01 -1.11340349e-02 1.67388847e-02 2.67051692e+01] [ 1.10433054e-02 9.99923878e-01 5.50298321e-03 -2.43006433e-01] [-1.67988809e-02 -5.31701845e-03 9.99844751e-01 -2.74968580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27119381700004 meters Centerline goodness : 0.888282 Centerline is valid? [False, False] Translation: X:26.70, Y:-0.25, Z:-2.75 [[ 9.99765252e-01 -1.35079653e-02 1.69403727e-02 2.67045580e+01] [ 1.34505129e-02 9.99903409e-01 3.50081375e-03 -2.46966976e-01] [-1.69860253e-02 -3.27213524e-03 9.99850373e-01 -2.74922822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30119381700004 meters Centerline goodness : 0.889537 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.25, Z:-2.75 [[ 9.99807698e-01 -1.39052387e-02 1.38279043e-02 2.67100247e+01] [ 1.38875015e-02 9.99902615e-01 1.37791060e-03 -2.52142525e-01] [-1.38457178e-02 -1.18561059e-03 9.99903441e-01 -2.74814191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33119381700004 meters Centerline goodness : 0.889429 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.26, Z:-2.75 [[ 9.99801510e-01 -1.48555622e-02 1.32759975e-02 2.67124661e+01] [ 1.48425681e-02 9.99889263e-01 1.07676423e-03 -2.57096894e-01] [-1.32905233e-02 -8.79500601e-04 9.99911290e-01 -2.74975106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700004 meters Centerline goodness : 0.889055 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.27, Z:-2.75 [[ 9.99768696e-01 -1.73273384e-02 1.27404185e-02 2.67148188e+01] [ 1.73234213e-02 9.99849851e-01 4.17757824e-04 -2.68473420e-01] [-1.27457442e-02 -1.96953558e-04 9.99918750e-01 -2.75108403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39119381700004 meters Centerline goodness : 0.889546 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.27, Z:-2.75 [[ 9.99715793e-01 -2.02209791e-02 1.26271521e-02 2.67152932e+01] [ 2.02407873e-02 9.99794093e-01 -1.44286872e-03 -2.74328334e-01] [-1.25953758e-02 1.69804215e-03 9.99919233e-01 -2.75109272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42119381700002 meters Centerline goodness : 0.889131 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.28, Z:-2.75 [[ 9.99648066e-01 -2.33814224e-02 1.25320515e-02 2.67156285e+01] [ 2.34276778e-02 9.99719207e-01 -3.55693708e-03 -2.80021575e-01] [-1.24453663e-02 3.84928214e-03 9.99915144e-01 -2.75091981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45119381700002 meters Centerline goodness : 0.889459 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.29, Z:-2.75 [[ 9.99568422e-01 -2.65587195e-02 1.25540104e-02 2.67156750e+01] [ 2.66313854e-02 9.99629315e-01 -5.65694167e-03 -2.85719316e-01] [-1.23991157e-02 5.98883094e-03 9.99905193e-01 -2.75065730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48119381700002 meters Centerline goodness : 0.889307 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.30, Z:-2.75 [[ 9.99373987e-01 -3.28207353e-02 1.32073620e-02 2.67140223e+01] [ 3.29521495e-02 9.99408307e-01 -9.85855285e-03 -2.95661881e-01] [-1.28759823e-02 1.02875922e-02 9.99864178e-01 -2.74911611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51119381700002 meters Centerline goodness : 0.889249 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.30, Z:-2.75 [[ 9.99252602e-01 -3.63102247e-02 1.32591411e-02 2.67142168e+01] [ 3.64772491e-02 9.99255298e-01 -1.25801306e-02 -2.99314939e-01] [-1.27924797e-02 1.30543852e-02 9.99832954e-01 -2.74908883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54119381700002 meters Centerline goodness : 0.890291 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.30, Z:-2.75 [[ 9.99115478e-01 -3.99271391e-02 1.31941033e-02 2.67149570e+01] [ 4.01310811e-02 9.99073080e-01 -1.55716916e-02 -3.02285312e-01] [-1.25601403e-02 1.60874117e-02 9.99791697e-01 -2.74951874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57119381700002 meters Centerline goodness : 0.889924 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.31, Z:-2.75 [[ 9.98964774e-01 -4.35636011e-02 1.30993211e-02 2.67157080e+01] [ 4.38030502e-02 9.98867309e-01 -1.85847111e-02 -3.05352004e-01] [-1.22748666e-02 1.91392619e-02 9.99741475e-01 -2.74984884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60119381700002 meters Centerline goodness : 0.892104 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.31, Z:-2.75 [[ 9.98603042e-01 -5.10989868e-02 1.34483588e-02 2.67159421e+01] [ 5.14242997e-02 9.98362144e-01 -2.50713181e-02 -3.10205201e-01] [-1.21452134e-02 2.57278669e-02 9.99595203e-01 -2.74995988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63119381700002 meters Centerline goodness : 0.891421 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.31, Z:-2.75 [[ 9.98573926e-01 -5.16996695e-02 1.33138278e-02 2.67161889e+01] [ 5.20119453e-02 9.98351094e-01 -2.42868404e-02 -3.13758875e-01] [-1.20362529e-02 2.49446837e-02 9.99616372e-01 -2.74956520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66119381700003 meters Centerline goodness : 0.889015 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98533053e-01 -5.25134112e-02 1.31940789e-02 2.67164803e+01] [ 5.28159471e-02 9.98322144e-01 -2.37354685e-02 -3.17121690e-01] [-1.19255107e-02 2.43975076e-02 9.99631204e-01 -2.74923315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69119381700003 meters Centerline goodness : 0.889600 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98225670e-01 -5.79968679e-02 1.34860889e-02 2.67165736e+01] [ 5.83526199e-02 9.97912203e-01 -2.76804473e-02 -3.21136627e-01] [-1.18525534e-02 2.84182816e-02 9.99525847e-01 -2.74890728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72119381700003 meters Centerline goodness : 0.892392 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98190069e-01 -5.86638885e-02 1.32338222e-02 2.67175905e+01] [ 5.90089218e-02 9.97881555e-01 -2.73924953e-02 -3.23303032e-01] [-1.15988368e-02 2.81238304e-02 9.99537151e-01 -2.74940484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75119381700003 meters Centerline goodness : 0.890090 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98159343e-01 -5.92443693e-02 1.29626515e-02 2.67188517e+01] [ 5.95816997e-02 9.97847268e-01 -2.74016651e-02 -3.24008095e-01] [-1.13113520e-02 2.81235648e-02 9.99540454e-01 -2.75033532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78119381700003 meters Centerline goodness : 0.888183 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98132413e-01 -5.97458635e-02 1.27325782e-02 2.67198960e+01] [ 6.00772146e-02 9.97815946e-01 -2.74602484e-02 -3.24442065e-01] [-1.10641333e-02 2.81739018e-02 9.99541803e-01 -2.75109063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81119381700003 meters Centerline goodness : 0.887634 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.98104987e-01 -6.02426532e-02 1.25402713e-02 2.67208026e+01] [ 6.05699262e-02 9.97782352e-01 -2.75982243e-02 -3.24672376e-01] [-1.08498712e-02 2.83054886e-02 9.99540434e-01 -2.75177431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84119381700003 meters Centerline goodness : 0.888870 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.97979484e-01 -6.23516985e-02 1.22153549e-02 2.67232703e+01] [ 6.26866678e-02 9.97603490e-01 -2.92857937e-02 -3.22923081e-01] [-1.03600617e-02 2.99923612e-02 9.99496437e-01 -2.75389974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87119381700003 meters Centerline goodness : 0.888661 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.75 [[ 9.97945916e-01 -6.29097275e-02 1.20960668e-02 2.67239763e+01] [ 6.32481578e-02 9.97546945e-01 -2.99960599e-02 -3.21218731e-01] [-1.01793505e-02 3.06994994e-02 9.99476824e-01 -2.75452854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90119381700003 meters Centerline goodness : 0.883453 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.32, Z:-2.76 [[ 9.98110860e-01 -6.02887970e-02 1.18309492e-02 2.67247031e+01] [ 6.05872994e-02 9.97804564e-01 -2.67438195e-02 -3.20961402e-01] [-1.01926224e-02 2.74101020e-02 9.99572307e-01 -2.75504939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93119381700004 meters Centerline goodness : 0.885153 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.32, Z:-2.76 [[ 9.98079469e-01 -6.08407376e-02 1.16523783e-02 2.67253957e+01] [ 6.11449554e-02 9.97740980e-01 -2.78249954e-02 -3.18174793e-01] [-9.93316212e-03 2.84840408e-02 9.99544892e-01 -2.75551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96119381700004 meters Centerline goodness : 0.881938 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.31, Z:-2.76 [[ 9.98203005e-01 -5.88251030e-02 1.14178919e-02 2.67262921e+01] [ 5.91081450e-02 9.97905692e-01 -2.62765514e-02 -3.12686970e-01] [-9.84825847e-03 2.69042230e-02 9.99589503e-01 -2.75635641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99119381700004 meters Centerline goodness : 0.880336 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.31, Z:-2.76 [[ 9.98367272e-01 -5.60143437e-02 1.11885301e-02 2.67267098e+01] [ 5.62661783e-02 9.98136168e-01 -2.36285343e-02 -3.09368727e-01] [-9.84413967e-03 2.42194912e-02 9.99658196e-01 -2.75671055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02119381700004 meters Centerline goodness : 0.884991 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.31, Z:-2.76 [[ 9.98522916e-01 -5.32077133e-02 1.09965797e-02 2.67266283e+01] [ 5.34321325e-02 9.98345660e-01 -2.12356094e-02 -3.05006948e-01] [-9.84848940e-03 2.17918134e-02 9.99714021e-01 -2.75650137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05119381700004 meters Centerline goodness : 0.884240 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.30, Z:-2.76 [[ 9.98684420e-01 -5.01360808e-02 1.07611787e-02 2.67266060e+01] [ 5.03321884e-02 9.98555574e-01 -1.87999287e-02 -3.00381510e-01] [-9.80308024e-03 1.93168296e-02 9.99765352e-01 -2.75628760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08119381700004 meters Centerline goodness : 0.881032 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.29, Z:-2.76 [[ 9.98948489e-01 -4.46170219e-02 1.05469187e-02 2.67257446e+01] [ 4.47743930e-02 9.98881663e-01 -1.51880575e-02 -2.89939841e-01] [-9.85747779e-03 1.56443190e-02 9.99829028e-01 -2.75528665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11119381700004 meters Centerline goodness : 0.875585 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.28, Z:-2.76 [[ 9.99080220e-01 -4.16206451e-02 1.03167528e-02 2.67261499e+01] [ 4.17543341e-02 9.99042015e-01 -1.31006481e-02 -2.84601378e-01] [-9.76161207e-03 1.35193675e-02 9.99860959e-01 -2.75565011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700004 meters Centerline goodness : 0.877483 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.28, Z:-2.76 [[ 9.99179428e-01 -3.92486057e-02 1.00009282e-02 2.67273067e+01] [ 3.93655790e-02 9.99155425e-01 -1.17808413e-02 -2.77901203e-01] [-9.53010004e-03 1.21648666e-02 9.99880589e-01 -2.75669122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17119381700002 meters Centerline goodness : 0.877596 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.26, Z:-2.76 [[ 9.99230925e-01 -3.85702454e-02 7.06362498e-03 2.67351152e+01] [ 3.86393151e-02 9.99204005e-01 -9.91769708e-03 -2.63353755e-01] [-6.67547436e-03 1.01830033e-02 9.99925869e-01 -2.75809634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20119381700002 meters Centerline goodness : 0.873905 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.26, Z:-2.76 [[ 9.99219782e-01 -3.89477204e-02 6.54991851e-03 2.67385238e+01] [ 3.90174238e-02 9.99179363e-01 -1.08739216e-02 -2.57942447e-01] [-6.12102894e-03 1.11209985e-02 9.99919425e-01 -2.76105706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23119381700002 meters Centerline goodness : 0.874056 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.25, Z:-2.76 [[ 9.99163912e-01 -4.03833928e-02 6.37636605e-03 2.67395838e+01] [ 4.04642192e-02 9.99095094e-01 -1.31011783e-02 -2.52615660e-01] [-5.84152601e-03 1.33482392e-02 9.99893845e-01 -2.76195621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26119381700002 meters Centerline goodness : 0.874132 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.25, Z:-2.76 [[ 9.99108205e-01 -4.17577353e-02 6.25185715e-03 2.67402736e+01] [ 4.18487125e-02 9.99008227e-01 -1.52068316e-02 -2.47328003e-01] [-5.61065388e-03 1.54549024e-02 9.99864824e-01 -2.76247794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29119381700002 meters Centerline goodness : 0.873491 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.24, Z:-2.76 [[ 9.98970675e-01 -4.49777646e-02 5.88140172e-03 2.67420661e+01] [ 4.50835827e-02 9.98796689e-01 -1.93040161e-02 -2.35280665e-01] [-5.00607307e-03 1.95493007e-02 9.99796361e-01 -2.76343612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32119381700002 meters Centerline goodness : 0.867798 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.23, Z:-2.77 [[ 9.99019716e-01 -4.39602142e-02 5.20646131e-03 2.67446692e+01] [ 4.40493252e-02 9.98858847e-01 -1.84569735e-02 -2.30839762e-01] [-4.38914744e-03 1.86682215e-02 9.99816100e-01 -2.76519010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35119381700002 meters Centerline goodness : 0.873448 Centerline is valid? [False, False] Translation: X:26.75, Y:-0.23, Z:-2.77 [[ 9.99125772e-01 -4.15232728e-02 4.84874911e-03 2.67457037e+01] [ 4.15977943e-02 9.98999176e-01 -1.64399166e-02 -2.26445577e-01] [-4.16125722e-03 1.66272416e-02 9.99853099e-01 -2.76588052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38119381700002 meters Centerline goodness : 0.874657 Centerline is valid? [False, False] Translation: X:26.75, Y:-0.22, Z:-2.77 [[ 9.99235367e-01 -3.88354707e-02 4.52626542e-03 2.67466654e+01] [ 3.88975302e-02 9.99137398e-01 -1.45410656e-02 -2.21043161e-01] [-3.95765193e-03 1.47060076e-02 9.99884028e-01 -2.76663691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41119381700003 meters Centerline goodness : 0.866539 Centerline is valid? [False, False] Translation: X:26.75, Y:-0.21, Z:-2.77 [[ 9.99334275e-01 -3.62379200e-02 4.22145115e-03 2.67475699e+01] [ 3.62899410e-02 9.99257031e-01 -1.29778906e-02 -2.14675073e-01] [-3.74802298e-03 1.31224471e-02 9.99906873e-01 -2.76730875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44119381700003 meters Centerline goodness : 0.869233 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.20, Z:-2.77 [[ 9.99423162e-01 -3.30510231e-02 7.80847809e-03 2.67648677e+01] [ 3.31727546e-02 9.99321369e-01 -1.60115214e-02 -1.99704672e-01] [-7.27398185e-03 1.62613141e-02 9.99841317e-01 -2.77007191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47119381700003 meters Centerline goodness : 0.877086 Centerline is valid? [False, False] Translation: X:26.78, Y:-0.19, Z:-2.77 [[ 9.99463594e-01 -2.94715808e-02 1.42811362e-02 2.67756794e+01] [ 2.97794847e-02 9.99317652e-01 -2.18497930e-02 -1.92774268e-01] [-1.36274436e-02 2.22633575e-02 9.99659260e-01 -2.77400033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50119381700003 meters Centerline goodness : 0.865998 Centerline is valid? [False, False] Translation: X:26.78, Y:-0.19, Z:-2.77 [[ 9.99555507e-01 -2.62810827e-02 1.40745754e-02 2.67759677e+01] [ 2.65537584e-02 9.99456191e-01 -1.95504705e-02 -1.87959407e-01] [-1.35531140e-02 1.99155133e-02 9.99709801e-01 -2.77401506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53119381700003 meters Centerline goodness : 0.865842 Centerline is valid? [False, False] Translation: X:26.80, Y:-0.18, Z:-2.78 [[ 9.99598009e-01 -2.38365886e-02 1.53504564e-02 2.67961196e+01] [ 2.41509015e-02 9.99495509e-01 -2.06267366e-02 -1.81348927e-01] [-1.48510412e-02 2.09891722e-02 9.99669396e-01 -2.77568807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56119381700003 meters Centerline goodness : 0.868041 Centerline is valid? [False, False] Translation: X:26.83, Y:-0.17, Z:-2.78 [[ 9.99821299e-01 -1.28748639e-02 1.38422839e-02 2.68317253e+01] [ 1.32468447e-02 9.99544256e-01 -2.71256718e-02 -1.68029722e-01] [-1.34867360e-02 2.73041910e-02 9.99536187e-01 -2.77702642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59119381700003 meters Centerline goodness : 0.867079 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.16, Z:-2.78 [[ 9.99853577e-01 -9.30508485e-03 1.43610379e-02 2.68531504e+01] [ 9.69825685e-03 9.99573233e-01 -2.75553246e-02 -1.60833077e-01] [-1.40985045e-02 2.76905669e-02 9.99517116e-01 -2.77954137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62119381700003 meters Centerline goodness : 0.868798 Centerline is valid? [False, False] Translation: X:26.86, Y:-0.16, Z:-2.78 [[ 9.99899003e-01 -2.60504849e-03 1.39713389e-02 2.68550242e+01] [ 2.90399994e-03 9.99766347e-01 -2.14200534e-02 -1.56757175e-01] [-1.39122742e-02 2.14584628e-02 9.99672938e-01 -2.78098204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65119381700003 meters Centerline goodness : 0.867290 Centerline is valid? [False, False] Translation: X:26.86, Y:-0.15, Z:-2.78 [[ 9.99891598e-01 4.62085031e-03 1.39800210e-02 2.68551774e+01] [-4.41646064e-03 9.99883429e-01 -1.46158417e-02 -1.53248435e-01] [-1.40459289e-02 1.45525151e-02 9.99795447e-01 -2.78112634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68119381700004 meters Centerline goodness : 0.868313 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.15, Z:-2.78 [[ 9.99796675e-01 1.37146193e-02 1.47823329e-02 2.68516709e+01] [-1.36122160e-02 9.99882806e-01 -7.00591120e-03 -1.45197350e-01] [-1.48766839e-02 6.80326642e-03 9.99866191e-01 -2.77792093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71119381700004 meters Centerline goodness : 0.870005 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99737648e-01 1.73103271e-02 1.49995992e-02 2.68509336e+01] [-1.72538535e-02 9.99843588e-01 -3.88627933e-03 -1.42563710e-01] [-1.50645258e-02 3.62645887e-03 9.99879947e-01 -2.77713132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74119381700004 meters Centerline goodness : 0.871619 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99686068e-01 1.97666153e-02 1.53963000e-02 2.68491158e+01] [-1.97437012e-02 9.99803731e-01 -1.63888267e-03 -1.40227186e-01] [-1.54256733e-02 1.33438822e-03 9.99880127e-01 -2.77553845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77119381700004 meters Centerline goodness : 0.872370 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99624251e-01 2.23386369e-02 1.58852642e-02 2.68480939e+01] [-2.23527432e-02 9.99749893e-01 7.10993804e-04 -1.37269881e-01] [-1.58654086e-02 -1.06580588e-03 9.99873568e-01 -2.77506440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80119381700004 meters Centerline goodness : 0.872553 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99635223e-01 2.20003580e-02 1.56654006e-02 2.68484811e+01] [-2.20056701e-02 9.99757832e-01 1.66780448e-04 -1.35868724e-01] [-1.56579378e-02 -5.11447249e-04 9.99877276e-01 -2.77502796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83119381700004 meters Centerline goodness : 0.872341 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.13, Z:-2.78 [[ 9.99643420e-01 2.17079955e-02 1.55497749e-02 2.68489583e+01] [-2.17067760e-02 9.99764350e-01 -2.47220177e-04 -1.34934628e-01] [-1.55514772e-02 -9.04034571e-05 9.99879064e-01 -2.77535702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700004 meters Centerline goodness : 0.874714 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.13, Z:-2.78 [[ 9.99651288e-01 2.15712248e-02 1.52310130e-02 2.68498546e+01] [-2.15696545e-02 9.99767312e-01 -2.67385062e-04 -1.34730667e-01] [-1.52332367e-02 -6.12358660e-05 9.99883966e-01 -2.77579502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89119381700004 meters Centerline goodness : 0.873823 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99621107e-01 2.29061602e-02 1.52626999e-02 2.68507628e+01] [-2.29344622e-02 9.99735556e-01 1.68185589e-03 -1.36104264e-01] [-1.52201390e-02 -2.03126046e-03 9.99882104e-01 -2.77696118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92119381700002 meters Centerline goodness : 0.872542 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99627052e-01 2.28663938e-02 1.49293467e-02 2.68518229e+01] [-2.28968639e-02 9.99736078e-01 1.87320540e-03 -1.36370534e-01] [-1.48825730e-02 -2.21434201e-03 9.99886796e-01 -2.77748024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95119381700002 meters Centerline goodness : 0.867184 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99649844e-01 2.07620521e-02 1.64050512e-02 2.68481106e+01] [-2.09073085e-02 9.99743276e-01 8.73302452e-03 -1.39994930e-01] [-1.62195241e-02 -9.07295207e-03 9.99827289e-01 -2.78369687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98119381700002 meters Centerline goodness : 0.865315 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99649636e-01 2.08534184e-02 1.63015587e-02 2.68485020e+01] [-2.10051197e-02 9.99737123e-01 9.19076194e-03 -1.41564456e-01] [-1.61056146e-02 -9.52995802e-03 9.99824879e-01 -2.78397720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01119381700002 meters Centerline goodness : 0.869914 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99648247e-01 2.08996572e-02 1.63274563e-02 2.68483609e+01] [-2.10578213e-02 9.99732400e-01 9.57587558e-03 -1.42902992e-01] [-1.61229545e-02 -9.91632790e-03 9.99820842e-01 -2.78378762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04119381700002 meters Centerline goodness : 0.867564 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99646049e-01 2.09746609e-02 1.63658505e-02 2.68480786e+01] [-2.11421256e-02 9.99725184e-01 1.01275224e-02 -1.44543389e-01] [-1.61489316e-02 -1.04699466e-02 9.99814779e-01 -2.78354701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07119381700002 meters Centerline goodness : 0.867564 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.78 [[ 9.99645804e-01 2.09770648e-02 1.63776905e-02 2.68480576e+01] [-2.11441973e-02 9.99725426e-01 1.00992966e-02 -1.44474661e-01] [-1.61613401e-02 -1.04420126e-02 9.99814871e-01 -2.78354828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10119381700002 meters Centerline goodness : 0.867659 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.15, Z:-2.78 [[ 9.99652726e-01 2.07032986e-02 1.63034202e-02 2.68478687e+01] [-2.08787964e-02 9.99725088e-01 1.06688489e-02 -1.46014958e-01] [-1.60780578e-02 -1.10055397e-02 9.99810169e-01 -2.78290475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13119381700002 meters Centerline goodness : 0.869914 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.15, Z:-2.78 [[ 9.99753245e-01 1.89902187e-02 1.15247580e-02 2.68435092e+01] [-1.92856031e-02 9.99473687e-01 2.60847410e-02 -1.50534170e-01] [-1.10233375e-02 -2.63005664e-02 9.99593300e-01 -2.77910564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16119381700003 meters Centerline goodness : 0.869924 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.15, Z:-2.78 [[ 9.99757869e-01 1.88172162e-02 1.14068114e-02 2.68434319e+01] [-1.91145800e-02 9.99464826e-01 2.65460698e-02 -1.52200636e-01] [-1.09011836e-02 -2.67576786e-02 9.99582508e-01 -2.77861523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19119381700003 meters Centerline goodness : 0.871331 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.15, Z:-2.78 [[ 9.99762385e-01 1.86498405e-02 1.12852634e-02 2.68433448e+01] [-1.89507759e-02 9.99451060e-01 2.71743805e-02 -1.54146483e-01] [-1.07722706e-02 -2.73817879e-02 9.99567004e-01 -2.77799995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22119381700003 meters Centerline goodness : 0.868756 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.16, Z:-2.78 [[ 9.99763818e-01 1.85067502e-02 1.13933544e-02 2.68430643e+01] [-1.88186862e-02 9.99433307e-01 2.79091619e-02 -1.57390658e-01] [-1.08703900e-02 -2.81169782e-02 9.99545532e-01 -2.77801451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25119381700003 meters Centerline goodness : 0.865923 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.16, Z:-2.78 [[ 9.99762930e-01 1.86563611e-02 1.12260364e-02 2.68434364e+01] [-1.89663082e-02 9.99423266e-01 2.81676033e-02 -1.57554120e-01] [-1.06940570e-02 -2.83738421e-02 9.99540175e-01 -2.77800523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28119381700003 meters Centerline goodness : 0.864429 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.16, Z:-2.78 [[ 9.99684279e-01 2.24368282e-02 1.13107056e-02 2.68436104e+01] [-2.27991110e-02 9.99195630e-01 3.29892939e-02 -1.60471135e-01] [-1.05614325e-02 -3.32367525e-02 9.99391702e-01 -2.77823750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31119381700003 meters Centerline goodness : 0.869111 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.16, Z:-2.78 [[ 9.99676246e-01 2.29243760e-02 1.10397534e-02 2.68442277e+01] [-2.32827143e-02 9.99167311e-01 3.35052093e-02 -1.61308709e-01] [-1.02624747e-02 -3.37513972e-02 9.99377569e-01 -2.77835381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34119381700003 meters Centerline goodness : 0.868583 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.16, Z:-2.78 [[ 9.99658591e-01 2.22953438e-02 1.36242240e-02 2.68364336e+01] [-2.28432381e-02 9.98878253e-01 4.14779690e-02 -1.63748357e-01] [-1.26841755e-02 -4.17750295e-02 9.99046525e-01 -2.78158389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37119381700003 meters Centerline goodness : 0.869505 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.17, Z:-2.78 [[ 9.99654515e-01 2.26887620e-02 1.32691525e-02 2.68369168e+01] [-2.32322447e-02 9.98832714e-01 4.23494005e-02 -1.65676740e-01] [-1.22928081e-02 -4.26430416e-02 9.99014744e-01 -2.78128715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40119381700003 meters Centerline goodness : 0.869118 Centerline is valid? [False, False] Translation: X:26.84, Y:-0.17, Z:-2.78 [[ 9.99657592e-01 2.26877773e-02 1.30370380e-02 2.68372583e+01] [-2.32303622e-02 9.98800848e-01 4.30954231e-02 -1.68045659e-01] [-1.20436652e-02 -4.33835220e-02 9.98985896e-01 -2.78108308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43119381700004 meters Centerline goodness : 0.870702 Centerline is valid? [False, False] Translation: X:26.82, Y:-0.17, Z:-2.78 [[ 9.99719006e-01 2.05459406e-02 1.18226091e-02 2.68172153e+01] [-2.10099200e-02 9.98956202e-01 4.05597107e-02 -1.67987607e-01] [-1.09769313e-02 -4.07967057e-02 9.99107169e-01 -2.78026738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46119381700004 meters Centerline goodness : 0.870404 Centerline is valid? [False, False] Translation: X:26.79, Y:-0.17, Z:-2.78 [[ 9.99778642e-01 1.52459621e-02 1.44992534e-02 2.67933205e+01] [-1.57436256e-02 9.99268462e-01 3.48522428e-02 -1.68496732e-01] [-1.39572907e-02 -3.50727987e-02 9.99287292e-01 -2.77797565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49119381700004 meters Centerline goodness : 0.871788 Centerline is valid? [False, False] Translation: X:26.79, Y:-0.17, Z:-2.78 [[ 9.99830654e-01 1.15575309e-02 1.43208358e-02 2.67930569e+01] [-1.19983484e-02 9.99444638e-01 3.10878732e-02 -1.68842656e-01] [-1.39535835e-02 -3.12544350e-02 9.99414057e-01 -2.77722935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52119381700004 meters Centerline goodness : 0.870928 Centerline is valid? [False, False] Translation: X:26.78, Y:-0.17, Z:-2.77 [[ 9.99897679e-01 9.89801559e-03 1.03276997e-02 2.67825602e+01] [-1.00863747e-02 9.99780776e-01 1.83484183e-02 -1.67005210e-01] [-1.01438226e-02 -1.84507100e-02 9.99778313e-01 -2.77426073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55119381700004 meters Centerline goodness : 0.870934 Centerline is valid? [False, False] Translation: X:26.78, Y:-0.17, Z:-2.77 [[ 9.99929574e-01 6.18125084e-03 1.01311458e-02 2.67830421e+01] [-6.32827230e-03 9.99874196e-01 1.45445946e-02 -1.67591568e-01] [-1.00399675e-02 -1.46076829e-02 9.99842895e-01 -2.77446739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58119381700004 meters Centerline goodness : 0.870317 Centerline is valid? [False, False] Translation: X:26.77, Y:-0.17, Z:-2.77 [[ 9.99988374e-01 1.36518875e-03 4.62475652e-03 2.67733264e+01] [-1.45720869e-03 9.99799864e-01 1.99526641e-02 -1.70363490e-01] [-4.59659179e-03 -1.99591713e-02 9.99790229e-01 -2.77178167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61119381700004 meters Centerline goodness : 0.874395 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.17, Z:-2.77 [[ 9.99997960e-01 1.91227306e-03 -6.50937910e-04 2.67625715e+01] [-1.90531686e-03 9.99942802e-01 1.05243727e-02 -1.66643418e-01] [ 6.71026152e-04 -1.05231110e-02 9.99944405e-01 -2.76841630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700004 meters Centerline goodness : 0.875541 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.16, Z:-2.77 [[ 9.99998397e-01 1.62242007e-03 -7.57225936e-04 2.67625867e+01] [-1.61477267e-03 9.99948766e-01 9.99287604e-03 -1.64968519e-01] [ 7.73399783e-04 -9.99163728e-03 9.99949783e-01 -2.76813344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67119381700002 meters Centerline goodness : 0.874792 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.16, Z:-2.77 [[ 9.99998419e-01 1.54481942e-03 -8.80380629e-04 2.67625343e+01] [-1.53631269e-03 9.99952905e-01 9.58266903e-03 -1.63306524e-01] [ 8.95142661e-04 -9.58130134e-03 9.99953698e-01 -2.76769915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70119381700002 meters Centerline goodness : 0.879223 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.16, Z:-2.77 [[ 9.99998743e-01 1.45755485e-03 -6.24092146e-04 2.67605990e+01] [-1.45236463e-03 9.99965015e-01 8.23765550e-03 -1.59299583e-01] [ 6.36077147e-04 -8.23673874e-03 9.99965875e-01 -2.76555071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73119381700002 meters Centerline goodness : 0.879319 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.16, Z:-2.76 [[ 9.99994871e-01 3.19648479e-03 -1.99463383e-04 2.67579691e+01] [-3.19439987e-03 9.99947859e-01 9.69921874e-03 -1.57639877e-01] [ 2.30456388e-04 -9.69853183e-03 9.99952942e-01 -2.76317107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76119381700002 meters Centerline goodness : 0.887156 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.16, Z:-2.76 [[ 9.99989933e-01 4.48300855e-03 1.88612787e-04 2.67556649e+01] [-4.48472548e-03 9.99936027e-01 1.03840569e-02 -1.55387287e-01] [-1.42048905e-04 -1.03847982e-02 9.99946066e-01 -2.76116943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79119381700002 meters Centerline goodness : 0.887890 Centerline is valid? [False, False] Translation: X:26.76, Y:-0.15, Z:-2.76 [[ 9.99972686e-01 7.38589104e-03 2.75516561e-04 2.67552425e+01] [-7.38875023e-03 9.99895111e-01 1.24568760e-02 -1.50567957e-01] [-1.83482533e-04 -1.24585715e-02 9.99922372e-01 -2.76076882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82119381700002 meters Centerline goodness : 0.888520 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.15, Z:-2.76 [[ 9.99970969e-01 7.46087586e-03 -1.54816908e-03 2.67351723e+01] [-7.44397593e-03 9.99915591e-01 1.06488868e-02 -1.46277216e-01] [ 1.62748842e-03 -1.06370531e-02 9.99942101e-01 -2.76055235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85119381700002 meters Centerline goodness : 0.889368 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.14, Z:-2.76 [[ 9.99973863e-01 6.99554194e-03 -1.82644535e-03 2.67361711e+01] [-6.97757222e-03 9.99928936e-01 9.66629492e-03 -1.43514936e-01] [ 1.89393653e-03 -9.65329812e-03 9.99951612e-01 -2.76115143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88119381700002 meters Centerline goodness : 0.888031 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.14, Z:-2.76 [[ 9.99974584e-01 6.83680882e-03 -2.02217383e-03 2.67370669e+01] [-6.81813566e-03 9.99935338e-01 9.10127783e-03 -1.41621148e-01] [ 2.08426677e-03 -9.08725906e-03 9.99956538e-01 -2.76180292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91119381700003 meters Centerline goodness : 0.889096 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.14, Z:-2.76 [[ 9.99975276e-01 6.65930637e-03 -2.25852542e-03 2.67378713e+01] [-6.64019462e-03 9.99942953e-01 8.36653327e-03 -1.39364254e-01] [ 2.31411188e-03 -8.35132937e-03 9.99962449e-01 -2.76222963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94119381700003 meters Centerline goodness : 0.889672 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.14, Z:-2.76 [[ 9.99953190e-01 9.28224865e-03 -2.73081327e-03 2.67410494e+01] [-9.25381244e-03 9.99904671e-01 1.02476854e-02 -1.35584631e-01] [ 2.82567451e-03 -1.02219352e-02 9.99943762e-01 -2.76497764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97119381700003 meters Centerline goodness : 0.889437 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.14, Z:-2.77 [[ 9.99913659e-01 1.28017023e-02 -2.96484827e-03 2.67424162e+01] [-1.27595527e-02 9.99823031e-01 1.38238861e-02 -1.35130107e-01] [ 3.14129286e-03 -1.37848624e-02 9.99900050e-01 -2.76614381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00119381700003 meters Centerline goodness : 0.889778 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.13, Z:-2.76 [[ 9.99918185e-01 1.11991026e-02 -6.18088176e-03 2.67233545e+01] [-1.10228322e-02 9.99551294e-01 2.78515451e-02 -1.33957916e-01] [ 6.49002067e-03 -2.77811356e-02 9.99592961e-01 -2.76499751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03119381700003 meters Centerline goodness : 0.888508 Centerline is valid? [False, False] Translation: X:26.72, Y:-0.13, Z:-2.77 [[ 9.99871113e-01 1.46089384e-02 -6.65856437e-03 2.67249634e+01] [-1.43939549e-02 9.99407470e-01 3.12653680e-02 -1.32876275e-01] [ 7.11137280e-03 -3.11654952e-02 9.99488940e-01 -2.76583530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06119381700003 meters Centerline goodness : 0.885511 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.13, Z:-2.77 [[ 9.99865759e-01 1.48140965e-02 -7.00047026e-03 2.67260488e+01] [-1.45935562e-02 9.99426115e-01 3.05690660e-02 -1.30275019e-01] [ 7.44930589e-03 -3.04628007e-02 9.99508142e-01 -2.76634271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09119381700003 meters Centerline goodness : 0.888084 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.13, Z:-2.77 [[ 9.99795806e-01 1.89170217e-02 -7.10576242e-03 2.67260255e+01] [-1.86616363e-02 9.99232720e-01 3.44342144e-02 -1.30154542e-01] [ 7.75170309e-03 -3.42945780e-02 9.99381705e-01 -2.76581441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12119381700003 meters Centerline goodness : 0.887749 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.13, Z:-2.77 [[ 9.99730779e-01 2.21093998e-02 -7.03873897e-03 2.67258890e+01] [-2.18263879e-02 9.99038491e-01 3.80223919e-02 -1.29948819e-01] [ 7.87262342e-03 -3.78585253e-02 9.99252097e-01 -2.76549589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15119381700003 meters Centerline goodness : 0.890754 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.13, Z:-2.77 [[ 9.99724449e-01 2.22107372e-02 -7.59671400e-03 2.67269048e+01] [-2.19124431e-02 9.99063033e-01 3.73215849e-02 -1.26996634e-01] [ 8.41853605e-03 -3.71448383e-02 9.99274431e-01 -2.76536873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18119381700004 meters Centerline goodness : 0.891867 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.12, Z:-2.76 [[ 9.99725871e-01 2.20781600e-02 -7.79340099e-03 2.67266698e+01] [-2.17807444e-02 9.99100616e-01 3.63807372e-02 -1.24019601e-01] [ 8.58961147e-03 -3.62010181e-02 9.99307613e-01 -2.76446480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21119381700004 meters Centerline goodness : 0.894867 Centerline is valid? [False, False] Translation: X:26.73, Y:-0.12, Z:-2.76 [[ 9.99716375e-01 2.25045679e-02 -7.79194986e-03 2.67255787e+01] [-2.22118242e-02 9.99111644e-01 3.58128034e-02 -1.22024021e-01] [ 8.59097950e-03 -3.56295725e-02 9.99328139e-01 -2.76284342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24119381700004 meters Centerline goodness : 0.894381 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.12, Z:-2.76 [[ 9.99762963e-01 2.12151093e-02 -4.89254487e-03 2.67437752e+01] [-2.10488035e-02 9.99270987e-01 3.18503034e-02 -1.19641521e-01] [ 5.56468581e-03 -3.17397714e-02 9.99480676e-01 -2.76298704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27119381700004 meters Centerline goodness : 0.895732 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.12, Z:-2.76 [[ 9.99760289e-01 2.13167573e-02 -4.99594167e-03 2.67436068e+01] [-2.11489835e-02 9.99279293e-01 3.15216515e-02 -1.18644186e-01] [ 5.66428046e-03 -3.14084364e-02 9.99490583e-01 -2.76245495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30119381700004 meters Centerline goodness : 0.899907 Centerline is valid? [False, False] Translation: X:26.75, Y:-0.12, Z:-2.76 [[ 9.99718924e-01 2.35196108e-02 -2.98347749e-03 2.67516148e+01] [-2.34474971e-02 9.99477239e-01 2.22589893e-02 -1.16755927e-01] [ 3.50544062e-03 -2.21827778e-02 9.99747786e-01 -2.76127574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33119381700004 meters Centerline goodness : 0.896684 Centerline is valid? [False, False] Translation: X:26.75, Y:-0.12, Z:-2.76 [[ 9.99708650e-01 2.39198318e-02 -3.23379915e-03 2.67523336e+01] [-2.38406502e-02 9.99459484e-01 2.26354566e-02 -1.17579249e-01] [ 3.77348754e-03 -2.25517659e-02 9.99738555e-01 -2.76149570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700004 meters Centerline goodness : 0.895948 Centerline is valid? [False, False] Translation: X:26.77, Y:-0.12, Z:-2.76 [[ 9.99756560e-01 2.20559613e-02 -5.95347650e-04 2.67710668e+01] [-2.20398693e-02 9.99561254e-01 1.97874617e-02 -1.17337772e-01] [ 1.03151793e-03 -1.97695233e-02 9.99804032e-01 -2.76153761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39119381700004 meters Centerline goodness : 0.897095 Centerline is valid? [False, False] Translation: X:26.79, Y:-0.12, Z:-2.76 [[ 9.99797853e-01 2.00103834e-02 1.95875059e-03 2.67897528e+01] [-2.00407602e-02 9.99655275e-01 1.69616756e-02 -1.17780994e-01] [-1.61866572e-03 -1.69975017e-02 9.99854222e-01 -2.76143690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42119381700002 meters Centerline goodness : 0.897742 Centerline is valid? [False, False] Translation: X:26.79, Y:-0.12, Z:-2.76 [[ 9.99853901e-01 1.70196129e-02 1.58388147e-03 2.67904776e+01] [-1.70396612e-02 9.99761678e-01 1.36468451e-02 -1.18548956e-01] [-1.35123998e-03 -1.36718401e-02 9.99905623e-01 -2.76150930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45119381700002 meters Centerline goodness : 0.900274 Centerline is valid? [False, False] Translation: X:26.82, Y:-0.14, Z:-2.76 [[ 9.99928726e-01 1.16849544e-02 2.45032726e-03 2.68228313e+01] [-1.17945733e-02 9.98633638e-01 5.09091871e-02 -1.35847014e-01] [-1.85210770e-03 -5.09344592e-02 9.98700281e-01 -2.75646028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48119381700002 meters Centerline goodness : 0.901245 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.14, Z:-2.75 [[ 9.99959858e-01 8.75032038e-03 1.92714807e-03 2.68466232e+01] [-8.85337723e-03 9.98019035e-01 6.22866232e-02 -1.42467069e-01] [-1.37830255e-03 -6.23011847e-02 9.98056443e-01 -2.75123482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51119381700002 meters Centerline goodness : 0.899553 Centerline is valid? [False, False] Translation: X:26.87, Y:-0.15, Z:-2.75 [[ 9.99988095e-01 4.76587941e-03 1.04729574e-03 2.68669618e+01] [-4.83747369e-03 9.96393048e-01 8.47200880e-02 -1.51603115e-01] [-6.39752475e-04 -8.47241457e-02 9.96404240e-01 -2.74555310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54119381700002 meters Centerline goodness : 0.899711 Centerline is valid? [False, False] Translation: X:26.87, Y:-0.16, Z:-2.74 [[ 9.99992757e-01 3.56223099e-03 1.34010314e-03 2.68729978e+01] [-3.67770404e-03 9.95050282e-01 9.93046380e-02 -1.58830565e-01] [-9.79723950e-04 -9.93088473e-02 9.95056176e-01 -2.73731496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57119381700002 meters Centerline goodness : 0.902756 Centerline is valid? [False, False] Translation: X:26.86, Y:-0.17, Z:-2.73 [[ 9.99995004e-01 1.31133516e-03 -2.87610449e-03 2.68559566e+01] [-1.01180808e-03 9.94806700e-01 1.01777240e-01 -1.65874939e-01] [ 2.99463209e-03 -1.01773822e-01 9.94803057e-01 -2.73394621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60119381700002 meters Centerline goodness : 0.903003 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.17, Z:-2.73 [[ 9.99951015e-01 1.78431085e-03 -9.73572313e-03 2.68519138e+01] [-8.99794440e-04 9.95931277e-01 9.01115000e-02 -1.65549790e-01] [ 9.85689809e-03 -9.00983258e-02 9.95884096e-01 -2.72969053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63119381700002 meters Centerline goodness : 0.902403 Centerline is valid? [False, False] Translation: X:26.85, Y:-0.16, Z:-2.73 [[ 9.99926941e-01 1.10418424e-03 -1.20372042e-02 2.68546461e+01] [-2.83798070e-04 9.97689099e-01 6.79439539e-02 -1.62050790e-01] [ 1.20844100e-02 -6.79355738e-02 9.97616522e-01 -2.73123350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66119381700003 meters Centerline goodness : 0.901686 Centerline is valid? [False, False] Translation: X:26.86, Y:-0.16, Z:-2.73 [[ 9.99851535e-01 1.59458729e-03 -1.71570689e-02 2.68602255e+01] [-6.86924323e-04 9.98605953e-01 5.27795296e-02 -1.64818008e-01] [ 1.72173127e-02 -5.27599081e-02 9.98458790e-01 -2.73450199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69119381700003 meters Centerline goodness : 0.901983 Centerline is valid? [False, False] Translation: X:26.87, Y:-0.16, Z:-2.73 [[ 9.99883782e-01 1.41827350e-03 -1.51792694e-02 2.68666996e+01] [-8.02577041e-04 9.99179575e-01 4.04911548e-02 -1.64244319e-01] [ 1.52242435e-02 -4.04742665e-02 9.99064591e-01 -2.73394838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72119381700003 meters Centerline goodness : 0.901294 Centerline is valid? [False, False] Translation: X:26.88, Y:-0.17, Z:-2.73 [[ 9.99871711e-01 3.49030764e-03 -1.56326218e-02 2.68848384e+01] [-3.07385480e-03 9.99641824e-01 2.65852421e-02 -1.65070574e-01] [ 1.57198132e-02 -2.65337791e-02 9.99524310e-01 -2.73322963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75119381700003 meters Centerline goodness : 0.904107 Centerline is valid? [False, False] Translation: X:26.88, Y:-0.17, Z:-2.73 [[ 9.99878604e-01 3.18310159e-04 -1.55780528e-02 2.68845281e+01] [ 4.09266797e-05 9.99734204e-01 2.30546955e-02 -1.65427010e-01] [ 1.55812508e-02 -2.30525343e-02 9.99612828e-01 -2.73289708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78119381700003 meters Centerline goodness : 0.905082 Centerline is valid? [False, False] Translation: X:26.90, Y:-0.17, Z:-2.73 [[ 9.99876577e-01 1.71824774e-03 -1.56165973e-02 2.69016851e+01] [-1.59158507e-03 9.99965769e-01 8.11958525e-03 -1.65195489e-01] [ 1.56300142e-02 -8.09372797e-03 9.99845085e-01 -2.73139354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81119381700003 meters Centerline goodness : 0.906147 Centerline is valid? [False, False] Translation: X:26.91, Y:-0.17, Z:-2.73 [[ 9.99930600e-01 3.42275445e-04 -1.17761776e-02 2.69109807e+01] [-3.85439452e-04 9.99993216e-01 -3.66329219e-03 -1.67356591e-01] [ 1.17748438e-02 3.66757696e-03 9.99923948e-01 -2.73261508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84119381700003 meters Centerline goodness : 0.907114 Centerline is valid? [False, False] Translation: X:26.92, Y:-0.17, Z:-2.74 [[ 9.99981878e-01 -1.06145211e-03 -5.92595206e-03 2.69221113e+01] [ 9.76903913e-04 9.99897956e-01 -1.42521553e-02 -1.67266476e-01] [ 5.94047533e-03 1.42461080e-02 9.99880872e-01 -2.73629901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87119381700003 meters Centerline goodness : 0.909131 Centerline is valid? [False, False] Translation: X:26.92, Y:-0.17, Z:-2.74 [[ 9.99971995e-01 -4.56298949e-03 -5.93191359e-03 2.69215923e+01] [ 4.45701878e-03 9.99832404e-01 -1.77566298e-02 -1.67995788e-01] [ 6.01194275e-03 1.77296939e-02 9.99824742e-01 -2.73546384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90119381700003 meters Centerline goodness : 0.909965 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.17, Z:-2.74 [[ 9.99971644e-01 -7.35220696e-03 1.62979275e-03 2.69323642e+01] [ 7.37245957e-03 9.99891028e-01 -1.27898107e-02 -1.71929031e-01] [-1.53558181e-03 1.28014636e-02 9.99916879e-01 -2.73877721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93119381700004 meters Centerline goodness : 0.912696 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99934648e-01 -1.12924019e-02 1.78359418e-03 2.69314377e+01] [ 1.13191186e-02 9.99811795e-01 -1.57559885e-02 -1.75255512e-01] [-1.60533554e-03 1.57751476e-02 9.99874276e-01 -2.73772125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96119381700004 meters Centerline goodness : 0.914491 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99889053e-01 -1.48040318e-02 1.65003590e-03 2.69316559e+01] [ 1.48330458e-02 9.99704986e-01 -1.92333326e-02 -1.76242765e-01] [-1.36481825e-03 1.92556738e-02 9.99813661e-01 -2.73753270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99119381700004 meters Centerline goodness : 0.914491 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99889053e-01 -1.48040318e-02 1.65003590e-03 2.69316559e+01] [ 1.48330458e-02 9.99704986e-01 -1.92333326e-02 -1.76242765e-01] [-1.36481825e-03 1.92556738e-02 9.99813661e-01 -2.73753270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02119381700004 meters Centerline goodness : 0.913777 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99891871e-01 -1.46221656e-02 1.56177009e-03 2.69316119e+01] [ 1.46481377e-02 9.99727691e-01 -1.81652599e-02 -1.79620600e-01] [-1.29572936e-03 1.81861727e-02 9.99833778e-01 -2.73723190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05119381700004 meters Centerline goodness : 0.917384 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99891387e-01 -1.46755160e-02 1.35801255e-03 2.69321727e+01] [ 1.46971380e-02 9.99737351e-01 -1.75847177e-02 -1.82104115e-01] [-1.09959107e-03 1.76027667e-02 9.99844455e-01 -2.73742412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08119381700004 meters Centerline goodness : 0.920724 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99894779e-01 -1.44678374e-02 1.05468853e-03 2.69332565e+01] [ 1.44836099e-02 9.99752104e-01 -1.69102431e-02 -1.83993626e-01] [-8.09772431e-04 1.69237395e-02 9.99856455e-01 -2.73813788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11119381700004 meters Centerline goodness : 0.915836 Centerline is valid? [False, False] Translation: X:26.93, Y:-0.18, Z:-2.74 [[ 9.99898122e-01 -1.42552615e-02 7.30433691e-04 2.69343792e+01] [ 1.42654206e-02 9.99760591e-01 -1.65909346e-02 -1.84276234e-01] [-4.93750707e-04 1.65996643e-02 9.99862094e-01 -2.73883680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700004 meters Centerline goodness : 0.916510 Centerline is valid? [False, False] Translation: X:26.94, Y:-0.18, Z:-2.74 [[ 9.99900941e-01 -1.40704876e-02 3.59693499e-04 2.69358969e+01] [ 1.40744823e-02 9.99767998e-01 -1.63051996e-02 -1.84617471e-01] [-1.30187939e-04 1.63086469e-02 9.99866997e-01 -2.73991040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17119381700002 meters Centerline goodness : 0.913293 Centerline is valid? [False, False] Translation: X:26.94, Y:-0.19, Z:-2.74 [[ 9.99906290e-01 -1.36896278e-02 -7.65990111e-05 2.69376688e+01] [ 1.36867300e-02 9.99782633e-01 -1.57276754e-02 -1.85755839e-01] [ 2.91888383e-04 1.57251532e-02 9.99876310e-01 -2.74117147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20119381700002 meters Centerline goodness : 0.914760 Centerline is valid? [False, False] Translation: X:26.94, Y:-0.19, Z:-2.75 [[ 9.99920953e-01 -1.24925588e-02 -1.42243872e-03 2.69433220e+01] [ 1.24706171e-02 9.99816944e-01 -1.45107631e-02 -1.87077731e-01] [ 1.60345489e-03 1.44918774e-02 9.99893702e-01 -2.74527461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23119381700002 meters Centerline goodness : 0.913126 Centerline is valid? [False, False] Translation: X:26.95, Y:-0.19, Z:-2.75 [[ 9.99934586e-01 -1.11861354e-02 -2.38615848e-03 2.69473593e+01] [ 1.11537695e-02 9.99851042e-01 -1.31714707e-02 -1.87705996e-01] [ 2.53314089e-03 1.31439945e-02 9.99910405e-01 -2.74805497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26119381700002 meters Centerline goodness : 0.912467 Centerline is valid? [False, False] Translation: X:26.97, Y:-0.19, Z:-2.75 [[ 9.99937016e-01 -9.78935471e-03 -5.48937563e-03 2.69718566e+01] [ 9.71712994e-03 9.99867850e-01 -1.30330199e-02 -1.87929584e-01] [ 5.61623506e-03 1.29788580e-02 9.99899999e-01 -2.75004434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29119381700002 meters Centerline goodness : 0.910484 Centerline is valid? [False, False] Translation: X:27.00, Y:-0.19, Z:-2.75 [[ 9.99980387e-01 -3.87257939e-03 -4.92222185e-03 2.69951350e+01] [ 3.75814209e-03 9.99727261e-01 -2.30495107e-02 -1.87649224e-01] [ 5.01014043e-03 2.30305603e-02 9.99722207e-01 -2.75272800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32119381700002 meters Centerline goodness : 0.910046 Centerline is valid? [False, False] Translation: X:27.03, Y:-0.19, Z:-2.75 [[ 9.99972170e-01 3.80874570e-03 -6.41497721e-03 2.70275626e+01] [-3.97406801e-03 9.99655114e-01 -2.59588295e-02 -1.88822249e-01] [ 6.31389419e-03 2.59836006e-02 9.99642430e-01 -2.75407979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35119381700002 meters Centerline goodness : 0.910643 Centerline is valid? [False, False] Translation: X:27.05, Y:-0.19, Z:-2.76 [[ 9.99972702e-01 5.84091547e-03 -4.52534921e-03 2.70484185e+01] [-5.95054541e-03 9.99679580e-01 -2.46034146e-02 -1.89909786e-01] [ 4.38019273e-03 2.46296713e-02 9.99687048e-01 -2.75523822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38119381700002 meters Centerline goodness : 0.912103 Centerline is valid? [False, False] Translation: X:27.08, Y:-0.19, Z:-2.75 [[ 9.99977069e-01 6.53523634e-03 -1.77535784e-03 2.70831953e+01] [-6.57984404e-03 9.99629694e-01 -2.64041736e-02 -1.91021508e-01] [ 1.60214290e-03 2.64152497e-02 9.99649773e-01 -2.75382286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41119381700003 meters Centerline goodness : 0.914363 Centerline is valid? [False, False] Translation: X:27.10, Y:-0.19, Z:-2.75 [[ 9.99981118e-01 5.74154225e-03 2.19056895e-03 2.71008132e+01] [-5.67848400e-03 9.99597897e-01 -2.77812692e-02 -1.92916538e-01] [-2.34919545e-03 2.77683055e-02 9.99611626e-01 -2.75336587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44119381700003 meters Centerline goodness : 0.914170 Centerline is valid? [False, False] Translation: X:27.12, Y:-0.20, Z:-2.75 [[ 9.99968994e-01 5.91677877e-03 5.19639167e-03 2.71196431e+01] [-5.77675703e-03 9.99630536e-01 -2.65597430e-02 -1.97191527e-01] [-5.35161991e-03 2.65289012e-02 9.99633722e-01 -2.75377482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47119381700003 meters Centerline goodness : 0.918045 Centerline is valid? [False, False] Translation: X:27.13, Y:-0.20, Z:-2.76 [[ 9.99945888e-01 2.84096768e-03 1.00075288e-02 2.71290311e+01] [-2.65580603e-03 9.99825940e-01 -1.84671831e-02 -2.04200737e-01] [-1.00582516e-02 1.84396057e-02 9.99779382e-01 -2.75559739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50119381700003 meters Centerline goodness : 0.920343 Centerline is valid? [False, False] Translation: X:27.13, Y:-0.21, Z:-2.76 [[ 9.99948360e-01 2.96271301e-03 9.72105697e-03 2.71294387e+01] [-2.79157529e-03 9.99841713e-01 -1.75714342e-02 -2.07007779e-01] [-9.77157737e-03 1.75433898e-02 9.99798353e-01 -2.75541850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53119381700003 meters Centerline goodness : 0.923388 Centerline is valid? [False, False] Translation: X:27.15, Y:-0.21, Z:-2.76 [[ 9.99933215e-01 3.05826791e-03 1.11450797e-02 2.71497092e+01] [-2.87093430e-03 9.99854983e-01 -1.67860476e-02 -2.10263501e-01] [-1.11947997e-02 1.67529298e-02 9.99796987e-01 -2.75591551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56119381700003 meters Centerline goodness : 0.922441 Centerline is valid? [False, False] Translation: X:27.17, Y:-0.21, Z:-2.76 [[ 9.99932117e-01 3.31629229e-03 1.11697593e-02 2.71711606e+01] [-3.13540842e-03 9.99864295e-01 -1.61728351e-02 -2.12963875e-01] [-1.12218773e-02 1.61367155e-02 9.99806819e-01 -2.75674806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59119381700003 meters Centerline goodness : 0.927663 Centerline is valid? [False, False] Translation: X:27.19, Y:-0.22, Z:-2.76 [[ 9.99946193e-01 3.73099389e-03 9.67944498e-03 2.71934011e+01] [-3.59066365e-03 9.99888787e-01 -1.44748490e-02 -2.18134638e-01] [-9.73237407e-03 1.44393145e-02 9.99848382e-01 -2.75752689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62119381700003 meters Centerline goodness : 0.927286 Centerline is valid? [False, False] Translation: X:27.21, Y:-0.22, Z:-2.76 [[ 9.99951150e-01 1.65289626e-03 9.74504057e-03 2.72145915e+01] [-1.47292095e-03 9.99828760e-01 -1.84467390e-02 -2.19324806e-01] [-9.77386238e-03 1.84314842e-02 9.99782352e-01 -2.75861761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65119381700003 meters Centerline goodness : 0.923760 Centerline is valid? [False, False] Translation: X:27.24, Y:-0.22, Z:-2.76 [[ 9.99969272e-01 1.84972534e-03 7.61791850e-03 2.72369084e+01] [-1.71481240e-03 9.99842251e-01 -1.76785615e-02 -2.23530424e-01] [-7.64941727e-03 1.76649549e-02 9.99814701e-01 -2.75926505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68119381700004 meters Centerline goodness : 0.925756 Centerline is valid? [False, False] Translation: X:27.26, Y:-0.23, Z:-2.76 [[ 9.99996213e-01 2.05190630e-03 1.83399396e-03 2.72578623e+01] [-2.02256446e-03 9.99872176e-01 -1.58600366e-02 -2.27409748e-01] [-1.86630285e-03 1.58562672e-02 9.99872540e-01 -2.75750514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71119381700004 meters Centerline goodness : 0.926334 Centerline is valid? [False, False] Translation: X:27.28, Y:-0.23, Z:-2.76 [[ 9.99996393e-01 2.68523819e-03 -6.34659863e-05 2.72806720e+01] [-2.68585263e-03 9.99904087e-01 -1.35868602e-02 -2.32720046e-01] [ 2.69759433e-05 1.35869816e-02 9.99907692e-01 -2.75885420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74119381700004 meters Centerline goodness : 0.924243 Centerline is valid? [False, False] Translation: X:27.30, Y:-0.23, Z:-2.76 [[ 9.99999409e-01 1.04366047e-03 3.06190856e-04 2.73022275e+01] [-1.03803083e-03 9.99840252e-01 -1.78435504e-02 -2.32956800e-01] [-3.24764551e-04 1.78432220e-02 9.99840744e-01 -2.76051901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77119381700004 meters Centerline goodness : 0.924497 Centerline is valid? [False, False] Translation: X:27.32, Y:-0.23, Z:-2.76 [[ 9.99999767e-01 4.91611560e-04 4.74119522e-04 2.73242553e+01] [-4.81925435e-04 9.99795482e-01 -2.02178844e-02 -2.34310613e-01] [-4.83961901e-04 2.02176512e-02 9.99795485e-01 -2.76218686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80119381700004 meters Centerline goodness : 0.928629 Centerline is valid? [False, False] Translation: X:27.35, Y:-0.24, Z:-2.76 [[ 9.99999117e-01 9.72956354e-04 9.05126353e-04 2.73464825e+01] [-9.54446243e-04 9.99794882e-01 -2.02307482e-02 -2.38708755e-01] [-9.24624330e-04 2.02298664e-02 9.99794928e-01 -2.76406548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83119381700004 meters Centerline goodness : 0.927453 Centerline is valid? [False, False] Translation: X:27.37, Y:-0.24, Z:-2.77 [[ 9.99997931e-01 1.98923061e-04 2.02455361e-03 2.73676207e+01] [-1.52467106e-04 9.99737277e-01 -2.29206124e-02 -2.39817877e-01] [-2.02858115e-03 2.29202563e-02 9.99735238e-01 -2.76548718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700004 meters Centerline goodness : 0.928647 Centerline is valid? [False, False] Translation: X:27.39, Y:-0.25, Z:-2.77 [[ 9.99996066e-01 1.69546427e-03 2.23480516e-03 2.73893226e+01] [-1.65032910e-03 9.99797699e-01 -2.00458968e-02 -2.45352971e-01] [-2.26834015e-03 2.00421298e-02 9.99796563e-01 -2.76694541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89119381700004 meters Centerline goodness : 0.929868 Centerline is valid? [False, False] Translation: X:27.39, Y:-0.25, Z:-2.77 [[ 9.99998188e-01 1.08259283e-03 1.56593318e-03 2.73918724e+01] [-1.05152573e-03 9.99805266e-01 -1.97059398e-02 -2.49616116e-01] [-1.58696175e-03 1.97042575e-02 9.99804593e-01 -2.76861402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92119381700002 meters Centerline goodness : 0.928151 Centerline is valid? [False, False] Translation: X:27.40, Y:-0.26, Z:-2.77 [[ 9.99998673e-01 -1.32400129e-03 9.49388452e-04 2.73951526e+01] [ 1.34316866e-03 9.99789338e-01 -2.04810899e-02 -2.57738733e-01] [-9.22071463e-04 2.04823379e-02 9.99789790e-01 -2.77144550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95119381700002 meters Centerline goodness : 0.926299 Centerline is valid? [False, False] Translation: X:27.42, Y:-0.26, Z:-2.77 [[ 9.99996649e-01 -1.87311581e-03 -1.78712835e-03 2.74192892e+01] [ 1.83713425e-03 9.99799744e-01 -1.99272836e-02 -2.63281622e-01] [ 1.82409658e-03 1.99239336e-02 9.99799835e-01 -2.77359544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98119381700002 meters Centerline goodness : 0.925754 Centerline is valid? [False, False] Translation: X:27.42, Y:-0.27, Z:-2.77 [[ 9.99996372e-01 -1.61548718e-03 -2.15570877e-03 2.74208115e+01] [ 1.57570785e-03 9.99830771e-01 -1.83288484e-02 -2.68936280e-01] [ 2.18495398e-03 1.83253852e-02 9.99829689e-01 -2.77469938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01119381700002 meters Centerline goodness : 0.925140 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.27, Z:-2.78 [[ 9.99987131e-01 -4.90169390e-03 1.30789606e-03 2.74327162e+01] [ 4.91647864e-03 9.99921196e-01 -1.15511813e-02 -2.74244164e-01] [-1.25117264e-03 1.15574629e-02 9.99932428e-01 -2.77779270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04119381700002 meters Centerline goodness : 0.927582 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.28, Z:-2.78 [[ 9.99989523e-01 -4.42420726e-03 1.17491906e-03 2.74330693e+01] [ 4.43593898e-03 9.99938367e-01 -1.01776523e-02 -2.78199502e-01] [-1.12981860e-03 1.01827576e-02 9.99947516e-01 -2.77779483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07119381700002 meters Centerline goodness : 0.928897 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.28, Z:-2.78 [[ 9.99990855e-01 -4.15031350e-03 1.03143529e-03 2.74333756e+01] [ 4.15968334e-03 9.99948524e-01 -9.25452597e-03 -2.81080123e-01] [-9.92973013e-04 9.25873178e-03 9.99956644e-01 -2.77777074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10119381700002 meters Centerline goodness : 0.931641 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.29, Z:-2.78 [[ 9.99995414e-01 -2.84451762e-03 1.03950106e-03 2.74322893e+01] [ 2.85112544e-03 9.99975381e-01 -6.41151149e-03 -2.88205589e-01] [-1.02123781e-03 6.41444584e-03 9.99978906e-01 -2.77615518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13119381700002 meters Centerline goodness : 0.932560 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.29, Z:-2.78 [[ 9.99996028e-01 -2.66191036e-03 9.26477079e-04 2.74322423e+01] [ 2.66692415e-03 9.99981575e-01 -5.45318321e-03 -2.91736340e-01] [-9.11944124e-04 5.45563239e-03 9.99984702e-01 -2.77566351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16119381700003 meters Centerline goodness : 0.934522 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.30, Z:-2.78 [[ 9.99995206e-01 -2.98710833e-03 8.16065764e-04 2.74322930e+01] [ 2.99099796e-03 9.99983971e-01 -4.80742169e-03 -2.95314692e-01] [-8.01692394e-04 4.80983950e-03 9.99988111e-01 -2.77527289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19119381700003 meters Centerline goodness : 0.937749 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.30, Z:-2.77 [[ 9.99967585e-01 -7.99731857e-03 9.33810798e-04 2.74319008e+01] [ 8.00462386e-03 9.99935151e-01 -8.10060463e-03 -3.00304618e-01] [-8.68967126e-04 8.10781685e-03 9.99966754e-01 -2.77449693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22119381700003 meters Centerline goodness : 0.939647 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.30, Z:-2.77 [[ 9.99926510e-01 -1.20945722e-02 8.33952681e-04 2.74323382e+01] [ 1.21034766e-02 9.99858779e-01 -1.16587879e-02 -3.01937043e-01] [-6.92826857e-04 1.16680249e-02 9.99931686e-01 -2.77465547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25119381700003 meters Centerline goodness : 0.935071 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.30, Z:-2.78 [[ 9.99867536e-01 -1.62626931e-02 6.60284962e-04 2.74332374e+01] [ 1.62708682e-02 9.99751516e-01 -1.52369631e-02 -3.03819049e-01] [-4.12326835e-04 1.52456882e-02 9.99883693e-01 -2.77520415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28119381700003 meters Centerline goodness : 0.937104 Centerline is valid? [False, False] Translation: X:27.43, Y:-0.31, Z:-2.78 [[ 9.99789208e-01 -2.05244849e-02 5.33366111e-04 2.74342031e+01] [ 2.05309141e-02 9.99608730e-01 -1.89965433e-02 -3.05506542e-01] [-1.43263154e-04 1.90034895e-02 9.99819407e-01 -2.77590577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31119381700003 meters Centerline goodness : 0.939591 Centerline is valid? [False, False] Translation: X:27.44, Y:-0.31, Z:-2.78 [[ 9.99679334e-01 -2.53152758e-02 6.05402375e-04 2.74352108e+01] [ 2.53225021e-02 9.99416008e-01 -2.29437172e-02 -3.07637990e-01] [-2.42222970e-05 2.29516902e-02 9.99736575e-01 -2.77704282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34119381700003 meters Centerline goodness : 0.937953 Centerline is valid? [False, False] Translation: X:27.44, Y:-0.31, Z:-2.78 [[ 9.99670110e-01 -2.56809268e-02 4.00553773e-04 2.74360951e+01] [ 2.56833236e-02 9.99402933e-01 -2.31115490e-02 -3.07546448e-01] [ 1.93211382e-04 2.31142123e-02 9.99732812e-01 -2.77762616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37119381700003 meters Centerline goodness : 0.936228 Centerline is valid? [False, False] Translation: X:27.44, Y:-0.31, Z:-2.78 [[ 9.99662798e-01 -2.59664234e-02 1.89277728e-04 2.74370165e+01] [ 2.59637239e-02 9.99387999e-01 -2.34416619e-02 -3.06773117e-01] [ 4.19534227e-04 2.34386717e-02 9.99725189e-01 -2.77828182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40119381700003 meters Centerline goodness : 0.936195 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.31, Z:-2.78 [[ 9.99702049e-01 -2.43200552e-02 -2.08512897e-03 2.74594530e+01] [ 2.42653891e-02 9.99437961e-01 -2.31290718e-02 -3.06679532e-01] [ 2.64645735e-03 2.30715840e-02 9.99730313e-01 -2.77923709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43119381700004 meters Centerline goodness : 0.932843 Centerline is valid? [False, False] Translation: X:27.46, Y:-0.31, Z:-2.78 [[ 9.99757122e-01 -2.18732517e-02 -2.69386573e-03 2.74621221e+01] [ 2.18142440e-02 9.99556527e-01 -2.02703987e-02 -3.06282289e-01] [ 3.13605061e-03 2.02067109e-02 9.99790905e-01 -2.78118429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46119381700004 meters Centerline goodness : 0.931930 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.30, Z:-2.79 [[ 9.99812278e-01 -1.89896431e-02 -3.84727352e-03 2.74682747e+01] [ 1.89187981e-02 9.99664653e-01 -1.76822280e-02 -3.02461854e-01] [ 4.18176254e-03 1.76061229e-02 9.99836255e-01 -2.78617898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49119381700004 meters Centerline goodness : 0.929915 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.30, Z:-2.79 [[ 9.99868789e-01 -1.56564199e-02 -4.15710254e-03 2.74694915e+01] [ 1.55956462e-02 9.99776548e-01 -1.42699173e-02 -3.01322328e-01] [ 4.37958945e-03 1.42032122e-02 9.99889538e-01 -2.78706176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52119381700004 meters Centerline goodness : 0.927730 Centerline is valid? [False, False] Translation: X:27.47, Y:-0.30, Z:-2.79 [[ 9.99915553e-01 -1.21910544e-02 -4.50157947e-03 2.74705751e+01] [ 1.21418448e-02 9.99867940e-01 -1.08017626e-02 -3.00148972e-01] [ 4.63266987e-03 1.07461929e-02 9.99931527e-01 -2.78763260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55119381700004 meters Centerline goodness : 0.926733 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.30, Z:-2.79 [[ 9.99957898e-01 -9.14099750e-03 8.03199385e-04 2.74847462e+01] [ 9.15283008e-03 9.99826434e-01 -1.62273428e-02 -2.95850497e-01] [-6.54725878e-04 1.62340111e-02 9.99868005e-01 -2.79197974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58119381700004 meters Centerline goodness : 0.927209 Centerline is valid? [False, False] Translation: X:27.48, Y:-0.29, Z:-2.79 [[ 9.99984827e-01 -5.47391770e-03 6.17942835e-04 2.74848300e+01] [ 5.48138026e-03 9.99903043e-01 -1.28007420e-02 -2.93814230e-01] [-5.47812713e-04 1.28039349e-02 9.99917876e-01 -2.79150565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61119381700004 meters Centerline goodness : 0.932880 Centerline is valid? [False, False] Translation: X:27.50, Y:-0.28, Z:-2.79 [[ 9.99985173e-01 -1.88152924e-03 5.11006353e-03 2.74998448e+01] [ 1.95969136e-03 9.99880506e-01 -1.53340362e-02 -2.84176938e-01] [-5.08060147e-03 1.53438230e-02 9.99869369e-01 -2.79111106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700004 meters Centerline goodness : 0.932919 Centerline is valid? [False, False] Translation: X:27.52, Y:-0.28, Z:-2.79 [[ 9.99958909e-01 3.71739126e-04 9.05775305e-03 2.75169511e+01] [-2.23962854e-04 9.99866951e-01 -1.63104485e-02 -2.80555680e-01] [-9.06261116e-03 1.63077497e-02 9.99825948e-01 -2.79061315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67119381700002 meters Centerline goodness : 0.936937 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.27, Z:-2.79 [[ 9.99900539e-01 1.84874102e-03 1.39819402e-02 2.75321408e+01] [-1.58529122e-03 9.99821446e-01 -1.88298165e-02 -2.72776611e-01] [-1.40142551e-02 1.88057782e-02 9.99724934e-01 -2.78968345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70119381700002 meters Centerline goodness : 0.936236 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.27, Z:-2.79 [[ 9.99902890e-01 1.31649862e-03 1.38735877e-02 2.75321187e+01] [-1.04235966e-03 9.99804436e-01 -1.97485126e-02 -2.69820858e-01] [-1.38968734e-02 1.97321336e-02 9.99708717e-01 -2.78925173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73119381700002 meters Centerline goodness : 0.935407 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.27, Z:-2.79 [[ 9.99906933e-01 5.15541037e-04 1.36330383e-02 2.75327235e+01] [-2.32092757e-04 9.99783948e-01 -2.07846916e-02 -2.67401835e-01] [-1.36408082e-02 2.07795931e-02 9.99691021e-01 -2.78935762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76119381700002 meters Centerline goodness : 0.937008 Centerline is valid? [False, False] Translation: X:27.53, Y:-0.27, Z:-2.79 [[ 9.99910578e-01 -6.33434546e-04 1.33579417e-02 2.75338161e+01] [ 9.27883699e-04 9.99756475e-01 -2.20483397e-02 -2.65132004e-01] [-1.33407226e-02 2.20587627e-02 9.99667663e-01 -2.79000398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79119381700002 meters Centerline goodness : 0.935315 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.26, Z:-2.79 [[ 9.99914487e-01 -1.95628340e-03 1.29302445e-02 2.75357897e+01] [ 2.26184648e-03 9.99717518e-01 -2.36594355e-02 -2.62121920e-01] [-1.28803073e-02 2.36866585e-02 9.99636454e-01 -2.79144147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82119381700002 meters Centerline goodness : 0.935304 Centerline is valid? [False, False] Translation: X:27.54, Y:-0.26, Z:-2.79 [[ 9.99916128e-01 -3.09126249e-03 1.25770337e-02 2.75377890e+01] [ 3.40767484e-03 9.99676249e-01 -2.52147959e-02 -2.58594268e-01] [-1.24950163e-02 2.52555395e-02 9.99602937e-01 -2.79308460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85119381700002 meters Centerline goodness : 0.932219 Centerline is valid? [False, False] Translation: X:27.56, Y:-0.25, Z:-2.80 [[ 9.99943942e-01 -1.49898386e-03 1.04816682e-02 2.75626737e+01] [ 1.78290971e-03 9.99630292e-01 -2.71311862e-02 -2.50422066e-01] [-1.04371238e-02 2.71483532e-02 9.99576927e-01 -2.79680347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88119381700002 meters Centerline goodness : 0.932219 Centerline is valid? [False, False] Translation: X:27.56, Y:-0.25, Z:-2.80 [[ 9.99943942e-01 -1.49898386e-03 1.04816682e-02 2.75626737e+01] [ 1.78290971e-03 9.99630292e-01 -2.71311862e-02 -2.50422066e-01] [-1.04371238e-02 2.71483532e-02 9.99576927e-01 -2.79680347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91119381700003 meters Centerline goodness : 0.932947 Centerline is valid? [False, False] Translation: X:27.59, Y:-0.25, Z:-2.80 [[ 9.99962584e-01 2.30123026e-03 8.33871003e-03 2.75865861e+01] [-2.09351581e-03 9.99689413e-01 -2.48333427e-02 -2.48152585e-01] [-8.39326737e-03 2.48149564e-02 9.99656827e-01 -2.79875427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94119381700003 meters Centerline goodness : 0.932696 Centerline is valid? [False, False] Translation: X:27.61, Y:-0.24, Z:-2.80 [[ 9.99953810e-01 5.74298428e-03 7.70691053e-03 2.76093074e+01] [-5.55170338e-03 9.99681580e-01 -2.46153946e-02 -2.44127562e-01] [-7.84582231e-03 2.45714711e-02 9.99667288e-01 -2.80080969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97119381700003 meters Centerline goodness : 0.929689 Centerline is valid? [False, False] Translation: X:27.61, Y:-0.24, Z:-2.80 [[ 9.99927824e-01 9.46630277e-03 7.39841602e-03 2.76105262e+01] [-9.30295831e-03 9.99718864e-01 -2.18093444e-02 -2.40106940e-01] [-7.60278992e-03 2.17389432e-02 9.99734773e-01 -2.80137723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00119381700003 meters Centerline goodness : 0.930137 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.23, Z:-2.80 [[ 9.99813414e-01 1.86423044e-02 5.05977219e-03 2.76409308e+01] [-1.85038803e-02 9.99486781e-01 -2.61492071e-02 -2.31318897e-01] [-5.54465690e-03 2.60507026e-02 9.99645246e-01 -2.80206401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03119381700003 meters Centerline goodness : 0.928459 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.23, Z:-2.80 [[ 9.99747598e-01 2.19543691e-02 4.76923161e-03 2.76423069e+01] [-2.18350344e-02 9.99478783e-01 -2.37780214e-02 -2.28146344e-01] [-5.28877727e-03 2.36678834e-02 9.99705887e-01 -2.80245660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06119381700003 meters Centerline goodness : 0.929474 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.23, Z:-2.80 [[ 9.99664511e-01 2.54826686e-02 4.63667673e-03 2.76431563e+01] [-2.53816357e-02 9.99463908e-01 -2.06801416e-02 -2.25820774e-01] [-5.16117624e-03 2.05555172e-02 9.99775391e-01 -2.80278002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09119381700003 meters Centerline goodness : 0.927897 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.22, Z:-2.80 [[ 9.99576761e-01 2.87207603e-02 4.62784138e-03 2.76436751e+01] [-2.86354419e-02 9.99435789e-01 -1.75532156e-02 -2.24136472e-01] [-5.12937199e-03 1.74132661e-02 9.99835220e-01 -2.80305275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12119381700003 meters Centerline goodness : 0.926673 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.22, Z:-2.80 [[ 9.99481930e-01 3.18553471e-02 4.59434967e-03 2.76441497e+01] [-3.17834876e-02 9.99383010e-01 -1.49468624e-02 -2.20891259e-01] [-5.06765249e-03 1.47930944e-02 9.99877734e-01 -2.80303546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15119381700003 meters Centerline goodness : 0.924804 Centerline is valid? [False, False] Translation: X:27.64, Y:-0.22, Z:-2.80 [[ 9.99490501e-01 3.16302327e-02 4.27407183e-03 2.76449140e+01] [-3.15585158e-02 9.99375154e-01 -1.59173471e-02 -2.18592432e-01] [-4.77487059e-03 1.57743538e-02 9.99864176e-01 -2.80294412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18119381700004 meters Centerline goodness : 0.927019 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99483340e-01 3.19025515e-02 3.90907333e-03 2.76458748e+01] [-3.18354204e-02 9.99362221e-01 -1.61758042e-02 -2.17351622e-01] [-4.42262964e-03 1.60429998e-02 9.99861522e-01 -2.80309135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21119381700004 meters Centerline goodness : 0.925488 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99358032e-01 3.56226419e-02 3.81452195e-03 2.76468646e+01] [-3.55735698e-02 9.99292095e-01 -1.22405309e-02 -2.18027347e-01] [-4.24786168e-03 1.20969767e-02 9.99917806e-01 -2.80395741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24119381700004 meters Centerline goodness : 0.927537 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.81 [[ 9.99276364e-01 3.78918692e-02 3.30965340e-03 2.76492402e+01] [-3.78584688e-02 9.99236704e-01 -9.63044821e-03 -2.17586490e-01] [-3.67204284e-03 9.49818086e-03 9.99948149e-01 -2.80549478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27119381700004 meters Centerline goodness : 0.927102 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.81 [[ 9.99281254e-01 3.77915492e-02 2.96219976e-03 2.76500935e+01] [-3.77597225e-02 9.99235296e-01 -1.01502297e-02 -2.15909279e-01] [-3.34352745e-03 1.00310824e-02 9.99944098e-01 -2.80560353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30119381700004 meters Centerline goodness : 0.927505 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.81 [[ 9.99288928e-01 3.75970243e-02 2.84645283e-03 2.76501517e+01] [-3.75655575e-02 9.99240034e-01 -1.04010876e-02 -2.15520111e-01] [-3.23533957e-03 1.02867631e-02 9.99941856e-01 -2.80532296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33119381700004 meters Centerline goodness : 0.925927 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99307652e-01 3.70852162e-02 2.98396697e-03 2.76489074e+01] [-3.70532653e-02 9.99261928e-01 -1.01318564e-02 -2.17888439e-01] [-3.35750667e-03 1.00142759e-02 9.99944219e-01 -2.80409479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700004 meters Centerline goodness : 0.929277 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99326079e-01 3.66020633e-02 2.77084024e-03 2.76492725e+01] [-3.65723101e-02 9.99279776e-01 -1.01191046e-02 -2.19019297e-01] [-3.13922472e-03 1.00109491e-02 9.99944962e-01 -2.80416453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39119381700004 meters Centerline goodness : 0.931680 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99341310e-01 3.61828718e-02 2.78300687e-03 2.76491936e+01] [-3.61528317e-02 9.99294445e-01 -1.01777043e-02 -2.19400801e-01] [-3.14930187e-03 1.00703868e-02 9.99944333e-01 -2.80416168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42119381700002 meters Centerline goodness : 0.932682 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99581821e-01 2.87384579e-02 3.20682432e-03 2.76493004e+01] [-2.87460568e-02 9.99583986e-01 2.34922246e-03 -2.20886835e-01] [-3.13797721e-03 -2.44042362e-03 9.99992099e-01 -2.80428907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45119381700002 meters Centerline goodness : 0.928923 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99705019e-01 2.41097991e-02 2.93140157e-03 2.76496960e+01] [-2.41021912e-02 9.99706110e-01 -2.60351332e-03 -2.19192837e-01] [-2.99331024e-03 2.53209213e-03 9.99992314e-01 -2.80431687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48119381700002 meters Centerline goodness : 0.929886 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.80 [[ 9.99892479e-01 1.46625670e-02 -1.98878549e-04 2.76509014e+01] [-1.46616180e-02 9.99883935e-01 4.14158078e-03 -2.19782857e-01] [ 2.59581672e-04 -4.13821959e-03 9.99991404e-01 -2.80480420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51119381700002 meters Centerline goodness : 0.931783 Centerline is valid? [False, False] Translation: X:27.65, Y:-0.22, Z:-2.81 [[ 9.99948405e-01 1.01418567e-02 -5.75259481e-04 2.76522033e+01] [-1.01418890e-02 9.99948568e-01 -5.32676864e-05 -2.19858911e-01] [ 5.74689661e-04 5.90991558e-05 9.99999833e-01 -2.80589361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54119381700002 meters Centerline goodness : 0.924564 Centerline is valid? [False, False] Translation: X:27.66, Y:-0.22, Z:-2.81 [[ 9.99989634e-01 4.30144296e-03 -1.49307357e-03 2.76553818e+01] [-4.30966526e-03 9.99975322e-01 -5.54813586e-03 -2.19362900e-01] [ 1.46917173e-03 5.55451299e-03 9.99983494e-01 -2.80772802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57119381700002 meters Centerline goodness : 0.925648 Centerline is valid? [False, False] Translation: X:27.66, Y:-0.22, Z:-2.81 [[ 9.99984008e-01 -5.28861422e-03 -2.00345344e-03 2.76574064e+01] [ 5.25797414e-03 9.99873638e-01 -1.50020381e-02 -2.17410431e-01] [ 2.08254027e-03 1.49912641e-02 9.99885456e-01 -2.80896740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60119381700002 meters Centerline goodness : 0.925737 Centerline is valid? [False, False] Translation: X:27.66, Y:-0.22, Z:-2.81 [[ 9.99979595e-01 -5.96156738e-03 -2.29536881e-03 2.76583348e+01] [ 5.92531209e-03 9.99862459e-01 -1.54904256e-02 -2.16643800e-01] [ 2.38740032e-03 1.54765088e-02 9.99877381e-01 -2.80934266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63119381700002 meters Centerline goodness : 0.926286 Centerline is valid? [False, False] Translation: X:27.66, Y:-0.21, Z:-2.81 [[ 9.99976729e-01 -6.30852289e-03 -2.59684258e-03 2.76589155e+01] [ 6.26565250e-03 9.99849166e-01 -1.61983839e-02 -2.14387596e-01] [ 2.69863876e-03 1.61817360e-02 9.99865425e-01 -2.80919523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66119381700003 meters Centerline goodness : 0.926245 Centerline is valid? [False, False] Translation: X:27.66, Y:-0.21, Z:-2.81 [[ 9.99990513e-01 -3.32062290e-03 -2.81893306e-03 2.76592183e+01] [ 3.28339559e-03 9.99908674e-01 -1.31096407e-02 -2.13134067e-01] [ 2.86220779e-03 1.31002607e-02 9.99910091e-01 -2.80890853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69119381700003 meters Centerline goodness : 0.929482 Centerline is valid? [False, False] Translation: X:27.67, Y:-0.20, Z:-2.81 [[ 9.99996975e-01 -9.96992836e-04 2.24875319e-03 2.76742132e+01] [ 1.03705151e-03 9.99839540e-01 -1.78834695e-02 -2.03244442e-01] [-2.23056267e-03 1.78857475e-02 9.99837549e-01 -2.81133656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72119381700003 meters Centerline goodness : 0.932779 Centerline is valid? [False, False] Translation: X:27.68, Y:-0.20, Z:-2.81 [[ 9.99960898e-01 -3.58698744e-04 8.83596377e-03 2.76844285e+01] [ 4.30597029e-04 9.99966806e-01 -8.13644729e-03 -2.02251337e-01] [-8.83275193e-03 8.13993387e-03 9.99927859e-01 -2.81498336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75119381700003 meters Centerline goodness : 0.933749 Centerline is valid? [False, False] Translation: X:27.69, Y:-0.20, Z:-2.82 [[ 9.99964526e-01 6.08991828e-04 8.40093243e-03 2.76867076e+01] [-5.44884439e-04 9.99970734e-01 -7.63116415e-03 -1.98624614e-01] [-8.40533389e-03 7.62631590e-03 9.99935593e-01 -2.81655865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78119381700003 meters Centerline goodness : 0.931965 Centerline is valid? [False, False] Translation: X:27.69, Y:-0.20, Z:-2.82 [[ 9.99968709e-01 1.18031260e-03 7.82231657e-03 2.76895650e+01] [-1.12099044e-03 9.99970615e-01 -7.58375859e-03 -1.95273175e-01] [-7.83103792e-03 7.57475254e-03 9.99940647e-01 -2.81858517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81119381700003 meters Centerline goodness : 0.931790 Centerline is valid? [False, False] Translation: X:27.71, Y:-0.19, Z:-2.82 [[ 9.99982591e-01 -3.47799685e-04 5.89042029e-03 2.77141792e+01] [ 4.22048040e-04 9.99920422e-01 -1.26083845e-02 -1.86746456e-01] [-5.88556635e-03 1.26106511e-02 9.99903161e-01 -2.82201831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84119381700003 meters Centerline goodness : 0.931779 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.18, Z:-2.82 [[ 9.99990760e-01 -1.50023513e-04 4.29629032e-03 2.77365384e+01] [ 2.03667030e-04 9.99921997e-01 -1.24882941e-02 -1.84209174e-01] [-4.29408166e-03 1.24890537e-02 9.99912788e-01 -2.82303865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87119381700003 meters Centerline goodness : 0.931258 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.18, Z:-2.82 [[ 9.99992161e-01 1.25815788e-03 3.75422859e-03 2.77389439e+01] [-1.21726662e-03 9.99940130e-01 -1.08745309e-02 -1.81663177e-01] [-3.76768570e-03 1.08698758e-02 9.99933823e-01 -2.82460476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90119381700003 meters Centerline goodness : 0.931351 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.18, Z:-2.82 [[ 9.99985793e-01 3.86617505e-03 3.66972787e-03 2.77393244e+01] [-3.83596836e-03 9.99958997e-01 -8.20297186e-03 -1.79543336e-01] [-3.70129153e-03 8.18877836e-03 9.99959621e-01 -2.82485765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93119381700004 meters Centerline goodness : 0.930139 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.18, Z:-2.83 [[ 9.99981673e-01 5.20462333e-03 3.09287318e-03 2.77418251e+01] [-5.18345761e-03 9.99963361e-01 -6.81244215e-03 -1.76619492e-01] [-3.12821605e-03 6.79628552e-03 9.99972012e-01 -2.82648751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96119381700004 meters Centerline goodness : 0.930711 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.17, Z:-2.83 [[ 9.99977845e-01 5.99749887e-03 2.88769806e-03 2.77425131e+01] [-5.97754371e-03 9.99958534e-01 -6.87014595e-03 -1.67902531e-01] [-2.92878202e-03 6.85273240e-03 9.99972231e-01 -2.82657563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99119381700004 meters Centerline goodness : 0.931017 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.16, Z:-2.83 [[ 9.99982296e-01 5.34398678e-03 2.61727383e-03 2.77431129e+01] [-5.32211867e-03 9.99951456e-01 -8.29218663e-03 -1.63484935e-01] [-2.66146011e-03 8.27811038e-03 9.99962194e-01 -2.82650774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02119381700004 meters Centerline goodness : 0.933288 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.16, Z:-2.83 [[ 9.99986327e-01 4.60161867e-03 2.48409026e-03 2.77432120e+01] [-4.57727564e-03 9.99942304e-01 -9.71789056e-03 -1.59299140e-01] [-2.52866497e-03 9.70638733e-03 9.99949695e-01 -2.82614722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05119381700004 meters Centerline goodness : 0.934516 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.16, Z:-2.82 [[ 9.99978816e-01 5.82390015e-03 2.90685119e-03 2.77413721e+01] [-5.79900579e-03 9.99947058e-01 -8.50021913e-03 -1.55843883e-01] [-2.95620172e-03 8.48318222e-03 9.99959647e-01 -2.82478055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08119381700004 meters Centerline goodness : 0.933195 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.15, Z:-2.83 [[ 9.99971196e-01 7.00599135e-03 2.91953547e-03 2.77418150e+01] [-6.98076984e-03 9.99938984e-01 -8.56133272e-03 -1.45820359e-01] [-2.97933796e-03 8.54070551e-03 9.99959089e-01 -2.82509743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11119381700004 meters Centerline goodness : 0.931221 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.14, Z:-2.83 [[ 9.99950928e-01 9.49073619e-03 2.84017617e-03 2.77424204e+01] [-9.47224416e-03 9.99934303e-01 -6.45499958e-03 -1.42001709e-01] [-2.90125228e-03 6.42777998e-03 9.99975133e-01 -2.82551746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700004 meters Centerline goodness : 0.930536 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.14, Z:-2.83 [[ 9.99923855e-01 1.20329011e-02 2.73760010e-03 2.77435922e+01] [-1.20207699e-02 9.99918043e-01 -4.40542696e-03 -1.37939006e-01] [-2.79038580e-03 4.37218345e-03 9.99986549e-01 -2.82659793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17119381700002 meters Centerline goodness : 0.932562 Centerline is valid? [False, False] Translation: X:27.74, Y:-0.13, Z:-2.83 [[ 9.99886730e-01 1.48252807e-02 2.59588085e-03 2.77447545e+01] [-1.48191102e-02 9.99887358e-01 -2.38037352e-03 -1.33252873e-01] [-2.63087815e-03 2.34163525e-03 9.99993798e-01 -2.82752444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20119381700002 meters Centerline goodness : 0.934379 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.12, Z:-2.83 [[ 9.99783572e-01 2.06406073e-02 2.60278616e-03 2.77454666e+01] [-2.06416936e-02 9.99786861e-01 3.91171887e-04 -1.18409486e-01] [-2.59415738e-03 -4.44813141e-04 9.99996536e-01 -2.82757202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23119381700002 meters Centerline goodness : 0.937461 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.11, Z:-2.83 [[ 9.99717733e-01 2.36144890e-02 2.60961404e-03 2.77453591e+01] [-2.36189095e-02 9.99719629e-01 1.67628129e-03 -1.10395395e-01] [-2.56929785e-03 -1.73744437e-03 9.99995190e-01 -2.82688515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26119381700002 meters Centerline goodness : 0.937540 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.10, Z:-2.83 [[ 9.99636805e-01 2.68453180e-02 2.36377852e-03 2.77458224e+01] [-2.68531198e-02 9.99633833e-01 3.33310756e-03 -1.03526693e-01] [-2.27343465e-03 -3.39537182e-03 9.99991651e-01 -2.82624495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29119381700002 meters Centerline goodness : 0.937981 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.09, Z:-2.82 [[ 9.99445558e-01 3.32096645e-02 2.38651512e-03 2.77455937e+01] [-3.32261935e-02 9.99421513e-01 7.25673427e-03 -9.28601889e-02] [-2.14414084e-03 -7.33200564e-03 9.99970822e-01 -2.82485161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32119381700002 meters Centerline goodness : 0.941561 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.09, Z:-2.82 [[ 9.99340029e-01 3.62500758e-02 2.33196722e-03 2.77458190e+01] [-3.62706104e-02 9.99297171e-01 9.46611209e-03 -8.84582603e-02] [-1.98718096e-03 -9.54444660e-03 9.99952476e-01 -2.82451352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35119381700002 meters Centerline goodness : 0.942801 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.08, Z:-2.82 [[ 9.99227924e-01 3.92219135e-02 2.27996034e-03 2.77456266e+01] [-3.92457902e-02 9.99162339e-01 1.15925837e-02 -8.39531564e-02] [-1.82336719e-03 -1.16731122e-02 9.99930204e-01 -2.82361085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38119381700002 meters Centerline goodness : 0.943876 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.08, Z:-2.82 [[ 9.99102460e-01 4.22955014e-02 2.31633101e-03 2.77454210e+01] [-4.23236426e-02 9.99007695e-01 1.38684874e-02 -7.98638005e-02] [-1.72745787e-03 -1.39540754e-02 9.99901145e-01 -2.82285537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41119381700003 meters Centerline goodness : 0.946380 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.07, Z:-2.82 [[ 9.98896639e-01 4.68948208e-02 2.52612718e-03 2.77450574e+01] [-4.69297905e-02 9.98765935e-01 1.62543140e-02 -7.27222589e-02] [-1.76076663e-03 -1.63549302e-02 9.99864699e-01 -2.82171239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44119381700003 meters Centerline goodness : 0.945294 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.07, Z:-2.82 [[ 9.98851351e-01 4.78614644e-02 2.29330681e-03 2.77456215e+01] [-4.78916424e-02 9.98729270e-01 1.56918731e-02 -6.84218494e-02] [-1.53935661e-03 -1.57836789e-02 9.99874245e-01 -2.82140934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47119381700003 meters Centerline goodness : 0.945774 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.06, Z:-2.82 [[ 9.98832867e-01 4.82577939e-02 2.02206195e-03 2.77462546e+01] [-4.82823534e-02 9.98725713e-01 1.46889073e-02 -6.45600227e-02] [-1.31063101e-03 -1.47693933e-02 9.99890068e-01 -2.82123008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50119381700003 meters Centerline goodness : 0.948743 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.06, Z:-2.82 [[ 9.98733908e-01 5.02813096e-02 1.54004633e-03 2.77483441e+01] [-5.02996516e-02 9.98603591e-01 1.61496873e-02 -6.26348183e-02] [-7.25868368e-04 -1.62067041e-02 9.99868399e-01 -2.82230095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53119381700003 meters Centerline goodness : 0.948346 Centerline is valid? [False, False] Translation: X:27.75, Y:-0.06, Z:-2.82 [[ 9.98722479e-01 5.05136941e-02 1.33254380e-03 2.77485743e+01] [-5.05283175e-02 9.98601808e-01 1.55344387e-02 -6.03326324e-02] [-5.45978766e-04 -1.55819243e-02 9.99878445e-01 -2.82185546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56119381700003 meters Centerline goodness : 0.950824 Centerline is valid? [False, True] Translation: X:27.75, Y:-0.06, Z:-2.82 [[ 9.98688750e-01 5.11749357e-02 1.38082922e-03 2.77482212e+01] [-5.11901639e-02 9.98569890e-01 1.54188976e-02 -5.92469033e-02] [-5.89793389e-04 -1.54693645e-02 9.99880168e-01 -2.82121046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59119381700003 meters Centerline goodness : 0.950100 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.06, Z:-2.82 [[ 9.98577072e-01 5.33268872e-02 2.71695179e-04 2.77774078e+01] [-5.33268839e-02 9.98577109e-01 -1.95198285e-05 -5.65252750e-02] [-2.72349518e-04 5.00339594e-06 9.99999963e-01 -2.81759141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62119381700003 meters Centerline goodness : 0.950260 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.06, Z:-2.82 [[ 9.98464964e-01 5.53863041e-02 2.71696801e-04 2.78049687e+01] [-5.53863009e-02 9.98465001e-01 -1.94972290e-05 -6.04066416e-02] [-2.72359626e-04 4.41901924e-06 9.99999963e-01 -2.81948298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65119381700003 meters Centerline goodness : 0.947738 Centerline is valid? [True, False] Translation: X:27.81, Y:-0.06, Z:-2.82 [[ 9.98437872e-01 5.58731699e-02 -6.78053855e-05 2.78061980e+01] [-5.58731416e-02 9.98437809e-01 3.64788695e-04 -6.08545326e-02] [ 8.80813613e-05 -3.60430348e-04 9.99999931e-01 -2.82017167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68119381700004 meters Centerline goodness : 0.944208 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.06, Z:-2.82 [[ 9.98327690e-01 5.78064356e-02 -4.88585535e-04 2.78086902e+01] [-5.78052635e-02 9.98325574e-01 2.14458713e-03 -6.29040252e-02] [ 6.11738373e-04 -2.11275790e-03 9.99997581e-01 -2.82214525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71119381700004 meters Centerline goodness : 0.941960 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.06, Z:-2.82 [[ 9.98288972e-01 5.84665098e-02 -8.92405082e-04 2.78101724e+01] [-5.84635837e-02 9.98284995e-01 3.01284307e-03 -6.48746511e-02] [ 1.06702502e-03 -2.95551481e-03 9.99995063e-01 -2.82307352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74119381700004 meters Centerline goodness : 0.942743 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.07, Z:-2.82 [[ 9.98244100e-01 5.92185054e-02 -1.37276569e-03 2.78117799e+01] [-5.92123788e-02 9.98236819e-01 4.14098241e-03 -6.78460659e-02] [ 1.61556805e-03 -4.05242654e-03 9.99990484e-01 -2.82402096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77119381700004 meters Centerline goodness : 0.940317 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.07, Z:-2.82 [[ 9.98201728e-01 5.99209018e-02 -1.67224673e-03 2.78127971e+01] [-5.99113394e-02 9.98189745e-01 5.27862472e-03 -7.08079949e-02] [ 1.98551949e-03 -5.16894577e-03 9.99984670e-01 -2.82464921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80119381700004 meters Centerline goodness : 0.940317 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.07, Z:-2.82 [[ 9.98201728e-01 5.99209018e-02 -1.67224673e-03 2.78127971e+01] [-5.99113394e-02 9.98189745e-01 5.27862472e-03 -7.08079949e-02] [ 1.98551949e-03 -5.16894577e-03 9.99984670e-01 -2.82464921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83119381700004 meters Centerline goodness : 0.937253 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.08, Z:-2.83 [[ 9.98246015e-01 5.91316655e-02 2.88788124e-03 2.78259197e+01] [-5.91664075e-02 9.98150428e-01 1.39663569e-02 -8.10758752e-02] [-2.05668595e-03 -1.41127257e-02 9.99898295e-01 -2.82815557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700004 meters Centerline goodness : 0.935356 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.08, Z:-2.83 [[ 9.98414072e-01 5.62507289e-02 2.27966037e-03 2.78266082e+01] [-5.62727186e-02 9.98353429e-01 1.11270957e-02 -8.38072522e-02] [-1.64999950e-03 -1.12377316e-02 9.99935493e-01 -2.82793186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89119381700004 meters Centerline goodness : 0.934268 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.09, Z:-2.83 [[ 9.98377653e-01 5.69047952e-02 1.97618849e-03 2.78273374e+01] [-5.69255213e-02 9.98296138e-01 1.28181868e-02 -8.92500802e-02] [-1.24340504e-03 -1.29098868e-02 9.99915891e-01 -2.82796881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92119381700002 meters Centerline goodness : 0.933863 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.09, Z:-2.83 [[ 9.98341184e-01 5.75484219e-02 1.74885353e-03 2.78279316e+01] [-5.75677322e-02 9.98236997e-01 1.44517838e-02 -9.45358013e-02] [-9.14092940e-04 -1.45284885e-02 9.99894038e-01 -2.82826862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95119381700002 meters Centerline goodness : 0.931336 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.11, Z:-2.83 [[ 9.98427683e-01 5.60480407e-02 8.82984220e-04 2.78501441e+01] [-5.60549657e-02 9.98287007e-01 1.67598598e-02 -1.05533924e-01] [ 5.78856277e-05 -1.67830036e-02 9.99859154e-01 -2.82982789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98119381700002 meters Centerline goodness : 0.928778 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.11, Z:-2.83 [[ 9.98570479e-01 5.34503130e-02 2.48487135e-04 2.78514866e+01] [-5.34482958e-02 9.98465405e-01 1.44953001e-02 -1.09325814e-01] [ 5.26672520e-04 -1.44878600e-02 9.99894907e-01 -2.83041909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01119381700002 meters Centerline goodness : 0.924209 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.12, Z:-2.83 [[ 9.98538105e-01 5.40509676e-02 -3.82104596e-04 2.78540839e+01] [-5.40377419e-02 9.98408046e-01 1.61646724e-02 -1.15898482e-01] [ 1.25521249e-03 -1.61203933e-02 9.99869270e-01 -2.83219009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04119381700002 meters Centerline goodness : 0.923113 Centerline is valid? [False, False] Translation: X:27.87, Y:-0.12, Z:-2.83 [[ 9.98681841e-01 5.13277714e-02 -2.00423805e-04 2.78747078e+01] [-5.13170782e-02 9.98539706e-01 1.68823170e-02 -1.22963230e-01] [ 1.06666283e-03 -1.68497782e-02 9.99857463e-01 -2.83321351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07119381700002 meters Centerline goodness : 0.922137 Centerline is valid? [False, False] Translation: X:27.90, Y:-0.15, Z:-2.83 [[ 9.98974153e-01 4.49916950e-02 5.13697093e-03 2.79035467e+01] [-4.51639315e-02 9.98149435e-01 4.07176143e-02 -1.45995336e-01] [-3.29551015e-03 -4.09078501e-02 9.99157489e-01 -2.83187822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10119381700002 meters Centerline goodness : 0.925426 Centerline is valid? [False, False] Translation: X:27.92, Y:-0.16, Z:-2.83 [[ 9.99008972e-01 4.37464734e-02 8.20490539e-03 2.79216949e+01] [-4.40731822e-02 9.98009397e-01 4.51087336e-02 -1.57039001e-01] [-6.21522466e-03 -4.54256458e-02 9.98948388e-01 -2.83319830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13119381700002 meters Centerline goodness : 0.923822 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.17, Z:-2.83 [[ 9.99233377e-01 3.77380196e-02 1.04163616e-02 2.79471870e+01] [-3.83886894e-02 9.96692779e-01 7.16227147e-02 -1.71451936e-01] [-7.67901298e-03 -7.19676775e-02 9.97377404e-01 -2.83068392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16119381700003 meters Centerline goodness : 0.922252 Centerline is valid? [False, False] Translation: X:27.97, Y:-0.19, Z:-2.82 [[ 9.99463979e-01 3.12432537e-02 9.77821574e-03 2.79749273e+01] [-3.21281050e-02 9.93449766e-01 1.09660146e-01 -1.88743706e-01] [-6.28802637e-03 -1.09915522e-01 9.93921043e-01 -2.81862303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19119381700003 meters Centerline goodness : 0.923512 Centerline is valid? [False, False] Translation: X:27.97, Y:-0.22, Z:-2.80 [[ 9.99839410e-01 1.46834365e-02 1.02737564e-02 2.79695112e+01] [-1.63840711e-02 9.81241305e-01 1.92086083e-01 -2.22814683e-01] [-7.26055033e-03 -1.92223562e-01 9.81324302e-01 -2.80007477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22119381700003 meters Centerline goodness : 0.924994 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.22, Z:-2.80 [[ 9.99884181e-01 1.12479771e-02 1.02521942e-02 2.79443898e+01] [-1.28071156e-02 9.85783608e-01 1.67531058e-01 -2.20669134e-01] [-8.22205946e-03 -1.67642955e-01 9.85813490e-01 -2.79743802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25119381700003 meters Centerline goodness : 0.925813 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.21, Z:-2.80 [[ 9.99897234e-01 8.79861021e-03 1.13183971e-02 2.79402617e+01] [-1.00569339e-02 9.93150518e-01 1.16408364e-01 -2.11363056e-01] [-1.02166401e-02 -1.16510230e-01 9.93136943e-01 -2.79777699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28119381700003 meters Centerline goodness : 0.927071 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.21, Z:-2.80 [[ 9.99879863e-01 5.73727699e-03 1.43994503e-02 2.79346675e+01] [-7.00002521e-03 9.95985990e-01 8.92351248e-02 -2.09429185e-01] [-1.38296841e-02 -8.93252008e-02 9.95906496e-01 -2.79919506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31119381700003 meters Centerline goodness : 0.925241 Centerline is valid? [False, False] Translation: X:27.93, Y:-0.21, Z:-2.80 [[ 9.99963387e-01 1.38010130e-05 8.55708687e-03 2.79339089e+01] [-6.04470510e-04 9.97614526e-01 6.90281981e-02 -2.11845990e-01] [-8.53572150e-03 -6.90308433e-02 9.97578009e-01 -2.79880837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34119381700003 meters Centerline goodness : 0.925650 Centerline is valid? [False, False] Translation: X:27.94, Y:-0.21, Z:-2.80 [[ 9.99997716e-01 -6.30549920e-04 2.04220890e-03 2.79363546e+01] [ 5.22591190e-04 9.98623970e-01 5.24394287e-02 -2.10637747e-01] [-2.07246444e-03 -5.24382417e-02 9.98622018e-01 -2.79973745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37119381700003 meters Centerline goodness : 0.923758 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.21, Z:-2.80 [[ 9.99998431e-01 -1.70692777e-03 -4.72859529e-04 2.79483257e+01] [ 1.72524202e-03 9.99120290e-01 4.19007088e-02 -2.10339272e-01] [ 4.00922066e-04 -4.19014589e-02 9.99121668e-01 -2.79972739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40119381700003 meters Centerline goodness : 0.923048 Centerline is valid? [False, False] Translation: X:27.95, Y:-0.21, Z:-2.80 [[ 9.99982470e-01 5.38633733e-04 -5.89661053e-03 2.79523157e+01] [-3.73254086e-04 9.99607522e-01 2.80118192e-02 -2.08657497e-01] [ 5.90938435e-03 -2.80091273e-02 9.99590200e-01 -2.80181654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43119381700004 meters Centerline goodness : 0.921380 Centerline is valid? [False, False] Translation: X:27.97, Y:-0.21, Z:-2.80 [[ 9.99952243e-01 3.00352610e-03 -9.29998914e-03 2.79657446e+01] [-2.81073843e-03 9.99782319e-01 2.06740122e-02 -2.08063946e-01] [ 9.36005964e-03 -2.06468850e-02 9.99743015e-01 -2.80186886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46119381700004 meters Centerline goodness : 0.919948 Centerline is valid? [False, False] Translation: X:27.98, Y:-0.21, Z:-2.80 [[ 9.99959484e-01 4.74348344e-03 -7.65047114e-03 2.79750074e+01] [-4.66214633e-03 9.99932794e-01 1.06146683e-02 -2.05134330e-01] [ 7.70030749e-03 -1.05785706e-02 9.99914396e-01 -2.80162943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49119381700004 meters Centerline goodness : 0.918960 Centerline is valid? [False, False] Translation: X:27.99, Y:-0.20, Z:-2.80 [[ 9.99973392e-01 6.58078462e-03 -3.14777629e-03 2.79864905e+01] [-6.57627368e-03 9.99977337e-01 1.44126444e-03 -2.02297962e-01] [ 3.15718961e-03 -1.42052545e-03 9.99994007e-01 -2.80491928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52119381700004 meters Centerline goodness : 0.921449 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99924120e-01 1.22344926e-02 1.43936495e-03 2.79967537e+01] [-1.22282114e-02 9.99916010e-01 -4.29460631e-03 -1.99311425e-01] [-1.49178639e-03 4.27667958e-03 9.99989742e-01 -2.80718016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55119381700004 meters Centerline goodness : 0.922187 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99915182e-01 1.29731986e-02 1.15138378e-03 2.79974727e+01] [-1.29679905e-02 9.99906138e-01 -4.42105570e-03 -1.97583640e-01] [-1.20863094e-03 4.40574958e-03 9.99989564e-01 -2.80728102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58119381700004 meters Centerline goodness : 0.923120 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99909164e-01 1.34422747e-02 9.84377993e-04 2.79978048e+01] [-1.34374346e-02 9.99898342e-01 -4.76871344e-03 -1.95652335e-01] [-1.04838028e-03 4.75505276e-03 9.99988145e-01 -2.80720342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61119381700004 meters Centerline goodness : 0.922403 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.19, Z:-2.81 [[ 9.99902097e-01 1.39689455e-02 8.15439617e-04 2.79980228e+01] [-1.39648165e-02 9.99890643e-01 -4.86678699e-03 -1.94385494e-01] [-8.83334326e-04 4.85492305e-03 9.99987825e-01 -2.80701672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700004 meters Centerline goodness : 0.925422 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.19, Z:-2.81 [[ 9.99887821e-01 1.49614766e-02 7.06746741e-04 2.79980235e+01] [-1.49581946e-02 9.99878259e-01 -4.44077956e-03 -1.93854095e-01] [-7.73101320e-04 4.42970975e-03 9.99989890e-01 -2.80664951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67119381700002 meters Centerline goodness : 0.926492 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.19, Z:-2.81 [[ 9.99882881e-01 1.52897328e-02 6.68984486e-04 2.79983740e+01] [-1.52868848e-02 9.99874853e-01 -4.07311335e-03 -1.94665487e-01] [-7.31177579e-04 4.06240963e-03 9.99991481e-01 -2.80702323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70119381700002 meters Centerline goodness : 0.925888 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99876895e-01 1.56839325e-02 4.56532936e-04 2.79991595e+01] [-1.56822306e-02 9.99870834e-01 -3.51908366e-03 -1.96101588e-01] [-5.11667038e-04 3.51149099e-03 9.99993704e-01 -2.80754399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73119381700002 meters Centerline goodness : 0.923176 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99871960e-01 1.59980354e-02 3.56250001e-04 2.79995606e+01] [-1.59969472e-02 9.99867915e-01 -2.87247072e-03 -1.98028261e-01] [-4.02156833e-04 2.86640401e-03 9.99995811e-01 -2.80786040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76119381700002 meters Centerline goodness : 0.926827 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99861413e-01 1.66477893e-02 7.14428815e-05 2.80008636e+01] [-1.66476626e-02 9.99860280e-01 -1.50887093e-03 -2.01478079e-01] [-9.65522649e-05 1.50747247e-03 9.99998859e-01 -2.80892092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79119381700002 meters Centerline goodness : 0.927423 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.20, Z:-2.81 [[ 9.99857379e-01 1.68885248e-02 -8.17487602e-06 2.80010723e+01] [-1.68885252e-02 9.99856948e-01 -9.27515132e-04 -2.03095842e-01] [-7.49065576e-06 9.27520910e-04 9.99999570e-01 -2.80903507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82119381700002 meters Centerline goodness : 0.927549 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.21, Z:-2.81 [[ 9.99851764e-01 1.72142319e-02 -3.47717028e-04 2.80020482e+01] [-1.72142779e-02 9.99851815e-01 -1.29681869e-04 -2.05538937e-01] [ 3.45433128e-04 1.35648343e-04 9.99999931e-01 -2.80945381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85119381700002 meters Centerline goodness : 0.926432 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.21, Z:-2.81 [[ 9.99894815e-01 1.44783180e-02 -8.58836987e-04 2.80032943e+01] [-1.44810073e-02 9.99889984e-01 -3.21240550e-03 -2.06760940e-01] [ 8.12232273e-04 3.22450443e-03 9.99994471e-01 -2.80994260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88119381700002 meters Centerline goodness : 0.927045 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.21, Z:-2.81 [[ 9.99887102e-01 1.49966822e-02 -9.39952959e-04 2.80033221e+01] [-1.49986352e-02 9.99885296e-01 -2.10636151e-03 -2.09888937e-01] [ 9.08256708e-04 2.12022172e-03 9.99997340e-01 -2.80984293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91119381700003 meters Centerline goodness : 0.927381 Centerline is valid? [False, False] Translation: X:28.00, Y:-0.21, Z:-2.81 [[ 9.99882275e-01 1.53118758e-02 -9.90787182e-04 2.80029291e+01] [-1.53133204e-02 9.99881668e-01 -1.46728863e-03 -2.11893377e-01] [ 9.68202999e-04 1.48228813e-03 9.99998433e-01 -2.80921996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94119381700003 meters Centerline goodness : 0.932788 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.22, Z:-2.81 [[ 9.99834516e-01 1.73586662e-02 5.44210980e-03 2.80161708e+01] [-1.73664180e-02 9.99848240e-01 1.38039433e-03 -2.18378855e-01] [-5.41732210e-03 -1.47467585e-03 9.99984239e-01 -2.80791544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97119381700003 meters Centerline goodness : 0.934022 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.22, Z:-2.81 [[ 9.99827480e-01 1.77401504e-02 5.50438374e-03 2.80156684e+01] [-1.77527496e-02 9.99839879e-01 2.24859398e-03 -2.20863875e-01] [-5.46361197e-03 -2.34592400e-03 9.99982323e-01 -2.80744934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00119381700003 meters Centerline goodness : 0.936856 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.22, Z:-2.81 [[ 9.99874275e-01 1.49684553e-02 5.23251296e-03 2.80158882e+01] [-1.49618665e-02 9.99887225e-01 -1.29610479e-03 -2.20998081e-01] [-5.25132355e-03 1.21765368e-03 9.99985470e-01 -2.80701410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03119381700003 meters Centerline goodness : 0.937844 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.22, Z:-2.81 [[ 9.99861850e-01 1.58164174e-02 5.11104460e-03 2.80162719e+01] [-1.58189786e-02 9.99874766e-01 4.61082522e-04 -2.24974049e-01] [-5.10311185e-03 -5.41870328e-04 9.99986832e-01 -2.80742063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06119381700003 meters Centerline goodness : 0.935073 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.23, Z:-2.81 [[ 9.99857343e-01 1.61964620e-02 4.79242698e-03 2.80172939e+01] [-1.62042178e-02 9.99867448e-01 1.58395824e-03 -2.27925035e-01] [-4.76613722e-03 -1.66138981e-03 9.99987262e-01 -2.80822430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09119381700003 meters Centerline goodness : 0.933650 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.23, Z:-2.81 [[ 9.99900528e-01 1.34267427e-02 4.31924702e-03 2.80184488e+01] [-1.34215245e-02 9.99909165e-01 -1.23486287e-03 -2.30075012e-01] [-4.33543487e-03 1.17676916e-03 9.99989910e-01 -2.80883392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12119381700003 meters Centerline goodness : 0.933086 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.24, Z:-2.81 [[ 9.99923821e-01 1.17173596e-02 3.88015891e-03 2.80209666e+01] [-1.17093275e-02 9.99929267e-01 -2.08631796e-03 -2.38612894e-01] [-3.90433059e-03 2.04072497e-03 9.99990296e-01 -2.81108501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15119381700003 meters Centerline goodness : 0.932590 Centerline is valid? [False, False] Translation: X:28.02, Y:-0.24, Z:-2.81 [[ 9.99945460e-01 9.93239824e-03 3.22864376e-03 2.80235201e+01] [-9.92011576e-03 9.99943581e-01 -3.79823534e-03 -2.42027813e-01] [-3.26618718e-03 3.76599966e-03 9.99987575e-01 -2.81286261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18119381700004 meters Centerline goodness : 0.931473 Centerline is valid? [False, False] Translation: X:28.05, Y:-0.25, Z:-2.81 [[ 9.99950930e-01 9.89653840e-03 4.42308147e-04 2.80470248e+01] [-9.89461820e-03 9.99942431e-01 -4.15094210e-03 -2.46478564e-01] [-4.83362642e-04 4.14636195e-03 9.99991287e-01 -2.81439837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21119381700004 meters Centerline goodness : 0.931186 Centerline is valid? [False, False] Translation: X:28.05, Y:-0.25, Z:-2.82 [[ 9.99951253e-01 9.87201411e-03 -1.87449644e-04 2.80500094e+01] [-9.87261375e-03 9.99945050e-01 -3.52545695e-03 -2.50910140e-01] [ 1.52635983e-04 3.52713572e-03 9.99993768e-01 -2.81660612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24119381700004 meters Centerline goodness : 0.928732 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.26, Z:-2.82 [[ 9.99948038e-01 9.83913709e-03 -2.66686466e-03 2.80730703e+01] [-9.84922781e-03 9.99944285e-01 -3.79739200e-03 -2.56050794e-01] [ 2.62935301e-03 3.82346124e-03 9.99989234e-01 -2.81766675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27119381700004 meters Centerline goodness : 0.929574 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.27, Z:-2.82 [[ 9.99955756e-01 8.92901618e-03 -2.95945785e-03 2.80731791e+01] [-8.93665533e-03 9.99956744e-01 -2.57817353e-03 -2.69628951e-01] [ 2.93630928e-03 2.60450712e-03 9.99992297e-01 -2.81697484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30119381700004 meters Centerline goodness : 0.931029 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.28, Z:-2.82 [[ 9.99975933e-01 6.21557925e-03 -3.08230039e-03 2.80730889e+01] [-6.22871101e-03 9.99971488e-01 -4.26923694e-03 -2.76019348e-01] [ 3.05567673e-03 4.28833295e-03 9.99986136e-01 -2.81654712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33119381700004 meters Centerline goodness : 0.933421 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.28, Z:-2.82 [[ 9.99990182e-01 3.05707881e-03 -3.20768570e-03 2.80728924e+01] [-3.07652652e-03 9.99976811e-01 -6.07552935e-03 -2.82391292e-01] [ 3.18903795e-03 6.08533823e-03 9.99976399e-01 -2.81596526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700004 meters Centerline goodness : 0.936713 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.29, Z:-2.82 [[ 9.99995033e-01 2.61903087e-04 -3.14103545e-03 2.80722486e+01] [-2.84616666e-04 9.99973801e-01 -7.23297353e-03 -2.89752372e-01] [ 3.13905882e-03 7.23383160e-03 9.99968909e-01 -2.81516373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39119381700004 meters Centerline goodness : 0.937809 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.30, Z:-2.81 [[ 9.99990243e-01 -3.08718404e-03 -3.15956953e-03 2.80718498e+01] [ 3.05909659e-03 9.99956104e-01 -8.85619920e-03 -2.96693716e-01] [ 3.18677156e-03 8.84644736e-03 9.99955791e-01 -2.81432196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42119381700002 meters Centerline goodness : 0.943440 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.31, Z:-2.81 [[ 9.99935825e-01 -1.11149807e-02 -2.19138014e-03 2.80703922e+01] [ 1.10936089e-02 9.99893004e-01 -9.53481194e-03 -3.12427560e-01] [ 2.29712492e-03 9.50988973e-03 9.99952141e-01 -2.81120263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45119381700002 meters Centerline goodness : 0.942933 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.32, Z:-2.81 [[ 9.99885196e-01 -1.49686112e-02 -2.35273738e-03 2.80711510e+01] [ 1.49403785e-02 9.99821197e-01 -1.15913680e-02 -3.19488274e-01] [ 2.52582338e-03 1.15548865e-02 9.99930050e-01 -2.81141523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48119381700002 meters Centerline goodness : 0.941500 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.33, Z:-2.81 [[ 9.99817294e-01 -1.89324593e-02 -2.63459446e-03 2.80725584e+01] [ 1.88939197e-02 9.99724089e-01 -1.39558282e-02 -3.25732917e-01] [ 2.89808569e-03 1.39035006e-02 9.99899142e-01 -2.81220356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51119381700002 meters Centerline goodness : 0.941257 Centerline is valid? [False, False] Translation: X:28.07, Y:-0.33, Z:-2.81 [[ 9.99733646e-01 -2.28953554e-02 -2.90516230e-03 2.80739677e+01] [ 2.28438981e-02 9.99600277e-01 -1.66565837e-02 -3.30434635e-01] [ 3.28535944e-03 1.65857820e-02 9.99857049e-01 -2.81308249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54119381700002 meters Centerline goodness : 0.940551 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.33, Z:-2.81 [[ 9.99527910e-01 -3.05763178e-02 -3.00748839e-03 2.80760352e+01] [ 3.04979637e-02 9.99262284e-01 -2.33401473e-02 -3.34083621e-01] [ 3.71892548e-03 2.32374063e-02 9.99723058e-01 -2.81489454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57119381700002 meters Centerline goodness : 0.940923 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99520281e-01 -3.08110392e-02 -3.14438559e-03 2.80767620e+01] [ 3.07316104e-02 9.99268110e-01 -2.27774353e-02 -3.36469103e-01] [ 3.84388070e-03 2.26698765e-02 9.99735616e-01 -2.81536764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60119381700002 meters Centerline goodness : 0.939794 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99499053e-01 -3.14783899e-02 -3.27935757e-03 2.80774124e+01] [ 3.13949309e-02 9.99242894e-01 -2.29781763e-02 -3.37102031e-01] [ 4.00019074e-03 2.28637103e-02 9.99730588e-01 -2.81574290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63119381700002 meters Centerline goodness : 0.940622 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99489413e-01 -3.17577587e-02 -3.51540126e-03 2.80780836e+01] [ 3.16667850e-02 9.99223125e-01 -2.34597895e-02 -3.35698607e-01] [ 4.25770057e-03 2.33364898e-02 9.99718601e-01 -2.81597445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66119381700003 meters Centerline goodness : 0.940771 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99577803e-01 -2.88058610e-02 -3.79971807e-03 2.80787573e+01] [ 2.87249925e-02 9.99390208e-01 -1.98516007e-02 -3.35844499e-01] [ 4.36924348e-03 1.97340726e-02 9.99795717e-01 -2.81617845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69119381700003 meters Centerline goodness : 0.940771 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99577803e-01 -2.88058610e-02 -3.79971807e-03 2.80787573e+01] [ 2.87249925e-02 9.99390208e-01 -1.98516007e-02 -3.35844499e-01] [ 4.36924348e-03 1.97340726e-02 9.99795717e-01 -2.81617845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72119381700003 meters Centerline goodness : 0.939923 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.34, Z:-2.82 [[ 9.99659743e-01 -2.57705901e-02 -4.03433768e-03 2.80791871e+01] [ 2.57012890e-02 9.99535490e-01 -1.63782676e-02 -3.35417187e-01] [ 4.45454131e-03 1.62690071e-02 9.99857728e-01 -2.81620269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75119381700003 meters Centerline goodness : 0.942053 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.33, Z:-2.82 [[ 9.99705506e-01 -2.38442296e-02 -4.51146665e-03 2.80812263e+01] [ 2.37779399e-02 9.99616168e-01 -1.42170911e-02 -3.33936190e-01] [ 4.84873059e-03 1.41056309e-02 9.99888754e-01 -2.81750801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78119381700003 meters Centerline goodness : 0.943074 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.33, Z:-2.82 [[ 9.99762400e-01 -2.13367544e-02 -4.45946644e-03 2.80806939e+01] [ 2.12805863e-02 9.99698069e-01 -1.22844501e-02 -3.28404174e-01] [ 4.72023028e-03 1.21866313e-02 9.99914599e-01 -2.81700165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81119381700003 meters Centerline goodness : 0.944135 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.33, Z:-2.82 [[ 9.99793510e-01 -1.96745522e-02 -5.08417322e-03 2.80834871e+01] [ 1.96193332e-02 9.99750353e-01 -1.06917226e-02 -3.25793871e-01] [ 5.29325883e-03 1.05897668e-02 9.99929917e-01 -2.81890269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84119381700003 meters Centerline goodness : 0.943512 Centerline is valid? [False, False] Translation: X:28.08, Y:-0.32, Z:-2.82 [[ 9.99850833e-01 -1.63824065e-02 -5.47065218e-03 2.80847393e+01] [ 1.63425268e-02 9.99840119e-01 -7.25657638e-03 -3.24712817e-01] [ 5.58865771e-03 7.16608966e-03 9.99958706e-01 -2.81963709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87119381700003 meters Centerline goodness : 0.942842 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.32, Z:-2.82 [[ 9.99880223e-01 -1.42342369e-02 -6.07669191e-03 2.80874655e+01] [ 1.42034566e-02 9.99886228e-01 -5.07876120e-03 -3.22702831e-01] [ 6.14829284e-03 4.99184285e-03 9.99968640e-01 -2.82159221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90119381700003 meters Centerline goodness : 0.943739 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.32, Z:-2.82 [[ 9.99892225e-01 -1.31371922e-02 -6.55380360e-03 2.80904174e+01] [ 1.31097215e-02 9.99905171e-01 -4.21705937e-03 -3.20304966e-01] [ 6.60858244e-03 4.13068634e-03 9.99969632e-01 -2.82403067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93119381700004 meters Centerline goodness : 0.941761 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.32, Z:-2.83 [[ 9.99913769e-01 -1.11191838e-02 -6.98705961e-03 2.80926339e+01] [ 1.11003900e-02 9.99934682e-01 -2.72284302e-03 -3.15494147e-01] [ 7.01687902e-03 2.64504913e-03 9.99971883e-01 -2.82581508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96119381700004 meters Centerline goodness : 0.942355 Centerline is valid? [False, False] Translation: X:28.09, Y:-0.31, Z:-2.83 [[ 9.99907490e-01 -1.14790061e-02 -7.29686894e-03 2.80935419e+01] [ 1.14502283e-02 9.99926549e-01 -3.97347318e-03 -3.11332621e-01] [ 7.34194451e-03 3.88955478e-03 9.99965483e-01 -2.82627294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99119381700004 meters Centerline goodness : 0.943835 Centerline is valid? [False, False] Translation: X:28.10, Y:-0.31, Z:-2.83 [[ 9.99926922e-01 -9.26605798e-03 -7.76469439e-03 2.80954678e+01] [ 9.25158871e-03 9.99955403e-01 -1.89732100e-03 -3.08664783e-01] [ 7.78192879e-03 1.82534659e-03 9.99968054e-01 -2.82745986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02119381700004 meters Centerline goodness : 0.943834 Centerline is valid? [False, False] Translation: X:28.10, Y:-0.30, Z:-2.83 [[ 9.99921639e-01 -9.59153630e-03 -8.04479533e-03 2.80962947e+01] [ 9.56555220e-03 9.99948928e-01 -3.26220930e-03 -3.04252230e-01] [ 8.07567406e-03 3.18500076e-03 9.99962319e-01 -2.82785462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05119381700004 meters Centerline goodness : 0.939214 Centerline is valid? [False, False] Translation: X:28.11, Y:-0.30, Z:-2.83 [[ 9.99968350e-01 -5.94696300e-03 -5.28517763e-03 2.81145917e+01] [ 5.89983123e-03 9.99943087e-01 -8.88901829e-03 -2.95861513e-01] [ 5.33773950e-03 8.85755529e-03 9.99946525e-01 -2.83407822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08119381700004 meters Centerline goodness : 0.936502 Centerline is valid? [False, False] Translation: X:28.12, Y:-0.29, Z:-2.84 [[ 9.99977526e-01 -3.38429405e-03 -5.78744718e-03 2.81170288e+01] [ 3.34544852e-03 9.99971901e-01 -6.70859179e-03 -2.92668924e-01] [ 5.80998841e-03 6.68907941e-03 9.99960749e-01 -2.83583995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11119381700004 meters Centerline goodness : 0.936131 Centerline is valid? [False, False] Translation: X:28.12, Y:-0.29, Z:-2.84 [[ 9.99982061e-01 -3.47129441e-04 -5.97979769e-03 2.81178726e+01] [ 3.22157455e-04 9.99991226e-01 -4.17651584e-03 -2.89257066e-01] [ 5.98119502e-03 4.17451448e-03 9.99973399e-01 -2.83636094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700004 meters Centerline goodness : 0.942354 Centerline is valid? [False, False] Translation: X:28.13, Y:-0.28, Z:-2.84 [[ 9.99998060e-01 1.85095786e-03 -6.74122737e-04 2.81311589e+01] [-1.85887381e-03 9.99927016e-01 -1.19376351e-02 -2.75613472e-01] [ 6.51977477e-04 1.19388650e-02 9.99928517e-01 -2.83989997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17119381700002 meters Centerline goodness : 0.943546 Centerline is valid? [False, False] Translation: X:28.13, Y:-0.27, Z:-2.84 [[ 9.99988016e-01 4.82473499e-03 -8.31105362e-04 2.81314514e+01] [-4.83240317e-03 9.99943332e-01 -9.48576733e-03 -2.71964423e-01] [ 7.85291951e-04 9.48966988e-03 9.99954664e-01 -2.83967475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20119381700002 meters Centerline goodness : 0.942535 Centerline is valid? [False, False] Translation: X:28.13, Y:-0.27, Z:-2.84 [[ 9.99967936e-01 7.94295828e-03 -1.01784930e-03 2.81317819e+01] [-7.94964771e-03 9.99945647e-01 -6.74585166e-03 -2.69039346e-01] [ 9.64211962e-04 6.75372690e-03 9.99976728e-01 -2.83943385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23119381700002 meters Centerline goodness : 0.944022 Centerline is valid? [False, False] Translation: X:28.13, Y:-0.27, Z:-2.84 [[ 9.99935850e-01 1.12535125e-02 -1.28627797e-03 2.81324969e+01] [-1.12585511e-02 9.99928702e-01 -3.97946212e-03 -2.66049580e-01] [ 1.24140333e-03 3.99368847e-03 9.99991255e-01 -2.83946944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26119381700002 meters Centerline goodness : 0.943865 Centerline is valid? [False, False] Translation: X:28.15, Y:-0.26, Z:-2.84 [[ 9.99900437e-01 1.36683568e-02 3.50606599e-03 2.81471572e+01] [-1.36295448e-02 9.99848085e-01 -1.08647561e-02 -2.58912203e-01] [-3.65403673e-03 1.08158883e-02 9.99934830e-01 -2.84389565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29119381700002 meters Centerline goodness : 0.941236 Centerline is valid? [False, False] Translation: X:28.18, Y:-0.25, Z:-2.84 [[ 9.99730617e-01 2.32096990e-02 -5.50716183e-05 2.81830080e+01] [-2.32046086e-02 9.99455717e-01 -2.34481370e-02 -2.45805938e-01] [-4.89182559e-04 2.34430984e-02 9.99725053e-01 -2.84335779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32119381700002 meters Centerline goodness : 0.940565 Centerline is valid? [False, False] Translation: X:28.18, Y:-0.24, Z:-2.84 [[ 9.99628139e-01 2.72638044e-02 -5.18435500e-04 2.81843680e+01] [-2.72686872e-02 9.99410886e-01 -2.08398428e-02 -2.42172036e-01] [-5.00433158e-05 2.08462304e-02 9.99782692e-01 -2.84313165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35119381700002 meters Centerline goodness : 0.941249 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99507311e-01 3.13771071e-02 -7.82582353e-04 2.81851745e+01] [-3.13860229e-02 9.99352403e-01 -1.75980943e-02 -2.40214963e-01] [ 2.29898266e-04 1.76139860e-02 9.99844835e-01 -2.84285677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38119381700002 meters Centerline goodness : 0.941735 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99374521e-01 3.53514067e-02 -9.19453159e-04 2.81855572e+01] [-3.53608141e-02 9.99276785e-01 -1.39828487e-02 -2.39231758e-01] [ 4.24474825e-04 1.40066153e-02 9.99901812e-01 -2.84244835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41119381700003 meters Centerline goodness : 0.943775 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99326805e-01 3.66719328e-02 -1.05132165e-03 2.81850205e+01] [-3.66836327e-02 9.99212950e-01 -1.50927929e-02 -2.35432319e-01] [ 4.97012324e-04 1.51211988e-02 9.99885545e-01 -2.84021710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44119381700003 meters Centerline goodness : 0.944463 Centerline is valid? [False, False] Translation: X:28.18, Y:-0.24, Z:-2.84 [[ 9.99200178e-01 3.99752435e-02 -9.91902298e-04 2.81849609e+01] [-3.99836497e-02 9.99141695e-01 -1.08250504e-02 -2.37501725e-01] [ 5.58316916e-04 1.08560522e-02 9.99940915e-01 -2.84010020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47119381700003 meters Centerline goodness : 0.944181 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99314135e-01 3.69930838e-02 -1.66493356e-03 2.81858930e+01] [-3.70140117e-02 9.99201054e-01 -1.50737026e-02 -2.36005836e-01] [ 1.10598063e-03 1.51249899e-02 9.99884999e-01 -2.83969622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50119381700003 meters Centerline goodness : 0.944694 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99301130e-01 3.73338544e-02 -1.85325526e-03 2.81865062e+01] [-3.73567889e-02 9.99197431e-01 -1.44556246e-02 -2.37188167e-01] [ 1.31208371e-03 1.45147537e-02 9.99893795e-01 -2.84013010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53119381700003 meters Centerline goodness : 0.946183 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99388409e-01 3.48797463e-02 -2.49219982e-03 2.81873517e+01] [-3.49197424e-02 9.99221080e-01 -1.83805545e-02 -2.36582549e-01] [ 1.84914952e-03 1.84563400e-02 9.99827957e-01 -2.83944841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56119381700003 meters Centerline goodness : 0.944438 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99305161e-01 3.71694556e-02 -2.76183729e-03 2.81881511e+01] [-3.72080025e-02 9.99186677e-01 -1.55418518e-02 -2.41778914e-01] [ 2.18190885e-03 1.56338152e-02 9.99875404e-01 -2.84004073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59119381700003 meters Centerline goodness : 0.944621 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.24, Z:-2.84 [[ 9.99252842e-01 3.85188122e-02 -3.17164275e-03 2.81889245e+01] [-3.85595509e-02 9.99158493e-01 -1.39809183e-02 -2.44607167e-01] [ 2.63044542e-03 1.40927695e-02 9.99897232e-01 -2.84015283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62119381700003 meters Centerline goodness : 0.943506 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.25, Z:-2.84 [[ 9.99018848e-01 4.41658157e-02 -3.27454228e-03 2.81907841e+01] [-4.41866190e-02 9.99001631e-01 -6.57901218e-03 -2.52756903e-01] [ 2.98070564e-03 6.71724812e-03 9.99972997e-01 -2.84249646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65119381700003 meters Centerline goodness : 0.942287 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.26, Z:-2.84 [[ 9.98979713e-01 4.50118737e-02 -3.66923082e-03 2.81922687e+01] [-4.50299500e-02 9.98973113e-01 -5.00239081e-03 -2.56313429e-01] [ 3.44029595e-03 5.16251222e-03 9.99980756e-01 -2.84376700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68119381700004 meters Centerline goodness : 0.941628 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.26, Z:-2.84 [[ 9.98952313e-01 4.56007010e-02 -3.85390903e-03 2.81929923e+01] [-4.56122817e-02 9.98954796e-01 -2.97241017e-03 -2.61475987e-01] [ 3.71433692e-03 3.14508159e-03 9.99988156e-01 -2.84477795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71119381700004 meters Centerline goodness : 0.939846 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.27, Z:-2.85 [[ 9.99081956e-01 4.26185837e-02 -4.34758667e-03 2.81936238e+01] [-4.26417833e-02 9.99075882e-01 -5.39084985e-03 -2.65046499e-01] [ 4.11381860e-03 5.57128966e-03 9.99976018e-01 -2.84504241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74119381700004 meters Centerline goodness : 0.942989 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.28, Z:-2.84 [[ 9.99206448e-01 3.95817573e-02 -4.44509967e-03 2.81925127e+01] [-3.96036804e-02 9.99203170e-01 -4.95724813e-03 -2.76045581e-01] [ 4.24534109e-03 5.12935660e-03 9.99977833e-01 -2.84463674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77119381700004 meters Centerline goodness : 0.941995 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.28, Z:-2.84 [[ 9.99323906e-01 3.64682692e-02 -4.66865863e-03 2.81921922e+01] [-3.64998990e-02 9.99309979e-01 -6.87913399e-03 -2.81013221e-01] [ 4.41456705e-03 7.04488862e-03 9.99965440e-01 -2.84447902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80119381700004 meters Centerline goodness : 0.942198 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.29, Z:-2.84 [[ 9.99425705e-01 3.35205443e-02 -4.96321952e-03 2.81921761e+01] [-3.35620430e-02 9.99400248e-01 -8.52838871e-03 -2.86501969e-01] [ 4.67436659e-03 8.69006668e-03 9.99951315e-01 -2.84462906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83119381700004 meters Centerline goodness : 0.940325 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.29, Z:-2.85 [[ 9.99428485e-01 3.34372300e-02 -4.96547030e-03 2.81921387e+01] [-3.34678182e-02 9.99420500e-01 -6.21042034e-03 -2.93779281e-01] [ 4.75493356e-03 6.37305445e-03 9.99968387e-01 -2.84549041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700004 meters Centerline goodness : 0.940912 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.31, Z:-2.85 [[ 9.99511517e-01 3.07822281e-02 -5.40196745e-03 2.81927951e+01] [-3.08110716e-02 9.99510961e-01 -5.34001634e-03 -3.05175280e-01] [ 5.23494808e-03 5.50384824e-03 9.99971151e-01 -2.84689932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89119381700004 meters Centerline goodness : 0.941562 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.31, Z:-2.85 [[ 9.99600360e-01 2.77087442e-02 -5.59875005e-03 2.81928611e+01] [-2.77510657e-02 9.99585758e-01 -7.62833763e-03 -3.09777326e-01] [ 5.38505915e-03 7.78066032e-03 9.99955230e-01 -2.84686889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92119381700002 meters Centerline goodness : 0.941076 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.32, Z:-2.85 [[ 9.99679648e-01 2.46334488e-02 -5.81335490e-03 2.81929923e+01] [-2.46890850e-02 9.99648108e-01 -9.70099012e-03 -3.15248105e-01] [ 5.57234038e-03 9.84140880e-03 9.99936046e-01 -2.84679344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95119381700002 meters Centerline goodness : 0.940567 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.32, Z:-2.85 [[ 9.99746176e-01 2.17563138e-02 -5.85200621e-03 2.81926654e+01] [-2.18215987e-02 9.99697638e-01 -1.13335990e-02 -3.21743420e-01] [ 5.60365945e-03 1.14584224e-02 9.99918648e-01 -2.84659685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98119381700002 meters Centerline goodness : 0.942137 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.33, Z:-2.85 [[ 9.99864690e-01 1.53495314e-02 -5.91549626e-03 2.81921202e+01] [-1.54356642e-02 9.99771311e-01 -1.48008775e-02 -3.34275453e-01] [ 5.68695691e-03 1.48901844e-02 9.99872962e-01 -2.84586158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01119381700002 meters Centerline goodness : 0.941740 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.34, Z:-2.85 [[ 9.99908818e-01 1.20918768e-02 -6.01181126e-03 2.81920050e+01] [-1.21920506e-02 9.99782591e-01 -1.69152141e-02 -3.39772550e-01] [ 5.80596755e-03 1.69869681e-02 9.99838854e-01 -2.84566937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04119381700002 meters Centerline goodness : 0.939730 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.34, Z:-2.85 [[ 9.99941115e-01 8.88487674e-03 -6.23105741e-03 2.81924607e+01] [-9.00331085e-03 9.99774282e-01 -1.92438320e-02 -3.44586569e-01] [ 6.05867187e-03 1.92987990e-02 9.99795403e-01 -2.84585008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07119381700002 meters Centerline goodness : 0.938837 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.35, Z:-2.85 [[ 9.99961909e-01 5.93015427e-03 -6.40414514e-03 2.81927252e+01] [-6.06686920e-03 9.99749498e-01 -2.15437572e-02 -3.49048694e-01] [ 6.27478309e-03 2.15817897e-02 9.99747395e-01 -2.84589173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10119381700002 meters Centerline goodness : 0.939783 Centerline is valid? [False, False] Translation: X:28.19, Y:-0.36, Z:-2.85 [[ 9.99957099e-01 6.62049460e-03 -6.47832486e-03 2.81925054e+01] [-6.74564928e-03 9.99787262e-01 -1.94917235e-02 -3.55424445e-01] [ 6.34790182e-03 1.95345878e-02 9.99789030e-01 -2.84537637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13119381700002 meters Centerline goodness : 0.937891 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.37, Z:-2.85 [[ 9.99978122e-01 6.25115936e-03 -2.16290479e-03 2.81999591e+01] [-6.26955082e-03 9.99943335e-01 -8.60348518e-03 -3.66473034e-01] [ 2.10900047e-03 8.61685740e-03 9.99960650e-01 -2.84550140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16119381700003 meters Centerline goodness : 0.938603 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.37, Z:-2.85 [[ 9.99973884e-01 6.82914315e-03 -2.36507940e-03 2.82002109e+01] [-6.84647445e-03 9.99949188e-01 -7.39911996e-03 -3.69851298e-01] [ 2.31442958e-03 7.41511918e-03 9.99969829e-01 -2.84530654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19119381700003 meters Centerline goodness : 0.935156 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.37, Z:-2.85 [[ 9.99968947e-01 7.44617442e-03 -2.58059472e-03 2.82006335e+01] [-7.46215057e-03 9.99952703e-01 -6.23755822e-03 -3.73207959e-01] [ 2.53402672e-03 6.25662131e-03 9.99977216e-01 -2.84526994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22119381700003 meters Centerline goodness : 0.934902 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.38, Z:-2.85 [[ 9.99952054e-01 9.41833877e-03 -2.68039082e-03 2.82009700e+01] [-9.42731374e-03 9.99949931e-01 -3.35567820e-03 -3.80182253e-01] [ 2.64865170e-03 3.38078619e-03 9.99990777e-01 -2.84542851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25119381700003 meters Centerline goodness : 0.934385 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.38, Z:-2.85 [[ 9.99943831e-01 1.01700096e-02 -2.98411672e-03 2.82018022e+01] [-1.01766127e-02 9.99945784e-01 -2.20599129e-03 -3.83115477e-01] [ 2.96151998e-03 2.23623558e-03 9.99993114e-01 -2.84576887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28119381700003 meters Centerline goodness : 0.931722 Centerline is valid? [False, False] Translation: X:28.20, Y:-0.38, Z:-2.85 [[ 9.99965095e-01 7.68450649e-03 -3.27990118e-03 2.82024958e+01] [-7.70122245e-03 9.99957265e-01 -5.11464917e-03 -3.84269760e-01] [ 3.24045746e-03 5.13972989e-03 9.99981541e-01 -2.84625589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31119381700003 meters Centerline goodness : 0.928914 Centerline is valid? [False, False] Translation: X:28.22, Y:-0.39, Z:-2.85 [[ 9.99944909e-01 9.29758777e-03 -4.87177769e-03 2.82242412e+01] [-9.32571627e-03 9.99939791e-01 -5.78321436e-03 -3.88593893e-01] [ 4.81771442e-03 5.82832858e-03 9.99971410e-01 -2.84729966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34119381700003 meters Centerline goodness : 0.925431 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.39, Z:-2.85 [[ 9.99960111e-01 7.33379634e-03 -5.09817055e-03 2.82255502e+01] [-7.37020749e-03 9.99947204e-01 -7.16028549e-03 -3.94571614e-01] [ 5.04538931e-03 7.19757445e-03 9.99961369e-01 -2.84861081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37119381700003 meters Centerline goodness : 0.924590 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.40, Z:-2.85 [[ 9.99961893e-01 6.71890429e-03 -5.57400034e-03 2.82278285e+01] [-6.75966527e-03 9.99950314e-01 -7.32637574e-03 -3.97038171e-01] [ 5.52449817e-03 7.36377493e-03 9.99957626e-01 -2.85026201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40119381700003 meters Centerline goodness : 0.923216 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.40, Z:-2.85 [[ 9.99962117e-01 6.27482017e-03 -6.03247363e-03 2.82298094e+01] [-6.31868813e-03 9.99953532e-01 -7.28062402e-03 -3.99713416e-01] [ 5.98650871e-03 7.31846553e-03 9.99955300e-01 -2.85156192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43119381700004 meters Centerline goodness : 0.922233 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.40, Z:-2.85 [[ 9.99962203e-01 5.71201065e-03 -6.55476359e-03 2.82320689e+01] [-5.75988134e-03 9.99956710e-01 -7.30770333e-03 -4.02393687e-01] [ 6.51273815e-03 7.34518179e-03 9.99951815e-01 -2.85305799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46119381700004 meters Centerline goodness : 0.921153 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.41, Z:-2.85 [[ 9.99962160e-01 5.13110164e-03 -7.02491287e-03 2.82343472e+01] [-5.18292893e-03 9.99959340e-01 -7.37942246e-03 -4.05084256e-01] [ 6.98676267e-03 7.41555285e-03 9.99948096e-01 -2.85467332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49119381700004 meters Centerline goodness : 0.919106 Centerline is valid? [False, False] Translation: X:28.23, Y:-0.41, Z:-2.86 [[ 9.99971555e-01 2.28469636e-03 -7.18819485e-03 2.82349440e+01] [-2.35405284e-03 9.99950618e-01 -9.65504387e-03 -4.09392678e-01] [ 7.16578104e-03 9.67169062e-03 9.99927552e-01 -2.85513401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52119381700004 meters Centerline goodness : 0.918962 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.41, Z:-2.86 [[ 9.99970399e-01 2.28394011e-03 -7.34744977e-03 2.82353883e+01] [-2.34965838e-03 9.99957203e-01 -8.94820097e-03 -4.12399598e-01] [ 7.32669817e-03 8.96520009e-03 9.99932970e-01 -2.85516742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55119381700004 meters Centerline goodness : 0.916622 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.42, Z:-2.86 [[ 9.99968873e-01 1.33336742e-03 -7.77662444e-03 2.82371905e+01] [-1.40526094e-03 9.99956261e-01 -9.24669761e-03 -4.15015820e-01] [ 7.76395505e-03 9.25733797e-03 9.99927009e-01 -2.85618783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58119381700004 meters Centerline goodness : 0.916237 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.42, Z:-2.86 [[ 9.99966763e-01 -2.44994271e-03 -7.77631870e-03 2.82369122e+01] [ 2.36112758e-03 9.99932117e-01 -1.14099359e-02 -4.21278970e-01] [ 7.80374451e-03 1.13911957e-02 9.99904667e-01 -2.85547569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61119381700004 meters Centerline goodness : 0.916237 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.42, Z:-2.86 [[ 9.99966763e-01 -2.44994271e-03 -7.77631870e-03 2.82369122e+01] [ 2.36112758e-03 9.99932117e-01 -1.14099359e-02 -4.21278970e-01] [ 7.80374451e-03 1.13911957e-02 9.99904667e-01 -2.85547569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700004 meters Centerline goodness : 0.916554 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.43, Z:-2.86 [[ 9.99965204e-01 -2.66577333e-03 -7.90464774e-03 2.82372658e+01] [ 2.58350129e-03 9.99942580e-01 -1.04000674e-02 -4.25505106e-01] [ 7.93191808e-03 1.03792838e-02 9.99914674e-01 -2.85532088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67119381700002 meters Centerline goodness : 0.916648 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.43, Z:-2.86 [[ 9.99960508e-01 -3.15893573e-03 -8.30679777e-03 2.82382074e+01] [ 3.07783980e-03 9.99947659e-01 -9.75732613e-03 -4.29316693e-01] [ 8.33718575e-03 9.73137381e-03 9.99917892e-01 -2.85524189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70119381700002 meters Centerline goodness : 0.918168 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.43, Z:-2.86 [[ 9.99952998e-01 -4.19417602e-03 -8.74130367e-03 2.82399705e+01] [ 4.10804520e-03 9.99943068e-01 -9.84808825e-03 -4.32494317e-01] [ 8.78211062e-03 9.81171570e-03 9.99913299e-01 -2.85605899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73119381700002 meters Centerline goodness : 0.917907 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.44, Z:-2.86 [[ 9.99924735e-01 -8.61135466e-03 -8.73892488e-03 2.82401254e+01] [ 8.50001304e-03 9.99883235e-01 -1.26990304e-02 -4.37164651e-01] [ 8.84726034e-03 1.26237937e-02 9.99881176e-01 -2.85582622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76119381700002 meters Centerline goodness : 0.918865 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.44, Z:-2.86 [[ 9.99917794e-01 -9.29911295e-03 -8.82787163e-03 2.82408488e+01] [ 9.19155967e-03 9.99883979e-01 -1.21467534e-02 -4.40317563e-01] [ 8.93980144e-03 1.20646129e-02 9.99887256e-01 -2.85616221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79119381700002 meters Centerline goodness : 0.918695 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.44, Z:-2.86 [[ 9.99909979e-01 -9.84612265e-03 -9.11520235e-03 2.82417123e+01] [ 9.74009962e-03 9.99885236e-01 -1.16036755e-02 -4.43158671e-01] [ 9.22840746e-03 1.15138480e-02 9.99891128e-01 -2.85626869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82119381700002 meters Centerline goodness : 0.917252 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.45, Z:-2.86 [[ 9.99901415e-01 -1.04030534e-02 -9.43061995e-03 2.82428583e+01] [ 1.02969716e-02 9.99883942e-01 -1.12282744e-02 -4.45550790e-01] [ 9.54633380e-03 1.11300606e-02 9.99892489e-01 -2.85669438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85119381700002 meters Centerline goodness : 0.918270 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.45, Z:-2.86 [[ 9.99841048e-01 -1.49720745e-02 -9.68064584e-03 2.82441654e+01] [ 1.48234062e-02 9.99773814e-01 -1.52508468e-02 -4.46874133e-01] [ 9.90679302e-03 1.51049225e-02 9.99836835e-01 -2.85754668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88119381700002 meters Centerline goodness : 0.916387 Centerline is valid? [False, False] Translation: X:28.24, Y:-0.45, Z:-2.86 [[ 9.99834569e-01 -1.52479473e-02 -9.91643478e-03 2.82447776e+01] [ 1.50963601e-02 9.99770720e-01 -1.51857519e-02 -4.47515911e-01] [ 1.01457127e-02 1.50335376e-02 9.99835515e-01 -2.85764095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91119381700003 meters Centerline goodness : 0.916465 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.45, Z:-2.86 [[ 9.99827393e-01 -1.56045023e-02 -1.00837900e-02 2.82451628e+01] [ 1.54462100e-02 9.99759164e-01 -1.55894028e-02 -4.46422676e-01] [ 1.03246263e-02 1.54309556e-02 9.99827629e-01 -2.85765360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94119381700003 meters Centerline goodness : 0.918298 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.45, Z:-2.86 [[ 9.99869665e-01 -1.23714054e-02 -1.03731244e-02 2.82457536e+01] [ 1.22499942e-02 9.99856661e-01 -1.16873607e-02 -4.46926525e-01] [ 1.05162267e-02 1.15587667e-02 9.99877894e-01 -2.85745946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97119381700003 meters Centerline goodness : 0.918395 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.45, Z:-2.86 [[ 9.99898319e-01 -9.36631466e-03 -1.07528378e-02 2.82464926e+01] [ 9.27342172e-03 9.99919531e-01 -8.65652080e-03 -4.45179868e-01] [ 1.08330522e-02 8.55592500e-03 9.99904716e-01 -2.85724101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00119381700003 meters Centerline goodness : 0.913497 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.44, Z:-2.86 [[ 9.99907822e-01 -7.46058096e-03 -1.13440044e-02 2.82492249e+01] [ 7.38415524e-03 9.99949859e-01 -6.76412782e-03 -4.44004588e-01] [ 1.13938999e-02 6.67973843e-03 9.99912776e-01 -2.85899000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03119381700003 meters Centerline goodness : 0.911796 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.44, Z:-2.86 [[ 9.99916370e-01 -4.99580874e-03 -1.19287519e-02 2.82517804e+01] [ 4.94313518e-03 9.99977921e-01 -4.44108945e-03 -4.41858306e-01] [ 1.19506754e-02 4.38175261e-03 9.99918988e-01 -2.86062777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06119381700003 meters Centerline goodness : 0.910264 Centerline is valid? [False, False] Translation: X:28.25, Y:-0.43, Z:-2.86 [[ 9.99921464e-01 -2.04924096e-03 -1.23638792e-02 2.82537805e+01] [ 2.00731056e-03 9.99992196e-01 -3.40281969e-03 -4.33652578e-01] [ 1.23707559e-02 3.37773430e-03 9.99917774e-01 -2.86252015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09119381700003 meters Centerline goodness : 0.905485 Centerline is valid? [False, False] Translation: X:28.26, Y:-0.43, Z:-2.86 [[ 9.99917980e-01 1.11724521e-03 -1.27587073e-02 2.82552670e+01] [-1.12743253e-03 9.99999051e-01 -7.91295244e-04 -4.30688078e-01] [ 1.27578111e-02 8.05614924e-04 9.99918291e-01 -2.86337187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12119381700003 meters Centerline goodness : 0.906968 Centerline is valid? [False, False] Translation: X:28.27, Y:-0.42, Z:-2.87 [[ 9.99960842e-01 3.41837723e-03 -8.16264992e-03 2.82711254e+01] [-3.48446599e-03 9.99961156e-01 -8.09603557e-03 -4.24226310e-01] [ 8.13465754e-03 8.12416102e-03 9.99933910e-01 -2.86865915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15119381700003 meters Centerline goodness : 0.907258 Centerline is valid? [False, False] Translation: X:28.27, Y:-0.42, Z:-2.87 [[ 9.99943363e-01 6.73673577e-03 -8.23933450e-03 2.82714230e+01] [-6.78180527e-03 9.99962128e-01 -5.45438844e-03 -4.20287049e-01] [ 8.20227768e-03 5.50995709e-03 9.99951180e-01 -2.86868867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18119381700004 meters Centerline goodness : 0.910407 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.41, Z:-2.87 [[ 9.99926038e-01 1.17645688e-02 -3.08427031e-03 2.82842752e+01] [-1.17991236e-02 9.99864995e-01 -1.14355924e-02 -4.08584370e-01] [ 2.94931910e-03 1.14711383e-02 9.99929855e-01 -2.87191950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21119381700004 meters Centerline goodness : 0.910837 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.41, Z:-2.87 [[ 9.99876649e-01 1.53528076e-02 -3.31346567e-03 2.82845160e+01] [-1.53796916e-02 9.99847718e-01 -8.24659503e-03 -4.06387816e-01] [ 3.18635270e-03 8.29653788e-03 9.99960507e-01 -2.87139252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24119381700004 meters Centerline goodness : 0.911081 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.40, Z:-2.87 [[ 9.99813507e-01 1.90029037e-02 -3.44097527e-03 2.82848227e+01] [-1.90198329e-02 9.99806824e-01 -4.95588574e-03 -4.04516018e-01] [ 3.34613433e-03 5.02040828e-03 9.99981799e-01 -2.87115532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27119381700004 meters Centerline goodness : 0.908978 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.40, Z:-2.87 [[ 9.99813644e-01 1.89790183e-02 -3.53200802e-03 2.82849557e+01] [-1.90007126e-02 9.99800163e-01 -6.21348318e-03 -3.99855211e-01] [ 3.41337638e-03 6.27943593e-03 9.99974458e-01 -2.87113057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30119381700004 meters Centerline goodness : 0.909746 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.39, Z:-2.87 [[ 9.99819072e-01 1.86783069e-02 -3.59768044e-03 2.82852718e+01] [-1.87054392e-02 9.99795682e-01 -7.66168371e-03 -3.94998300e-01] [ 3.45383809e-03 7.72759369e-03 9.99964177e-01 -2.87142267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33119381700004 meters Centerline goodness : 0.917118 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.39, Z:-2.87 [[ 9.99758197e-01 2.18783992e-02 2.20994762e-03 2.82984667e+01] [-2.18469585e-02 9.99671930e-01 -1.33694364e-02 -3.87396009e-01] [-2.50172447e-03 1.33179230e-02 9.99908183e-01 -2.87487620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700004 meters Centerline goodness : 0.916038 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.38, Z:-2.87 [[ 9.99762767e-01 2.16875463e-02 2.01482462e-03 2.82987484e+01] [-2.16568031e-02 9.99664635e-01 -1.41985889e-02 -3.84706000e-01] [-2.32208147e-03 1.41515858e-02 9.99897165e-01 -2.87470694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39119381700004 meters Centerline goodness : 0.910924 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.38, Z:-2.87 [[ 9.99692682e-01 2.47277848e-02 1.75429914e-03 2.82996938e+01] [-2.47067157e-02 9.99632475e-01 -1.11576658e-02 -3.83105444e-01] [-2.02955875e-03 1.11108938e-02 9.99936212e-01 -2.87490975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42119381700002 meters Centerline goodness : 0.915986 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.38, Z:-2.88 [[ 9.99651994e-01 2.63482848e-02 1.28777668e-03 2.83022454e+01] [-2.63346015e-02 9.99606257e-01 -9.68603122e-03 -3.82549045e-01] [-1.54247994e-03 9.64874734e-03 9.99952260e-01 -2.87675499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45119381700002 meters Centerline goodness : 0.911289 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.38, Z:-2.88 [[ 9.99654121e-01 2.62763672e-02 1.09103131e-03 2.83030102e+01] [-2.62635585e-02 9.99600491e-01 -1.04443041e-02 -3.80115733e-01] [-1.36503380e-03 1.04120373e-02 9.99944862e-01 -2.87733922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48119381700002 meters Centerline goodness : 0.907611 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.38, Z:-2.88 [[ 9.99656124e-01 2.62038863e-02 9.94755367e-04 2.83034946e+01] [-2.61912488e-02 9.99595339e-01 -1.10985344e-02 -3.77994173e-01] [-1.28517756e-03 1.10686640e-02 9.99937915e-01 -2.87773813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51119381700002 meters Centerline goodness : 0.912304 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99577779e-01 2.90498582e-02 6.07696935e-04 2.83056088e+01] [-2.90438382e-02 9.99543845e-01 -8.27995429e-03 -3.77249203e-01] [-8.47951229e-04 8.25880847e-03 9.99965536e-01 -2.87916417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54119381700002 meters Centerline goodness : 0.913632 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99581373e-01 2.89290753e-02 4.32027179e-04 2.83063253e+01] [-2.89242726e-02 9.99544335e-01 -8.63182309e-03 -3.76656060e-01] [-6.81540979e-04 8.61571350e-03 9.99962652e-01 -2.87968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57119381700002 meters Centerline goodness : 0.905616 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99585721e-01 2.87809395e-02 2.07837993e-04 2.83071282e+01] [-2.87779929e-02 9.99547003e-01 -8.80998065e-03 -3.76588259e-01] [-4.61303363e-04 8.80034970e-03 9.99961170e-01 -2.88021165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60119381700002 meters Centerline goodness : 0.905795 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99592459e-01 2.85466779e-02 -6.29779384e-05 2.83082555e+01] [-2.85460785e-02 9.99551501e-01 -9.05083518e-03 -3.76499994e-01] [-1.95421584e-04 9.04894436e-03 9.99959038e-01 -2.88105209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63119381700002 meters Centerline goodness : 0.905401 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99595804e-01 2.84290785e-02 -1.27739711e-04 2.83085754e+01] [-2.84290894e-02 9.99556202e-01 -8.89864437e-03 -3.77421450e-01] [-1.25297239e-04 8.89867909e-03 9.99960398e-01 -2.88132524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66119381700003 meters Centerline goodness : 0.905978 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99599291e-01 2.83047685e-02 -3.12600525e-04 2.83088296e+01] [-2.83064247e-02 9.99560419e-01 -8.81563993e-03 -3.78085445e-01] [ 6.29384640e-05 8.82095602e-03 9.99961093e-01 -2.88114240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69119381700003 meters Centerline goodness : 0.906007 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99599140e-01 2.83085179e-02 -4.33581491e-04 2.83091586e+01] [-2.83112010e-02 9.99562161e-01 -8.60015830e-03 -3.79040743e-01] [ 1.89933916e-04 8.60898605e-03 9.99962924e-01 -2.88127587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72119381700003 meters Centerline goodness : 0.906210 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99595311e-01 2.84407614e-02 -5.80699267e-04 2.83094890e+01] [-2.84445822e-02 9.99561443e-01 -8.23578881e-03 -3.80348246e-01] [ 3.46212492e-04 8.24897362e-03 9.99965917e-01 -2.88131355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75119381700003 meters Centerline goodness : 0.908068 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99588720e-01 2.86716809e-02 -5.71169306e-04 2.83098820e+01] [-2.86752857e-02 9.99557917e-01 -7.85490366e-03 -3.81693786e-01] [ 3.45703511e-04 7.86805153e-03 9.99968987e-01 -2.88192563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78119381700003 meters Centerline goodness : 0.907434 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99586782e-01 2.87340491e-02 -7.86608585e-04 2.83107697e+01] [-2.87393147e-02 9.99556538e-01 -7.79604031e-03 -3.81950653e-01] [ 5.62247949e-04 7.81542544e-03 9.99969301e-01 -2.88260144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81119381700003 meters Centerline goodness : 0.907899 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99584613e-01 2.88021509e-02 -1.01852615e-03 2.83117973e+01] [-2.88090820e-02 9.99555941e-01 -7.61302902e-03 -3.82844584e-01] [ 7.98802254e-04 7.63920947e-03 9.99970502e-01 -2.88338161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84119381700003 meters Centerline goodness : 0.905898 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99580028e-01 2.89540857e-02 -1.19509643e-03 2.83124625e+01] [-2.89619676e-02 9.99554505e-01 -7.21076768e-03 -3.84454969e-01] [ 9.85782832e-04 7.24235170e-03 9.99973288e-01 -2.88382468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87119381700003 meters Centerline goodness : 0.904724 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.38, Z:-2.88 [[ 9.99660926e-01 2.60018339e-02 -1.39169820e-03 2.83126142e+01] [-2.60151887e-02 9.99604934e-01 -1.06389247e-02 -3.84858796e-01] [ 1.11451684e-03 1.06715226e-02 9.99942437e-01 -2.88400879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90119381700003 meters Centerline goodness : 0.906625 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.39, Z:-2.88 [[ 9.99659926e-01 2.60337533e-02 -1.50895593e-03 2.83129490e+01] [-2.60480592e-02 9.99606623e-01 -1.03970281e-02 -3.85840018e-01] [ 1.23768868e-03 1.04327977e-02 9.99944811e-01 -2.88414080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93119381700004 meters Centerline goodness : 0.906646 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.39, Z:-2.88 [[ 9.99660059e-01 2.60186903e-02 -1.67184924e-03 2.83133178e+01] [-2.60343166e-02 9.99609760e-01 -1.01263320e-02 -3.87054122e-01] [ 1.40772292e-03 1.01664151e-02 9.99947330e-01 -2.88419649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96119381700004 meters Centerline goodness : 0.907868 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.39, Z:-2.88 [[ 9.99658924e-01 2.60435489e-02 -1.94132374e-03 2.83137318e+01] [-2.60609398e-02 9.99614760e-01 -9.54769433e-03 -3.89369335e-01] [ 1.69192002e-03 9.59503056e-03 9.99952535e-01 -2.88398717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99119381700004 meters Centerline goodness : 0.908016 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.39, Z:-2.88 [[ 9.99742023e-01 2.26175777e-02 -2.08133000e-03 2.83138611e+01] [-2.26416536e-02 9.99666991e-01 -1.23799197e-02 -3.93234562e-01] [ 1.80063310e-03 1.24238507e-02 9.99921200e-01 -2.88409119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02119381700004 meters Centerline goodness : 0.908421 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.40, Z:-2.89 [[ 9.99760010e-01 2.17588784e-02 -2.54441079e-03 2.83157818e+01] [-2.17895977e-02 9.99681365e-01 -1.27428897e-02 -3.95316687e-01] [ 2.26632907e-03 1.27952732e-02 9.99915569e-01 -2.88533661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05119381700004 meters Centerline goodness : 0.909280 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.40, Z:-2.89 [[ 9.99759836e-01 2.17519309e-02 -2.66910008e-03 2.83161476e+01] [-2.17830841e-02 9.99687572e-01 -1.22579016e-02 -3.97236187e-01] [ 2.40163315e-03 1.23130989e-02 9.99921307e-01 -2.88544693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08119381700004 meters Centerline goodness : 0.909233 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.40, Z:-2.89 [[ 9.99756676e-01 2.18987998e-02 -2.65159516e-03 2.83159471e+01] [-2.19281813e-02 9.99692121e-01 -1.16111255e-02 -3.99295603e-01] [ 2.39650908e-03 1.16664449e-02 9.99929073e-01 -2.88518617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11119381700004 meters Centerline goodness : 0.906611 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.40, Z:-2.89 [[ 9.99743550e-01 2.24987689e-02 -2.57687817e-03 2.83157316e+01] [-2.25237997e-02 9.99694927e-01 -1.01356608e-02 -4.03893493e-01] [ 2.34805214e-03 1.01911026e-02 9.99945313e-01 -2.88507438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700004 meters Centerline goodness : 0.911852 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.41, Z:-2.89 [[ 9.99734492e-01 2.28949068e-02 -2.60184364e-03 2.83158399e+01] [-2.29185641e-02 9.99692587e-01 -9.45885955e-03 -4.05969307e-01] [ 2.38448409e-03 9.51597867e-03 9.99951879e-01 -2.88516355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17119381700002 meters Centerline goodness : 0.911770 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.41, Z:-2.89 [[ 9.99725717e-01 2.32684409e-02 -2.65892191e-03 2.83160879e+01] [-2.32912019e-02 9.99689316e-01 -8.87641182e-03 -4.07867004e-01] [ 2.45155556e-03 8.93590667e-03 9.99957069e-01 -2.88534073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20119381700002 meters Centerline goodness : 0.903414 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.41, Z:-2.89 [[ 9.99714550e-01 2.37342198e-02 -2.73971229e-03 2.83164265e+01] [-2.37562314e-02 9.99683303e-01 -8.30268192e-03 -4.09675496e-01] [ 2.54178695e-03 8.36539716e-03 9.99961779e-01 -2.88563494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23119381700002 meters Centerline goodness : 0.902966 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.41, Z:-2.89 [[ 9.99578945e-01 2.88948425e-02 -2.64960690e-03 2.83165986e+01] [-2.89018562e-02 9.99578746e-01 -2.64811221e-03 -4.14675747e-01] [ 2.57197396e-03 2.72357577e-03 9.99992984e-01 -2.88583521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26119381700002 meters Centerline goodness : 0.906253 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.42, Z:-2.89 [[ 9.99514464e-01 3.09982230e-02 -3.15372520e-03 2.83184822e+01] [-3.10009013e-02 9.99519033e-01 -8.03907275e-04 -4.16572303e-01] [ 3.12728866e-03 9.01285273e-04 9.99994704e-01 -2.88710867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29119381700002 meters Centerline goodness : 0.906346 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.42, Z:-2.89 [[ 9.99442247e-01 3.33732210e-02 1.19317836e-03 2.83309421e+01] [-3.33600268e-02 9.99395811e-01 -9.75299760e-03 -4.15540423e-01] [-1.51794640e-03 9.70775338e-03 9.99951727e-01 -2.89225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32119381700002 meters Centerline goodness : 0.913070 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.42, Z:-2.89 [[ 9.99401427e-01 3.45720194e-02 1.24988824e-03 2.83311844e+01] [-3.45609447e-02 9.99370561e-01 -8.00147393e-03 -4.19463568e-01] [-1.52572862e-03 7.95348715e-03 9.99967207e-01 -2.89280282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35119381700002 meters Centerline goodness : 0.912911 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.42, Z:-2.89 [[ 9.99459652e-01 3.28624879e-02 6.79565539e-04 2.83337755e+01] [-3.28547100e-02 9.99416417e-01 -9.34847935e-03 -4.22264441e-01] [-9.86383245e-04 9.32110098e-03 9.99956071e-01 -2.89486234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38119381700002 meters Centerline goodness : 0.902997 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.43, Z:-2.90 [[ 9.99572675e-01 2.92288874e-02 3.73145629e-04 2.83345432e+01] [-2.92219965e-02 9.99495682e-01 -1.24280668e-02 -4.25397395e-01] [-7.36216009e-04 1.24118519e-02 9.99922699e-01 -2.89550950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41119381700003 meters Centerline goodness : 0.903919 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.43, Z:-2.90 [[ 9.99692809e-01 2.47840817e-02 -1.89791457e-04 2.83366214e+01] [-2.47839377e-02 9.99564198e-01 -1.60365140e-02 -4.29209070e-01] [-2.07741527e-04 1.60362915e-02 9.99871389e-01 -2.89706807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44119381700003 meters Centerline goodness : 0.904694 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.44, Z:-2.90 [[ 9.99840654e-01 1.76669632e-02 -2.55844505e-03 2.83314153e+01] [-1.76852883e-02 9.99816760e-01 -7.32645843e-03 -4.35983333e-01] [ 2.42853997e-03 7.37053782e-03 9.99969888e-01 -2.89651353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47119381700003 meters Centerline goodness : 0.901342 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.45, Z:-2.90 [[ 9.99988136e-01 4.26579514e-03 -2.35163010e-03 2.83295619e+01] [-4.26773768e-03 9.99990556e-01 -8.21643040e-04 -4.45344498e-01] [ 2.34810293e-03 8.31669433e-04 9.99996897e-01 -2.89618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50119381700003 meters Centerline goodness : 0.901342 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.45, Z:-2.90 [[ 9.99988136e-01 4.26579514e-03 -2.35163010e-03 2.83295619e+01] [-4.26773768e-03 9.99990556e-01 -8.21643040e-04 -4.45344498e-01] [ 2.34810293e-03 8.31669433e-04 9.99996897e-01 -2.89618543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53119381700003 meters Centerline goodness : 0.904686 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.45, Z:-2.90 [[ 9.99996765e-01 1.23540657e-04 -2.54046942e-03 2.83301987e+01] [-1.33928515e-04 9.99991630e-01 -4.08918847e-03 -4.48354267e-01] [ 2.53994298e-03 4.08951548e-03 9.99988412e-01 -2.89649816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56119381700003 meters Centerline goodness : 0.909678 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.45, Z:-2.90 [[ 9.99989113e-01 -3.91737242e-03 -2.53529969e-03 2.83304586e+01] [ 3.89826209e-03 9.99964282e-01 -7.49925385e-03 -4.50700373e-01] [ 2.56458650e-03 7.48928894e-03 9.99968666e-01 -2.89674746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59119381700003 meters Centerline goodness : 0.904158 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.45, Z:-2.90 [[ 9.99983799e-01 -4.92946776e-03 -2.84626355e-03 2.83318719e+01] [ 4.90844404e-03 9.99960965e-01 -7.34675879e-03 -4.54663089e-01] [ 2.88236806e-03 7.33266905e-03 9.99968961e-01 -2.89738258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62119381700003 meters Centerline goodness : 0.913659 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.46, Z:-2.90 [[ 9.99983142e-01 -4.96614137e-03 -3.00872488e-03 2.83319288e+01] [ 4.94692368e-03 9.99967529e-01 -6.36144065e-03 -4.58191796e-01] [ 3.04021900e-03 6.34644948e-03 9.99975240e-01 -2.89680185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65119381700003 meters Centerline goodness : 0.910846 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.46, Z:-2.90 [[ 9.99982115e-01 -5.14993678e-03 -3.04105124e-03 2.83316243e+01] [ 5.13294199e-03 9.99971313e-01 -5.57006665e-03 -4.62222375e-01] [ 3.06964949e-03 5.55435749e-03 9.99979863e-01 -2.89593668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68119381700004 meters Centerline goodness : 0.911610 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.46, Z:-2.90 [[ 9.99983351e-01 -4.83025628e-03 -3.15691289e-03 2.83315522e+01] [ 4.81361883e-03 9.99974598e-01 -5.25668241e-03 -4.62759236e-01] [ 3.18222382e-03 5.24139872e-03 9.99981200e-01 -2.89551380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71119381700004 meters Centerline goodness : 0.914827 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.46, Z:-2.90 [[ 9.99995710e-01 -5.68160886e-04 2.87339571e-03 2.83432698e+01] [ 5.99671756e-04 9.99939566e-01 -1.09774765e-02 -4.62077778e-01] [-2.86698508e-03 1.09791525e-02 9.99935617e-01 -2.89995122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74119381700004 meters Centerline goodness : 0.914490 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.46, Z:-2.90 [[ 9.99990325e-01 3.45358615e-03 2.72436060e-03 2.83432471e+01] [-3.43548819e-03 9.99972186e-01 -6.61995492e-03 -4.63479093e-01] [-2.74714741e-03 6.61053136e-03 9.99974377e-01 -2.89931457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77119381700004 meters Centerline goodness : 0.915685 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.46, Z:-2.90 [[ 9.99926754e-01 9.20859317e-03 7.85416646e-03 2.83559617e+01] [-9.11648067e-03 9.99890180e-01 -1.16841106e-02 -4.60887780e-01] [-7.96089813e-03 1.16116524e-02 9.99900892e-01 -2.90371315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80119381700004 meters Centerline goodness : 0.912349 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.46, Z:-2.90 [[ 9.99886289e-01 1.30168137e-02 7.61395133e-03 2.83569583e+01] [-1.29570395e-02 9.99885256e-01 -7.84795672e-03 -4.60734329e-01] [-7.71523307e-03 7.74841005e-03 9.99940217e-01 -2.90422145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83119381700004 meters Centerline goodness : 0.908319 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.46, Z:-2.91 [[ 9.99821091e-01 1.74709161e-02 7.24939516e-03 2.83584545e+01] [-1.74395434e-02 9.99838376e-01 -4.36852336e-03 -4.58253960e-01] [-7.32454559e-03 4.24131565e-03 9.99964180e-01 -2.90548248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700004 meters Centerline goodness : 0.907979 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.46, Z:-2.91 [[ 9.99760837e-01 2.08010373e-02 6.75175703e-03 2.83608617e+01] [-2.07949465e-02 9.99783290e-01 -9.71059576e-04 -4.58669856e-01] [-6.77049290e-03 8.30424907e-04 9.99976735e-01 -2.90707056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89119381700004 meters Centerline goodness : 0.908173 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.91 [[ 9.99673577e-01 2.32816473e-02 1.05216299e-02 2.83752397e+01] [-2.31780920e-02 9.99682736e-01 -9.85918188e-03 -4.56292104e-01] [-1.07478298e-02 9.61209230e-03 9.99896041e-01 -2.91284275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92119381700002 meters Centerline goodness : 0.905593 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.91 [[ 9.99597027e-01 2.65526029e-02 1.00370416e-02 2.83777237e+01] [-2.64895900e-02 9.99628859e-01 -6.35972102e-03 -4.58002755e-01] [-1.02021836e-02 6.09128111e-03 9.99929403e-01 -2.91455082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95119381700002 meters Centerline goodness : 0.903624 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.92 [[ 9.99490666e-01 3.04592906e-02 9.52051287e-03 2.83806223e+01] [-3.04404082e-02 9.99534331e-01 -2.12202865e-03 -4.60498964e-01] [-9.58071495e-03 1.83113953e-03 9.99952427e-01 -2.91686928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98119381700002 meters Centerline goodness : 0.900884 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.92 [[ 9.99493414e-01 3.04751909e-02 9.17489698e-03 2.83819627e+01] [-3.04564403e-02 9.99533725e-01 -2.17655488e-03 -4.60585816e-01] [-9.23694988e-03 1.89601756e-03 9.99955541e-01 -2.91784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01119381700002 meters Centerline goodness : 0.900724 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.92 [[ 9.99487638e-01 3.06999719e-02 9.05391759e-03 2.83825666e+01] [-3.06848627e-02 9.99527482e-01 -1.80304853e-03 -4.61909091e-01] [-9.10499299e-03 1.52430649e-03 9.99957387e-01 -2.91836632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04119381700002 meters Centerline goodness : 0.904837 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.46, Z:-2.92 [[ 9.99483514e-01 3.09041171e-02 8.81140752e-03 2.83831997e+01] [-3.08952690e-02 9.99521979e-01 -1.13855249e-03 -4.64389364e-01] [-8.84238144e-03 8.65733633e-04 9.99960531e-01 -2.91853000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07119381700002 meters Centerline goodness : 0.903208 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.47, Z:-2.92 [[ 9.99578400e-01 2.76884869e-02 8.73896054e-03 2.83827485e+01] [-2.76589206e-02 9.99611340e-01 -3.48622141e-03 -4.69926538e-01] [-8.83209224e-03 3.24304140e-03 9.99955737e-01 -2.91799262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10119381700002 meters Centerline goodness : 0.903870 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.47, Z:-2.92 [[ 9.99674537e-01 2.40233439e-02 8.58486446e-03 2.83827807e+01] [-2.39638375e-02 9.99688539e-01 -6.96846540e-03 -4.71637062e-01] [-8.74959645e-03 6.76047112e-03 9.99938868e-01 -2.91793425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13119381700002 meters Centerline goodness : 0.907738 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.48, Z:-2.92 [[ 9.99692998e-01 2.34132861e-02 8.10721456e-03 2.83839468e+01] [-2.33610186e-02 9.99706075e-01 -6.48282115e-03 -4.76020603e-01] [-8.25661579e-03 6.29143812e-03 9.99946122e-01 -2.91796428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16119381700003 meters Centerline goodness : 0.908117 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.48, Z:-2.92 [[ 9.99765154e-01 1.99521533e-02 8.45860397e-03 2.83820968e+01] [-1.98844608e-02 9.99770176e-01 -8.01275710e-03 -4.83119197e-01] [-8.61653173e-03 7.84268056e-03 9.99932122e-01 -2.91592808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19119381700003 meters Centerline goodness : 0.912932 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.49, Z:-2.92 [[ 9.99831891e-01 1.63190099e-02 8.35939318e-03 2.83818620e+01] [-1.62244585e-02 9.99805011e-01 -1.12564207e-02 -4.85452757e-01] [-8.54145683e-03 1.11189018e-02 9.99901702e-01 -2.91550938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22119381700003 meters Centerline goodness : 0.916567 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.49, Z:-2.92 [[ 9.99841800e-01 1.58498292e-02 8.07209043e-03 2.83824643e+01] [-1.57649564e-02 9.99820890e-01 -1.04716236e-02 -4.90011318e-01] [-8.23661807e-03 1.03427108e-02 9.99912589e-01 -2.91506769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25119381700003 meters Centerline goodness : 0.916394 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.49, Z:-2.91 [[ 9.99885104e-01 1.27287087e-02 8.23153488e-03 2.83810439e+01] [-1.26189811e-02 9.99832619e-01 -1.32474529e-02 -4.92439099e-01] [-8.39878005e-03 1.31420572e-02 9.99878366e-01 -2.91377433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28119381700003 meters Centerline goodness : 0.926534 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.50, Z:-2.91 [[ 9.99913224e-01 9.89148473e-03 8.70080261e-03 2.83786098e+01] [-9.76336159e-03 9.99845064e-01 -1.46466735e-02 -4.99232298e-01] [-8.84433189e-03 1.45604534e-02 9.99854875e-01 -2.91147306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31119381700003 meters Centerline goodness : 0.927176 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.50, Z:-2.91 [[ 9.99924335e-01 9.21298690e-03 8.15141641e-03 2.83804534e+01] [-9.09486236e-03 9.99854784e-01 -1.44115853e-02 -5.02538201e-01] [-8.28300644e-03 1.43363588e-02 9.99862921e-01 -2.91232430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34119381700003 meters Centerline goodness : 0.929667 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.51, Z:-2.91 [[ 9.99936300e-01 8.33285381e-03 7.61316870e-03 2.83826875e+01] [-8.22268059e-03 9.99862650e-01 -1.43898677e-02 -5.05475534e-01] [-7.73203170e-03 1.43263504e-02 9.99867477e-01 -2.91362640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37119381700003 meters Centerline goodness : 0.932441 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.51, Z:-2.91 [[ 9.99945903e-01 7.56830439e-03 7.13524191e-03 2.83847712e+01] [-7.46559907e-03 9.99869700e-01 -1.43124844e-02 -5.08295931e-01] [-7.24263343e-03 1.42584413e-02 9.99872112e-01 -2.91492122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40119381700003 meters Centerline goodness : 0.931110 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.52, Z:-2.91 [[ 9.99989743e-01 1.07022965e-03 4.40086247e-03 2.83803727e+01] [-1.05465008e-03 9.99993175e-01 -3.54091605e-03 -5.15585908e-01] [-4.40462202e-03 3.53623836e-03 9.99984047e-01 -2.91269897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43119381700004 meters Centerline goodness : 0.933254 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.52, Z:-2.91 [[ 9.99991127e-01 1.10146485e-03 4.06597131e-03 2.83811506e+01] [-1.09108233e-03 9.99996141e-01 -2.55485200e-03 -5.19148843e-01] [-4.06876970e-03 2.55039303e-03 9.99988470e-01 -2.91263397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46119381700004 meters Centerline goodness : 0.932416 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.52, Z:-2.91 [[ 9.99993880e-01 3.49628950e-04 3.48115257e-03 2.83834024e+01] [-3.41057769e-04 9.99996910e-01 -2.46245711e-03 -5.22322298e-01] [-3.48200276e-03 2.46125476e-03 9.99990909e-01 -2.91382582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49119381700004 meters Centerline goodness : 0.931618 Centerline is valid? [False, False] Translation: X:28.39, Y:-0.52, Z:-2.92 [[ 9.99995599e-01 -8.12672800e-04 2.85338323e-03 2.83862708e+01] [ 8.20901387e-04 9.99995505e-01 -2.88381450e-03 -5.24717182e-01] [-2.85102680e-03 2.88614415e-03 9.99991771e-01 -2.91569353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52119381700004 meters Centerline goodness : 0.926945 Centerline is valid? [False, False] Translation: X:28.39, Y:-0.53, Z:-2.92 [[ 9.99974856e-01 -6.71473899e-03 2.28013706e-03 2.83903068e+01] [ 6.73243470e-03 9.99946572e-01 -7.84391120e-03 -5.25891596e-01] [-2.22734542e-03 7.85906485e-03 9.99966636e-01 -2.91928873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55119381700004 meters Centerline goodness : 0.926690 Centerline is valid? [False, False] Translation: X:28.39, Y:-0.53, Z:-2.92 [[ 9.99961815e-01 -8.56129499e-03 1.75272634e-03 2.83933575e+01] [ 8.57616662e-03 9.99925717e-01 -8.66085719e-03 -5.27692758e-01] [-1.67844799e-03 8.67555815e-03 9.99960958e-01 -2.92144834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58119381700004 meters Centerline goodness : 0.923717 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.92 [[ 9.99941838e-01 -1.06862459e-02 1.45774077e-03 2.83960603e+01] [ 1.07000247e-02 9.99894761e-01 -9.79673435e-03 -5.29343402e-01] [-1.35289705e-03 9.81176242e-03 9.99950948e-01 -2.92355421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61119381700004 meters Centerline goodness : 0.922328 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.93 [[ 9.99923052e-01 -1.23578665e-02 1.08317803e-03 2.83984584e+01] [ 1.23687151e-02 9.99866706e-01 -1.06575953e-02 -5.30566280e-01] [-9.51328508e-04 1.06701727e-02 9.99942620e-01 -2.92518400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700004 meters Centerline goodness : 0.917710 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.93 [[ 9.99915405e-01 -1.29816050e-02 8.13028287e-04 2.83993827e+01] [ 1.29895432e-02 9.99858724e-01 -1.06678801e-02 -5.31610680e-01] [-6.74427219e-04 1.06775385e-02 9.99942766e-01 -2.92541773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67119381700005 meters Centerline goodness : 0.923997 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.93 [[ 9.99901058e-01 -1.40491301e-02 7.03896323e-04 2.83997906e+01] [ 1.40563602e-02 9.99833754e-01 -1.16139086e-02 -5.29610801e-01] [-5.40613991e-04 1.16226537e-02 9.99932309e-01 -2.92537457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70119381700002 meters Centerline goodness : 0.925887 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.93 [[ 9.99932561e-01 -1.16130083e-02 1.03286840e-04 2.84019590e+01] [ 1.16134676e-02 9.99893075e-01 -8.88624140e-03 -5.28111097e-01] [-7.98005053e-08 8.88684164e-03 9.99960511e-01 -2.92636297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73119381700002 meters Centerline goodness : 0.925013 Centerline is valid? [False, False] Translation: X:28.40, Y:-0.53, Z:-2.93 [[ 9.99958526e-01 -9.09284165e-03 -5.15354823e-04 2.84044325e+01] [ 9.08937674e-03 9.99938413e-01 -6.36819624e-03 -5.25843754e-01] [ 5.73228083e-04 6.36324788e-03 9.99979590e-01 -2.92782280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76119381700002 meters Centerline goodness : 0.920991 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.52, Z:-2.93 [[ 9.99973894e-01 -7.12550450e-03 -1.19897610e-03 2.84069451e+01] [ 7.11884160e-03 9.99959686e-01 -5.47257600e-03 -5.17652362e-01] [ 1.23792263e-03 5.46389782e-03 9.99984307e-01 -2.92935469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79119381700002 meters Centerline goodness : 0.921877 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.51, Z:-2.93 [[ 9.99986155e-01 -4.93680072e-03 -1.82140036e-03 2.84092336e+01] [ 4.93045791e-03 9.99981823e-01 -3.47058881e-03 -5.14275984e-01] [ 1.83850085e-03 3.46156042e-03 9.99992319e-01 -2.93053260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82119381700002 meters Centerline goodness : 0.920146 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.51, Z:-2.93 [[ 9.99993031e-01 -2.85736253e-03 -2.40286634e-03 2.84114128e+01] [ 2.85362934e-03 9.99994718e-01 -1.55563618e-03 -5.10920603e-01] [ 2.40729867e-03 1.54876845e-03 9.99995903e-01 -2.93161518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85119381700002 meters Centerline goodness : 0.916511 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.50, Z:-2.93 [[ 9.99994108e-01 -1.34829129e-03 -3.15705132e-03 2.84133336e+01] [ 1.34297538e-03 9.99997678e-01 -1.68533649e-03 -5.00728426e-01] [ 3.15931631e-03 1.68108672e-03 9.99993596e-01 -2.93232279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88119381700002 meters Centerline goodness : 0.919206 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.50, Z:-2.93 [[ 9.99992597e-01 1.22940040e-03 -3.64620898e-03 2.84149613e+01] [-1.22823128e-03 9.99999194e-01 3.22860146e-04 -4.96750407e-01] [ 3.64660297e-03 -3.18379368e-04 9.99993300e-01 -2.93301655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91119381700003 meters Centerline goodness : 0.917359 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.49, Z:-2.94 [[ 9.99990801e-01 3.75816520e-03 2.06739918e-03 2.84280296e+01] [-3.74282545e-03 9.99965805e-01 -7.37432150e-03 -4.89783993e-01] [-2.09504241e-03 7.36651575e-03 9.99970672e-01 -2.93767768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94119381700003 meters Centerline goodness : 0.915977 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.48, Z:-2.94 [[ 9.99976048e-01 6.70977254e-03 1.69771158e-03 2.84288453e+01] [-6.70087385e-03 9.99964059e-01 -5.19407034e-03 -4.84953400e-01] [-1.73250160e-03 5.18256978e-03 9.99985070e-01 -2.93762585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97119381700003 meters Centerline goodness : 0.916549 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.48, Z:-2.94 [[ 9.99953221e-01 9.58618406e-03 1.28847895e-03 2.84299899e+01] [-9.58218400e-03 9.99949360e-01 -3.07561007e-03 -4.80090487e-01] [-1.31789706e-03 3.06311975e-03 9.99994440e-01 -2.93788780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00119381700003 meters Centerline goodness : 0.914514 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.47, Z:-2.94 [[ 9.99956579e-01 9.26092387e-03 1.03746531e-03 2.84302992e+01] [-9.25571700e-03 9.99945081e-01 -4.91599225e-03 -4.73173708e-01] [-1.08293497e-03 4.90617630e-03 9.99987378e-01 -2.93777406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03119381700003 meters Centerline goodness : 0.912185 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.46, Z:-2.94 [[ 9.99922843e-01 1.13886911e-02 4.96032628e-03 2.84463268e+01] [-1.13269262e-02 9.99860112e-01 -1.23067903e-02 -4.59381797e-01] [-5.09979062e-03 1.22496555e-02 9.99911965e-01 -2.94053044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06119381700003 meters Centerline goodness : 0.914945 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.46, Z:-2.94 [[ 9.99891094e-01 1.40420870e-02 4.54082916e-03 2.84475203e+01] [-1.39957448e-02 9.99851232e-01 -1.00812782e-02 -4.55326989e-01] [-4.68171582e-03 1.00166280e-02 9.99938872e-01 -2.94063354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09119381700003 meters Centerline goodness : 0.912322 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.45, Z:-2.94 [[ 9.99856359e-01 1.64573228e-02 4.05194587e-03 2.84492599e+01] [-1.64247121e-02 9.99833467e-01 -7.95402739e-03 -4.52022673e-01] [-4.18217309e-03 7.88633282e-03 9.99960157e-01 -2.94130037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12119381700003 meters Centerline goodness : 0.916615 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.45, Z:-2.94 [[ 9.99829673e-01 1.81370076e-02 3.41675462e-03 2.84518878e+01] [-1.81149013e-02 9.99815470e-01 -6.39347787e-03 -4.49013804e-01] [-3.53208269e-03 6.33049472e-03 9.99973724e-01 -2.94265705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15119381700003 meters Centerline goodness : 0.912097 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.44, Z:-2.94 [[ 9.99849410e-01 1.70373651e-02 3.29919983e-03 2.84530317e+01] [-1.70079621e-02 9.99817119e-01 -8.74406565e-03 -4.38323063e-01] [-3.44757231e-03 8.68663622e-03 9.99956327e-01 -2.94340157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18119381700004 meters Centerline goodness : 0.914809 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.43, Z:-2.94 [[ 9.99812396e-01 1.91601182e-02 2.83941816e-03 2.84549473e+01] [-1.91402590e-02 9.99793249e-01 -6.86360875e-03 -4.34215219e-01] [-2.97033867e-03 6.80797392e-03 9.99972414e-01 -2.94431178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21119381700004 meters Centerline goodness : 0.911733 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.43, Z:-2.95 [[ 9.99832927e-01 1.81020680e-02 2.53634758e-03 2.84560502e+01] [-1.80782263e-02 9.99794915e-01 -9.12716665e-03 -4.27819564e-01] [-2.70104801e-03 9.07978908e-03 9.99955130e-01 -2.94500360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24119381700004 meters Centerline goodness : 0.915873 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.42, Z:-2.95 [[ 9.99847361e-01 1.73225787e-02 2.27643475e-03 2.84568645e+01] [-1.72965182e-02 9.99789803e-01 -1.10082216e-02 -4.22323026e-01] [-2.46664704e-03 1.09671669e-02 9.99936816e-01 -2.94541250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27119381700004 meters Centerline goodness : 0.910553 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.41, Z:-2.94 [[ 9.99814620e-01 1.91364296e-02 2.12683027e-03 2.84562322e+01] [-1.91127662e-02 9.99760727e-01 -1.06391599e-02 -4.13566181e-01] [-2.32991691e-03 1.05965380e-02 9.99941141e-01 -2.94387376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30119381700004 meters Centerline goodness : 0.914923 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.41, Z:-2.94 [[ 9.99827893e-01 1.84577653e-02 1.86979459e-03 2.84567405e+01] [-1.84325324e-02 9.99749238e-01 -1.27162655e-02 -4.07328249e-01] [-2.10403956e-03 1.26796118e-02 9.99917397e-01 -2.94380428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33119381700004 meters Centerline goodness : 0.910718 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.40, Z:-2.94 [[ 9.99776864e-01 2.10721196e-02 1.47888129e-03 2.84582330e+01] [-2.10549727e-02 9.99720159e-01 -1.07839010e-02 -4.02680273e-01] [-1.70570709e-03 1.07503569e-02 9.99940758e-01 -2.94437131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700004 meters Centerline goodness : 0.909253 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.40, Z:-2.95 [[ 9.99718139e-01 2.37199750e-02 1.00285924e-03 2.84602101e+01] [-2.37099724e-02 9.99678140e-01 -9.02522027e-03 -3.97489009e-01] [-1.21661446e-03 8.99889865e-03 9.99958769e-01 -2.94537386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39119381700004 meters Centerline goodness : 0.904444 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.38, Z:-2.95 [[ 9.99594216e-01 2.84045048e-02 2.14195063e-03 2.84815961e+01] [-2.83719692e-02 9.99500262e-01 -1.39376174e-02 -3.83166259e-01] [-2.53677134e-03 1.38711903e-02 9.99900572e-01 -2.95071094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42119381700005 meters Centerline goodness : 0.904444 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.38, Z:-2.95 [[ 9.99594216e-01 2.84045048e-02 2.14195063e-03 2.84815961e+01] [-2.83719692e-02 9.99500262e-01 -1.39376174e-02 -3.83166259e-01] [-2.53677134e-03 1.38711903e-02 9.99900572e-01 -2.95071094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45119381700002 meters Centerline goodness : 0.906437 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.38, Z:-2.95 [[ 9.99508829e-01 3.12868439e-02 1.79837536e-03 2.84836101e+01] [-3.12624302e-02 9.99435592e-01 -1.22946312e-02 -3.77044223e-01] [-2.18202055e-03 1.22323708e-02 9.99922801e-01 -2.95204940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48119381700002 meters Centerline goodness : 0.905303 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.37, Z:-2.95 [[ 9.99412338e-01 3.42476435e-02 1.44157326e-03 2.84853679e+01] [-3.42307726e-02 9.99359432e-01 -1.04393290e-02 -3.71408802e-01] [-1.79817225e-03 1.03838480e-02 9.99944470e-01 -2.95290134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51119381700002 meters Centerline goodness : 0.902523 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.36, Z:-2.95 [[ 9.99301193e-01 3.73667981e-02 9.21292977e-04 2.84872261e+01] [-3.73565218e-02 9.99257885e-01 -9.38984008e-03 -3.61982200e-01] [-1.27147753e-03 9.34886209e-03 9.99955490e-01 -2.95349809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54119381700002 meters Centerline goodness : 0.900314 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.36, Z:-2.95 [[ 9.99318545e-01 3.69071142e-02 5.57993068e-04 2.84881968e+01] [-3.68988734e-02 9.99259829e-01 -1.08750833e-02 -3.57746951e-01] [-9.58947999e-04 1.08470831e-02 9.99940709e-01 -2.95384273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57119381700002 meters Centerline goodness : 0.902347 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.35, Z:-2.95 [[ 9.99340809e-01 3.63022435e-02 3.06976332e-04 2.84891807e+01] [-3.62956429e-02 9.99264043e-01 -1.24096147e-02 -3.53554035e-01] [-7.57247264e-04 1.23902925e-02 9.99922951e-01 -2.95445079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60119381700002 meters Centerline goodness : 0.900600 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.35, Z:-2.96 [[ 9.99307539e-01 3.72078940e-02 -1.22404759e-04 2.84917810e+01] [-3.72067930e-02 9.99239630e-01 -1.16540062e-02 -3.51307927e-01] [-3.11309339e-04 1.16504905e-02 9.99932082e-01 -2.95626867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63119381700002 meters Centerline goodness : 0.901609 Centerline is valid? [False, False] Translation: X:28.49, Y:-0.35, Z:-2.96 [[ 9.99372169e-01 3.54270202e-02 -4.39880068e-04 2.84929766e+01] [-3.54297197e-02 9.99277743e-01 -1.37378034e-02 -3.47072714e-01] [-4.71270775e-05 1.37447632e-02 9.99905535e-01 -2.95687867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66119381700003 meters Centerline goodness : 0.899220 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.35, Z:-2.96 [[ 9.99436516e-01 3.35487449e-02 -1.06437953e-03 2.84952638e+01] [-3.35611814e-02 9.99317626e-01 -1.54249763e-02 -3.45447799e-01] [ 5.46164629e-04 1.54520064e-02 9.99880461e-01 -2.95813706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69119381700003 meters Centerline goodness : 0.897426 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.34, Z:-2.96 [[ 9.99493078e-01 3.17892255e-02 -1.74112080e-03 2.84974488e+01] [-3.18139875e-02 9.99353104e-01 -1.67702979e-02 -3.44367478e-01] [ 1.20687970e-03 1.68171887e-02 9.99857853e-01 -2.95916709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72119381700003 meters Centerline goodness : 0.900050 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.34, Z:-2.96 [[ 9.99537865e-01 3.03181503e-02 -2.20597554e-03 2.84987364e+01] [-3.03526722e-02 9.99380712e-01 -1.78018827e-02 -3.43421129e-01] [ 1.66488925e-03 1.78606130e-02 9.99839100e-01 -2.95956962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75119381700003 meters Centerline goodness : 0.900130 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.34, Z:-2.96 [[ 9.99596400e-01 2.82730066e-02 -2.77008027e-03 2.85008447e+01] [-2.83215580e-02 9.99410193e-01 -1.94205120e-02 -3.42000553e-01] [ 2.21937020e-03 1.94911269e-02 9.99807567e-01 -2.96071116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78119381700003 meters Centerline goodness : 0.896692 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.34, Z:-2.96 [[ 9.99803639e-01 1.84037268e-02 -7.34752124e-03 2.84994252e+01] [-1.85004574e-02 9.99740100e-01 -1.33216364e-02 -3.38819018e-01] [ 7.10044386e-03 1.34549531e-02 9.99884267e-01 -2.95898039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81119381700003 meters Centerline goodness : 0.896198 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.34, Z:-2.96 [[ 9.99835188e-01 1.63435055e-02 -7.90479265e-03 2.85014344e+01] [-1.64623957e-02 9.99748690e-01 -1.52166282e-02 -3.36755140e-01] [ 7.65411305e-03 1.53442521e-02 9.99852973e-01 -2.96001801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84119381700003 meters Centerline goodness : 0.896149 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.33, Z:-2.96 [[ 9.99854123e-01 1.50167291e-02 -8.13819990e-03 2.85021028e+01] [-1.51508559e-02 9.99746115e-01 -1.66780322e-02 -3.33989848e-01] [ 7.88568425e-03 1.67989000e-02 9.99827792e-01 -2.96011860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87119381700003 meters Centerline goodness : 0.900212 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.33, Z:-2.96 [[ 9.99866791e-01 1.41045172e-02 -8.21355486e-03 2.85022059e+01] [-1.42520098e-02 9.99733067e-01 -1.81844565e-02 -3.29625406e-01] [ 7.95487942e-03 1.82990939e-02 9.99800912e-01 -2.95990755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90119381700003 meters Centerline goodness : 0.899791 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.32, Z:-2.96 [[ 9.99848022e-01 1.52063567e-02 -8.52644795e-03 2.85026927e+01] [-1.53623479e-02 9.99710126e-01 -1.85381243e-02 -3.17608319e-01] [ 8.24207902e-03 1.86662931e-02 9.99791797e-01 -2.95897913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93119381700004 meters Centerline goodness : 0.897995 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.31, Z:-2.96 [[ 9.99802403e-01 1.78467730e-02 -8.75486823e-03 2.85031415e+01] [-1.79908303e-02 9.99699318e-01 -1.66614235e-02 -3.12533822e-01] [ 8.45488316e-03 1.68156386e-02 9.99822859e-01 -2.95855057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96119381700004 meters Centerline goodness : 0.900591 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.31, Z:-2.96 [[ 9.99749415e-01 2.05389526e-02 -8.90278515e-03 2.85034276e+01] [-2.06694147e-02 9.99676541e-01 -1.48185297e-02 -3.07378949e-01] [ 8.59554838e-03 1.49988317e-02 9.99850565e-01 -2.95808382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99119381700004 meters Centerline goodness : 0.901747 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.29, Z:-2.96 [[ 9.99733965e-01 2.24359286e-02 -5.35058002e-03 2.85212387e+01] [-2.25398341e-02 9.99541414e-01 -2.02217164e-02 -2.92215533e-01] [ 4.89443333e-03 2.03369379e-02 9.99781203e-01 -2.96037913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02119381700004 meters Centerline goodness : 0.903515 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.29, Z:-2.96 [[ 9.99679680e-01 2.47028287e-02 -5.50526326e-03 2.85220732e+01] [-2.48020702e-02 9.99516470e-01 -1.87532238e-02 -2.86246084e-01] [ 5.03934363e-03 1.88837587e-02 9.99808986e-01 -2.96052036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05119381700004 meters Centerline goodness : 0.902032 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.28, Z:-2.96 [[ 9.99625483e-01 2.67566274e-02 -5.74251875e-03 2.85232548e+01] [-2.68529759e-02 9.99487708e-01 -1.74137488e-02 -2.80527558e-01] [ 5.27364371e-03 1.75614307e-02 9.99831878e-01 -2.96086648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08119381700004 meters Centerline goodness : 0.902167 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.28, Z:-2.96 [[ 9.99568732e-01 2.87433173e-02 -6.01430511e-03 2.85247797e+01] [-2.88366714e-02 9.99455142e-01 -1.60581835e-02 -2.75174179e-01] [ 5.54946270e-03 1.62246907e-02 9.99852971e-01 -2.96157193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11119381700004 meters Centerline goodness : 0.898361 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.26, Z:-2.96 [[ 9.99501046e-01 3.09047392e-02 -6.52357557e-03 2.85277910e+01] [-3.10096701e-02 9.99380426e-01 -1.66482673e-02 -2.62718708e-01] [ 6.00502337e-03 1.68422545e-02 9.99840126e-01 -2.96235963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700004 meters Centerline goodness : 0.897914 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.26, Z:-2.96 [[ 9.99423101e-01 3.32499506e-02 -6.92141481e-03 2.85301696e+01] [-3.33523992e-02 9.99327246e-01 -1.52536229e-02 -2.57931105e-01] [ 6.40957620e-03 1.54756689e-02 9.99859701e-01 -2.96368755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17119381700005 meters Centerline goodness : 0.895500 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.25, Z:-2.96 [[ 9.99307796e-01 3.65530414e-02 -6.91403134e-03 2.85311132e+01] [-3.66400101e-02 9.99245259e-01 -1.29004858e-02 -2.53716191e-01] [ 6.43726105e-03 1.31448862e-02 9.99892881e-01 -2.96418186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20119381700002 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.25, Z:-2.96 [[ 9.99199897e-01 3.93516221e-02 -7.14245943e-03 2.85327483e+01] [-3.94301147e-02 9.99159524e-01 -1.12032135e-02 -2.48828210e-01] [ 6.69559174e-03 1.14758777e-02 9.99911733e-01 -2.96485458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23119381700002 meters Centerline goodness : 0.895755 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.24, Z:-2.97 [[ 9.99074234e-01 4.24025279e-02 -7.25946768e-03 2.85340647e+01] [-4.24702395e-02 9.99053115e-01 -9.44208229e-03 -2.43459142e-01] [ 6.85222564e-03 9.74165246e-03 9.99929071e-01 -2.96530857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26119381700002 meters Centerline goodness : 0.896777 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.23, Z:-2.96 [[ 9.98801737e-01 4.84244936e-02 -7.08224938e-03 2.85347058e+01] [-4.84660465e-02 9.98807885e-01 -5.81812314e-03 -2.33107824e-01] [ 6.79206686e-03 6.15440013e-03 9.99957995e-01 -2.96474947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29119381700002 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.23, Z:-2.96 [[ 9.98785007e-01 4.87430950e-02 -7.25393679e-03 2.85355079e+01] [-4.87966206e-02 9.98781364e-01 -7.39435413e-03 -2.27160166e-01] [ 6.88467318e-03 7.73933764e-03 9.99946351e-01 -2.96465013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32119381700002 meters Centerline goodness : 0.895996 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.22, Z:-2.96 [[ 9.98609311e-01 5.22074611e-02 -7.33649717e-03 2.85361349e+01] [-5.22436838e-02 9.98622659e-01 -4.83547983e-03 -2.23231784e-01] [ 7.07394419e-03 5.21204083e-03 9.99961396e-01 -2.96455769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35119381700002 meters Centerline goodness : 0.897626 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.22, Z:-2.96 [[ 9.98424304e-01 5.56424929e-02 -7.26790039e-03 2.85363948e+01] [-5.56612536e-02 9.98446814e-01 -2.40490983e-03 -2.18641650e-01] [ 7.12279681e-03 2.80566087e-03 9.99970697e-01 -2.96435351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38119381700002 meters Centerline goodness : 0.900451 Centerline is valid? [False, False] Translation: X:28.54, Y:-0.21, Z:-2.96 [[ 9.98059261e-01 6.18767555e-02 -6.99848814e-03 2.85367695e+01] [-6.18639132e-02 9.98082515e-01 2.03705931e-03 -2.08953632e-01] [ 7.11111527e-03 -1.60015205e-03 9.99973435e-01 -2.96396620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41119381700003 meters Centerline goodness : 0.903413 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.21, Z:-2.96 [[ 9.98002909e-01 6.30195709e-02 -4.32757840e-03 2.85256741e+01] [-6.29633962e-02 9.97942744e-01 1.20785488e-02 -2.05587026e-01] [ 5.07986042e-03 -1.17819478e-02 9.99917687e-01 -2.96470478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44119381700003 meters Centerline goodness : 0.900961 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.20, Z:-2.96 [[ 9.98020156e-01 6.27215280e-02 -4.66670461e-03 2.85263390e+01] [-6.26679401e-02 9.97975364e-01 1.08582757e-02 -2.01816752e-01] [ 5.33830388e-03 -1.05443253e-02 9.99930157e-01 -2.96449730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47119381700003 meters Centerline goodness : 0.903993 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.20, Z:-2.96 [[ 9.97869509e-01 6.51027100e-02 -4.25202370e-03 2.85254918e+01] [-6.50440072e-02 9.97801190e-01 1.27303836e-02 -1.98378740e-01] [ 5.07145678e-03 -1.24266929e-02 9.99909925e-01 -2.96388312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50119381700003 meters Centerline goodness : 0.906614 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.20, Z:-2.96 [[ 9.97881097e-01 6.49201682e-02 -4.32294638e-03 2.85253641e+01] [-6.48645126e-02 9.97822347e-01 1.19648963e-02 -1.95720213e-01] [ 5.09029558e-03 -1.16591380e-02 9.99919073e-01 -2.96341435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53119381700003 meters Centerline goodness : 0.909106 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.19, Z:-2.96 [[ 9.97812233e-01 6.59963644e-02 -3.90232779e-03 2.85229657e+01] [-6.59424825e-02 9.97743648e-01 1.26175183e-02 -1.93406399e-01] [ 4.72623311e-03 -1.23325850e-02 9.99912781e-01 -2.96116917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56119381700003 meters Centerline goodness : 0.912826 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.19, Z:-2.96 [[ 9.97831312e-01 6.57042830e-02 -3.95222030e-03 2.85223756e+01] [-6.56543909e-02 9.97774408e-01 1.16504282e-02 -1.90396013e-01] [ 4.70890730e-03 -1.13656815e-02 9.99924321e-01 -2.96009507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59119381700003 meters Centerline goodness : 0.914766 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.19, Z:-2.96 [[ 9.98046557e-01 6.22804913e-02 -4.92050170e-03 2.84997001e+01] [-6.21427132e-02 9.97768363e-01 2.44249359e-02 -1.88029238e-01] [ 6.43071794e-03 -2.40714498e-02 9.99689557e-01 -2.95706047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62119381700003 meters Centerline goodness : 0.916303 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.19, Z:-2.95 [[ 9.98295985e-01 5.79151897e-02 -7.13840959e-03 2.84760724e+01] [-5.76303770e-02 9.97719020e-01 3.51496255e-02 -1.85890473e-01] [ 9.15782425e-03 -3.46783408e-02 9.99356566e-01 -2.95362813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65119381700003 meters Centerline goodness : 0.917152 Centerline is valid? [False, False] Translation: X:28.45, Y:-0.18, Z:-2.95 [[ 9.98513929e-01 5.41581641e-02 -6.06855416e-03 2.84469267e+01] [-5.38867401e-02 9.97809469e-01 3.83729527e-02 -1.81816550e-01] [ 8.13346947e-03 -3.79889131e-02 9.99245060e-01 -2.95482574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68119381700004 meters Centerline goodness : 0.919257 Centerline is valid? [False, False] Translation: X:28.44, Y:-0.18, Z:-2.96 [[ 9.98630263e-01 5.20742180e-02 -5.08664806e-03 2.84369904e+01] [-5.17821072e-02 9.97573740e-01 4.65322128e-02 -1.81199840e-01] [ 7.49743512e-03 -4.62050786e-02 9.98903839e-01 -2.95574618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71119381700004 meters Centerline goodness : 0.919821 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.18, Z:-2.96 [[ 9.98929850e-01 4.61493773e-02 -3.06417732e-03 2.84059290e+01] [-4.59498463e-02 9.97793255e-01 4.79294479e-02 -1.77171520e-01] [ 5.26932964e-03 -4.77373578e-02 9.98846024e-01 -2.95572299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74119381700004 meters Centerline goodness : 0.921893 Centerline is valid? [False, False] Translation: X:28.38, Y:-0.17, Z:-2.95 [[ 9.99045012e-01 4.35719426e-02 -3.24796358e-03 2.83836689e+01] [-4.33885223e-02 9.98100175e-01 4.37433155e-02 -1.73407337e-01] [ 5.14777424e-03 -4.35606168e-02 9.99037523e-01 -2.95403190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77119381700004 meters Centerline goodness : 0.925791 Centerline is valid? [False, False] Translation: X:28.36, Y:-0.17, Z:-2.95 [[ 9.99204130e-01 3.97214534e-02 -3.64872702e-03 2.83627794e+01] [-3.95618754e-02 9.98548105e-01 3.65587165e-02 -1.68493117e-01] [ 5.09559480e-03 -3.63852700e-02 9.99324846e-01 -2.95349439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80119381700004 meters Centerline goodness : 0.924843 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.17, Z:-2.95 [[ 9.99367239e-01 3.55613744e-02 -7.13903783e-04 2.83328689e+01] [-3.55064276e-02 9.98606756e-01 3.90363875e-02 -1.66117781e-01] [ 2.10109673e-03 -3.89863387e-02 9.99237535e-01 -2.95493346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83119381700004 meters Centerline goodness : 0.927617 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.95 [[ 9.99503061e-01 3.15158023e-02 -6.21492096e-04 2.83116645e+01] [-3.14800104e-02 9.98996319e-01 3.18647762e-02 -1.61777162e-01] [ 1.62511230e-03 -3.18293767e-02 9.99491996e-01 -2.95431277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700004 meters Centerline goodness : 0.929426 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.95 [[ 9.99573896e-01 2.91883459e-02 -2.57050402e-04 2.83097974e+01] [-2.91680328e-02 9.99138300e-01 2.95276799e-02 -1.60702603e-01] [ 1.11869304e-03 -2.95076004e-02 9.99563930e-01 -2.95313408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89119381700004 meters Centerline goodness : 0.929407 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.95 [[ 9.99581876e-01 2.89127531e-02 -3.54357248e-04 2.83102750e+01] [-2.88901886e-02 9.99158567e-01 2.91121074e-02 -1.59705221e-01] [ 1.19577025e-03 -2.90896975e-02 9.99576090e-01 -2.95354656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92119381700005 meters Centerline goodness : 0.931039 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.95 [[ 9.99590597e-01 2.86095471e-02 -3.62494855e-04 2.83104717e+01] [-2.85873535e-02 9.99178933e-01 2.87092999e-02 -1.58903920e-01] [ 1.18355729e-03 -2.86871835e-02 9.99587737e-01 -2.95382328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95119381700002 meters Centerline goodness : 0.931679 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.95 [[ 9.99686806e-01 2.50192380e-02 -5.72800115e-04 2.83108921e+01] [-2.49981352e-02 9.99396141e-01 2.41339428e-02 -1.56430330e-01] [ 1.17626708e-03 -2.41120653e-02 9.99708570e-01 -2.95402111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98119381700002 meters Centerline goodness : 0.929767 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.15, Z:-2.96 [[ 9.99764781e-01 2.16785361e-02 -6.50638227e-04 2.83117107e+01] [-2.16616123e-02 9.99572952e-01 1.96134718e-02 -1.53949977e-01] [ 1.07555173e-03 -1.95947644e-02 9.99807426e-01 -2.95512627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.011193817 meters Centerline goodness : 0.933539 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.15, Z:-2.96 [[ 9.99771006e-01 2.13869127e-02 -7.32356365e-04 2.83119662e+01] [-2.13692564e-02 9.99592930e-01 1.89031394e-02 -1.52066408e-01] [ 1.13633804e-03 -1.88831608e-02 9.99821051e-01 -2.95527924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.041193817 meters Centerline goodness : 0.932030 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.15, Z:-2.96 [[ 9.99774438e-01 2.12192662e-02 -9.03138837e-04 2.83125914e+01] [-2.11993216e-02 9.99609525e-01 1.82040280e-02 -1.49774568e-01] [ 1.28906230e-03 -1.81807760e-02 9.99833885e-01 -2.95565334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.071193817 meters Centerline goodness : 0.932779 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.15, Z:-2.96 [[ 9.99766953e-01 2.15618636e-02 -1.06133925e-03 2.83132280e+01] [-2.15402895e-02 9.99618260e-01 1.73017379e-02 -1.45543559e-01] [ 1.43399181e-03 -1.72748442e-02 9.99849750e-01 -2.95597586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.101193817 meters Centerline goodness : 0.933694 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.14, Z:-2.96 [[ 9.99765418e-01 2.16236145e-02 -1.23630221e-03 2.83136806e+01] [-2.15999759e-02 9.99627226e-01 1.66988269e-02 -1.43470783e-01] [ 1.59693034e-03 -1.66682055e-02 9.99859801e-01 -2.95609207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.131193817 meters Centerline goodness : 0.932417 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.14, Z:-2.95 [[ 9.99707464e-01 2.41636276e-02 -1.05139238e-03 2.83122950e+01] [-2.41389195e-02 9.99523128e-01 1.92569408e-02 -1.42854596e-01] [ 1.51620854e-03 -1.92259279e-02 9.99814015e-01 -2.95475311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.161193817 meters Centerline goodness : 0.934126 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.14, Z:-2.95 [[ 9.99665854e-01 2.56721452e-02 -3.02007398e-03 2.82930657e+01] [-2.56134168e-02 9.99508080e-01 1.80983471e-02 -1.39881244e-01] [ 3.48321174e-03 -1.80149452e-02 9.99831650e-01 -2.95451729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.191193817 meters Centerline goodness : 0.931943 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.14, Z:-2.96 [[ 9.99543237e-01 3.00640255e-02 -3.07773344e-03 2.82939351e+01] [-2.99906162e-02 9.99316257e-01 2.16236538e-02 -1.37649483e-01] [ 3.72572313e-03 -2.15214737e-02 9.99761444e-01 -2.95515726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.221193817 meters Centerline goodness : 0.933865 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.14, Z:-2.96 [[ 9.99410224e-01 3.42034099e-02 -3.05454654e-03 2.82941441e+01] [-3.41145147e-02 9.99091999e-01 2.55220854e-02 -1.36781557e-01] [ 3.92471536e-03 -2.54028287e-02 9.99669592e-01 -2.95514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.251193817 meters Centerline goodness : 0.934677 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.14, Z:-2.96 [[ 9.99260477e-01 3.83283139e-02 -3.07233421e-03 2.82944050e+01] [-3.82223974e-02 9.98841789e-01 2.92254946e-02 -1.35561726e-01] [ 4.18893973e-03 -2.90864497e-02 9.99568122e-01 -2.95504344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28119381700003 meters Centerline goodness : 0.935652 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.13, Z:-2.95 [[ 9.99087638e-01 4.25956976e-02 -3.08182529e-03 2.82945402e+01] [-4.24715577e-02 9.98555967e-01 3.28960178e-02 -1.34203829e-01] [ 4.47860386e-03 -3.27351148e-02 9.99454028e-01 -2.95478246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.311193817 meters Centerline goodness : 0.935652 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.13, Z:-2.95 [[ 9.99089744e-01 4.25518454e-02 -3.00400375e-03 2.82945504e+01] [-4.24296092e-02 9.98552749e-01 3.30474831e-02 -1.33751985e-01] [ 4.40588759e-03 -3.28899428e-02 9.99449268e-01 -2.95435457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters Centerline goodness : 0.937339 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.13, Z:-2.96 [[ 9.98550684e-01 5.37743713e-02 2.20203597e-03 2.82938758e+01] [-5.38129577e-02 9.98229318e-01 2.53455084e-02 -1.29819292e-01] [-8.35198086e-04 -2.54272728e-02 9.99676326e-01 -2.95531308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.371193817 meters Centerline goodness : 0.936759 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.13, Z:-2.96 [[ 9.98504089e-01 5.46385042e-02 2.05381618e-03 2.82944879e+01] [-5.46729956e-02 9.98184423e-01 2.52729167e-02 -1.28192157e-01] [-6.69212958e-04 -2.53473990e-02 9.99678479e-01 -2.95562765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters Centerline goodness : 0.937671 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.13, Z:-2.96 [[ 9.98484927e-01 5.49983718e-02 1.74042094e-03 2.82954441e+01] [-5.50247908e-02 9.98166267e-01 2.52264972e-02 -1.27557875e-01] [-3.49813199e-04 -2.52840435e-02 9.99680246e-01 -2.95609970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.431193817 meters Centerline goodness : 0.934098 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.13, Z:-2.96 [[ 9.98642088e-01 5.20892633e-02 8.29513749e-04 2.82980976e+01] [-5.20946377e-02 9.98382484e-01 2.27719997e-02 -1.31061622e-01] [ 3.58004692e-04 -2.27842906e-02 9.99740340e-01 -2.95784129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters Centerline goodness : 0.933176 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.13, Z:-2.96 [[ 9.98846008e-01 4.80261265e-02 3.77602884e-04 2.82987720e+01] [-4.80244998e-02 9.98660948e-01 1.92342960e-02 -1.33269661e-01] [ 5.46651477e-04 -1.92302340e-02 9.99814933e-01 -2.95808668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.491193817 meters Centerline goodness : 0.932373 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.14, Z:-2.96 [[ 9.99201086e-01 3.99166410e-02 1.96260694e-03 2.83173498e+01] [-3.99557165e-02 9.98817605e-01 2.76935438e-02 -1.38070146e-01] [-8.54853115e-04 -2.77498364e-02 9.99614534e-01 -2.95849227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters Centerline goodness : 0.930901 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.14, Z:-2.95 [[ 9.99466098e-01 3.26289362e-02 1.69457512e-03 2.83307867e+01] [-3.26707762e-02 9.98648507e-01 4.04200533e-02 -1.44020036e-01] [-3.73421568e-04 -4.04538361e-02 9.99181339e-01 -2.95223479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.551193817 meters Centerline goodness : 0.934141 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.15, Z:-2.94 [[ 9.99728356e-01 2.33059211e-02 2.19084349e-04 2.83416258e+01] [-2.32869607e-02 9.98437537e-01 5.07956990e-02 -1.52442824e-01] [ 9.65098514e-04 -5.07870025e-02 9.98709041e-01 -2.94363880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters Centerline goodness : 0.934137 Centerline is valid? [False, False] Translation: X:28.33, Y:-0.16, Z:-2.94 [[ 9.99841575e-01 1.76963842e-02 1.91390845e-03 2.83277601e+01] [-1.77883440e-02 9.97237329e-01 7.21199314e-02 -1.59886140e-01] [-6.32358940e-04 -7.21425511e-02 9.97394131e-01 -2.94107469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.611193817 meters Centerline goodness : 0.939792 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.16, Z:-2.94 [[ 9.99939797e-01 1.08703679e-02 1.49589827e-03 2.82969882e+01] [-1.09606874e-02 9.95916617e-01 8.96100154e-02 -1.64372085e-01] [-5.15696107e-04 -8.96210167e-02 9.95975807e-01 -2.93561214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters Centerline goodness : 0.940980 Centerline is valid? [False, False] Translation: X:28.26, Y:-0.16, Z:-2.93 [[ 9.99954300e-01 9.15218898e-03 -2.76333992e-03 2.82624751e+01] [-8.89716160e-03 9.96647307e-01 8.13325602e-02 -1.63155953e-01] [ 3.49844625e-03 -8.13042573e-02 9.96683189e-01 -2.92849223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.671193817 meters Centerline goodness : 0.944995 Centerline is valid? [False, False] Translation: X:28.27, Y:-0.16, Z:-2.93 [[ 9.99965045e-01 8.14076942e-03 -1.90681550e-03 2.82685909e+01] [-8.03150065e-03 9.98634425e-01 5.16215017e-02 -1.59987268e-01] [ 2.32445035e-03 -5.16043827e-02 9.98664901e-01 -2.92722530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters Centerline goodness : 0.944460 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.93 [[ 9.99962035e-01 8.71367814e-03 2.16332867e-05 2.82755300e+01] [-8.70745147e-03 9.99147276e-01 4.03596464e-02 -1.57986042e-01] [ 3.30066129e-04 -4.03583025e-02 9.99185217e-01 -2.92570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.731193817 meters Centerline goodness : 0.946063 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.93 [[ 9.99959683e-01 8.97950262e-03 -2.03363788e-05 2.82755292e+01] [-8.97121183e-03 9.99128728e-01 4.07590758e-02 -1.58859267e-01] [ 3.86314888e-04 -4.07572501e-02 9.99169003e-01 -2.92552833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters Centerline goodness : 0.944822 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.92 [[ 9.99954073e-01 9.27733367e-03 2.40494836e-03 2.82826732e+01] [-9.34354651e-03 9.99531009e-01 2.91626627e-02 -1.59072695e-01] [-2.13326871e-03 -2.91837941e-02 9.99571786e-01 -2.92482401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.791193817 meters Centerline goodness : 0.948013 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.93 [[ 9.99950148e-01 9.96483336e-03 6.35697975e-04 2.82754684e+01] [-9.97468969e-03 9.99787172e-01 1.80586668e-02 -1.57665384e-01] [-4.55611076e-04 -1.80641074e-02 9.99836727e-01 -2.92724779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters Centerline goodness : 0.942338 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.93 [[ 9.99943420e-01 1.02818510e-02 -2.72764046e-03 2.82827305e+01] [-1.02375180e-02 9.99822798e-01 1.57976459e-02 -1.58260244e-01] [ 2.88958616e-03 -1.57688278e-02 9.99871489e-01 -2.92755132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.851193817 meters Centerline goodness : 0.942730 Centerline is valid? [False, False] Translation: X:28.28, Y:-0.16, Z:-2.93 [[ 9.99943008e-01 1.02607164e-02 -2.94917708e-03 2.82835641e+01] [-1.02124016e-02 9.99820549e-01 1.59554826e-02 -1.58782312e-01] [ 3.11236253e-03 -1.59244551e-02 9.99868354e-01 -2.92813267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters Centerline goodness : 0.939175 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.16, Z:-2.93 [[ 9.99968606e-01 7.14693642e-03 -3.42165824e-03 2.82858400e+01] [-7.10258212e-03 9.99892799e-01 1.28040614e-02 -1.59663135e-01] [ 3.51280124e-03 -1.27793568e-02 9.99912170e-01 -2.92992380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.911193817 meters Centerline goodness : 0.939418 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.16, Z:-2.93 [[ 9.99987523e-01 3.32808492e-03 -3.72528490e-03 2.82869156e+01] [-3.29551629e-03 9.99956595e-01 8.71484672e-03 -1.59107462e-01] [ 3.75412696e-03 -8.70246125e-03 9.99955086e-01 -2.93061739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters Centerline goodness : 0.938491 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.16, Z:-2.93 [[ 9.99990538e-01 5.88872970e-04 -4.31008533e-03 2.82893509e+01] [-5.63616114e-04 9.99982678e-01 5.85881388e-03 -1.59499283e-01] [ 4.31346077e-03 -5.85632921e-03 9.99973548e-01 -2.93226932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.971193817 meters Centerline goodness : 0.938124 Centerline is valid? [False, False] Translation: X:28.29, Y:-0.16, Z:-2.93 [[ 9.99988261e-01 -8.33144758e-04 -4.77315830e-03 2.82918168e+01] [ 8.55018827e-04 9.99989135e-01 4.58251817e-03 -1.59889760e-01] [ 4.76928854e-03 -4.58654552e-03 9.99978109e-01 -2.93415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters Centerline goodness : 0.934380 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.16, Z:-2.94 [[ 9.99984266e-01 -1.42736373e-03 -5.42490989e-03 2.82957233e+01] [ 1.45069138e-03 9.99989709e-01 4.29859939e-03 -1.62450731e-01] [ 5.41871839e-03 -4.30640163e-03 9.99976046e-01 -2.93746199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03119381700003 meters Centerline goodness : 0.935348 Centerline is valid? [False, False] Translation: X:28.30, Y:-0.16, Z:-2.94 [[ 9.99982815e-01 -1.09463280e-03 -5.75944320e-03 2.82970225e+01] [ 1.12236780e-03 9.99987780e-01 4.81454422e-03 -1.63740513e-01] [ 5.75410266e-03 -4.82092570e-03 9.99971824e-01 -2.93840611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.061193817 meters Centerline goodness : 0.932824 Centerline is valid? [False, False] Translation: X:28.31, Y:-0.16, Z:-2.94 [[ 9.99989203e-01 1.78401634e-03 -4.29084547e-03 2.83082913e+01] [-1.79754231e-03 9.99993422e-01 -3.15049835e-03 -1.63244792e-01] [ 4.28519670e-03 3.15817731e-03 9.99985831e-01 -2.94005841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.091193817 meters Centerline goodness : 0.933135 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.16, Z:-2.94 [[ 9.99989018e-01 4.66772783e-03 -4.20062039e-04 2.83195464e+01] [-4.67205875e-03 9.99928813e-01 -1.09790902e-02 -1.61510316e-01] [ 3.68784732e-04 1.09809321e-02 9.99939640e-01 -2.94345003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.121193817 meters Centerline goodness : 0.933770 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.16, Z:-2.94 [[ 9.99961356e-01 8.77313110e-03 -5.65345417e-04 2.83197853e+01] [-8.77651524e-03 9.99941698e-01 -6.29080274e-03 -1.63249555e-01] [ 5.10122419e-04 6.29552140e-03 9.99980053e-01 -2.94337766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.151193817 meters Centerline goodness : 0.934807 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.17, Z:-2.94 [[ 9.99952599e-01 9.71459045e-03 -6.52650960e-04 2.83194060e+01] [-9.71778730e-03 9.99939837e-01 -5.08798950e-03 -1.65664550e-01] [ 6.03183960e-04 5.09409065e-03 9.99986843e-01 -2.94268990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.181193817 meters Centerline goodness : 0.936027 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.17, Z:-2.94 [[ 9.99949916e-01 9.98677691e-03 -6.55278281e-04 2.83190654e+01] [-9.98950584e-03 9.99940847e-01 -4.30254165e-03 -1.68449756e-01] [ 6.12270996e-04 4.30887207e-03 9.99990529e-01 -2.94222795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.211193817 meters Centerline goodness : 0.937104 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.17, Z:-2.94 [[ 9.99949139e-01 1.00685740e-02 -5.85211792e-04 2.83184381e+01] [-1.00706891e-02 9.99942328e-01 -3.73131708e-03 -1.70722292e-01] [ 5.47608999e-04 3.73702079e-03 9.99992867e-01 -2.94158075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.241193817 meters Centerline goodness : 0.940402 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.17, Z:-2.94 [[ 9.99949302e-01 1.00507413e-02 -6.13180457e-04 2.83174891e+01] [-1.00524336e-02 9.99945490e-01 -2.82216596e-03 -1.74166096e-01] [ 5.84782172e-04 2.82818684e-03 9.99995830e-01 -2.94022872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.271193817 meters Centerline goodness : 0.938179 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.18, Z:-2.94 [[ 9.99948992e-01 1.00793946e-02 -6.47314896e-04 2.83168528e+01] [-1.00808725e-02 9.99946491e-01 -2.32199338e-03 -1.76133855e-01] [ 6.23875971e-04 2.32840043e-03 9.99997095e-01 -2.93931199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.301193817 meters Centerline goodness : 0.938899 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.18, Z:-2.94 [[ 9.99947810e-01 1.01975592e-02 -6.22102623e-04 2.83163212e+01] [-1.01986026e-02 9.99946552e-01 -1.69782127e-03 -1.78438978e-01] [ 6.04755739e-04 1.70407724e-03 9.99998365e-01 -2.93871183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.331193817 meters Centerline goodness : 0.940506 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.18, Z:-2.94 [[ 9.99945279e-01 1.04348412e-02 -7.43814961e-04 2.83165238e+01] [-1.04355445e-02 9.99945099e-01 -9.48051668e-04 -1.80708479e-01] [ 7.33881356e-04 9.55761904e-04 9.99999274e-01 -2.93872019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.361193817 meters Centerline goodness : 0.943064 Centerline is valid? [False, False] Translation: X:28.32, Y:-0.18, Z:-2.94 [[ 9.99968981e-01 7.78798038e-03 -1.17698523e-03 2.83178752e+01] [-7.79216538e-03 9.99963182e-01 -3.59394834e-03 -1.82947821e-01] [ 1.14895230e-03 3.60300812e-03 9.99992849e-01 -2.93957113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.391193817 meters Centerline goodness : 0.937879 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.18, Z:-2.94 [[ 9.99949218e-01 1.00622470e-02 -5.59280431e-04 2.83380946e+01] [-1.00706115e-02 9.99790735e-01 -1.78064361e-02 -1.82899483e-01] [ 3.79990636e-04 1.78111641e-02 9.99841296e-01 -2.94119674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.421193817 meters Centerline goodness : 0.940019 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.19, Z:-2.94 [[ 9.99944710e-01 1.04905328e-02 -7.24711072e-04 2.83387104e+01] [-1.05011028e-02 9.99807572e-01 -1.65694350e-02 -1.86056731e-01] [ 5.50749416e-04 1.65761291e-02 9.99862455e-01 -2.94184929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.451193817 meters Centerline goodness : 0.937843 Centerline is valid? [False, False] Translation: X:28.34, Y:-0.19, Z:-2.94 [[ 9.99955837e-01 9.31120244e-03 -1.27507540e-03 2.83417659e+01] [-9.33202245e-03 9.99804483e-01 -1.74329893e-02 -1.88043388e-01] [ 1.11250401e-03 1.74441184e-02 9.99847221e-01 -2.94437984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.481193817 meters Centerline goodness : 0.935737 Centerline is valid? [False, False] Translation: X:28.37, Y:-0.19, Z:-2.95 [[ 9.99952395e-01 8.71034142e-03 -4.39743676e-03 2.83673032e+01] [-8.78259095e-03 9.99822188e-01 -1.66870479e-02 -1.92700759e-01] [ 4.25130496e-03 1.67248744e-02 9.99851091e-01 -2.94770508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.511193817 meters Centerline goodness : 0.935563 Centerline is valid? [False, False] Translation: X:28.39, Y:-0.19, Z:-2.95 [[ 9.99963279e-01 7.48410458e-03 -4.17487440e-03 2.83890255e+01] [-7.56410344e-03 9.99781494e-01 -1.94871547e-02 -1.93373533e-01] [ 4.02811826e-03 1.95180182e-02 9.99801391e-01 -2.94916207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.541193817 meters Centerline goodness : 0.936554 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.20, Z:-2.95 [[ 9.99954291e-01 8.38876141e-03 -4.58735865e-03 2.84110877e+01] [-8.46997968e-03 9.99802440e-01 -1.79816761e-02 -1.96589076e-01] [ 4.43560838e-03 1.80197090e-02 9.99827793e-01 -2.95034389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.571193817 meters Centerline goodness : 0.934326 Centerline is valid? [False, False] Translation: X:28.41, Y:-0.20, Z:-2.95 [[ 9.99945755e-01 9.17305751e-03 -4.93375464e-03 2.84124601e+01] [-9.25231344e-03 9.99824524e-01 -1.62885477e-02 -2.01404997e-01] [ 4.78347310e-03 1.63333127e-02 9.99855160e-01 -2.95137235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.601193817 meters Centerline goodness : 0.933634 Centerline is valid? [False, False] Translation: X:28.43, Y:-0.20, Z:-2.95 [[ 9.99964511e-01 6.69044887e-03 -5.12005489e-03 2.84340673e+01] [-6.79630665e-03 9.99757532e-01 -2.09448550e-02 -2.01745205e-01] [ 4.97868296e-03 2.09789091e-02 9.99767522e-01 -2.95271930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.631193817 meters Centerline goodness : 0.934049 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.21, Z:-2.95 [[ 9.99956114e-01 7.18538538e-03 -6.01160532e-03 2.84569739e+01] [-7.30077954e-03 9.99785171e-01 -1.93987110e-02 -2.05549697e-01] [ 5.87092664e-03 1.94417491e-02 9.99793754e-01 -2.95444946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.661193817 meters Centerline goodness : 0.933752 Centerline is valid? [False, False] Translation: X:28.46, Y:-0.21, Z:-2.95 [[ 9.99969474e-01 4.80175906e-03 -6.16399239e-03 2.84567517e+01] [-4.93151634e-03 9.99762855e-01 -2.12111628e-02 -2.10490996e-01] [ 6.06067974e-03 2.12409131e-02 9.99756016e-01 -2.95395016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.691193817 meters Centerline goodness : 0.935087 Centerline is valid? [False, False] Translation: X:28.48, Y:-0.21, Z:-2.96 [[ 9.99981356e-01 2.88001271e-03 -5.38446606e-03 2.84783434e+01] [-3.01384638e-03 9.99682536e-01 -2.50148827e-02 -2.11414624e-01] [ 5.31071351e-03 2.50306443e-02 9.99672578e-01 -2.95567186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.721193817 meters Centerline goodness : 0.935447 Centerline is valid? [False, False] Translation: X:28.50, Y:-0.22, Z:-2.96 [[ 9.99968888e-01 4.12396816e-03 -6.72421502e-03 2.85016346e+01] [-4.27523901e-03 9.99734554e-01 -2.26394508e-02 -2.15115436e-01] [ 6.62906573e-03 2.26674941e-02 9.99721081e-01 -2.95745576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.751193817 meters Centerline goodness : 0.934557 Centerline is valid? [False, False] Translation: X:28.51, Y:-0.22, Z:-2.96 [[ 9.99990373e-01 3.29630833e-03 -2.89630818e-03 2.85139037e+01] [-3.33375961e-03 9.99909647e-01 -1.30224452e-02 -2.19722016e-01] [ 2.85312050e-03 1.30319755e-02 9.99911010e-01 -2.96094391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78119381700003 meters Centerline goodness : 0.935437 Centerline is valid? [False, False] Translation: X:28.52, Y:-0.22, Z:-2.96 [[ 9.99992845e-01 1.60868467e-03 -3.42386277e-03 2.85156997e+01] [-1.65678230e-03 9.99899336e-01 -1.40916036e-02 -2.24948416e-01] [ 3.40084917e-03 1.40971754e-02 9.99894846e-01 -2.96197847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.811193817 meters Centerline goodness : 0.935047 Centerline is valid? [False, False] Translation: X:28.53, Y:-0.23, Z:-2.96 [[ 9.99998058e-01 1.52830486e-03 -1.24451201e-03 2.85343248e+01] [-1.54498039e-03 9.99907537e-01 -1.35103910e-02 -2.29253151e-01] [ 1.22374894e-03 1.35122875e-02 9.99907956e-01 -2.96160931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters Centerline goodness : 0.937818 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.23, Z:-2.96 [[ 9.99997200e-01 2.33127728e-03 -4.05957827e-04 2.85550116e+01] [-2.33574079e-03 9.99932683e-01 -1.13654698e-02 -2.34142591e-01] [ 3.79434437e-04 1.13663862e-02 9.99935329e-01 -2.96229005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.871193817 meters Centerline goodness : 0.936193 Centerline is valid? [False, False] Translation: X:28.56, Y:-0.24, Z:-2.96 [[ 9.99996597e-01 2.52213783e-03 -6.67344118e-04 2.85556506e+01] [-2.52904545e-03 9.99941034e-01 -1.05608623e-02 -2.37033080e-01] [ 6.40668818e-04 1.05625141e-02 9.99944010e-01 -2.96241988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters Centerline goodness : 0.932990 Centerline is valid? [False, False] Translation: X:28.58, Y:-0.24, Z:-2.96 [[ 9.99992241e-01 2.51197359e-03 -3.03455079e-03 2.85785559e+01] [-2.54505786e-03 9.99936827e-01 -1.09483116e-02 -2.41404117e-01] [ 3.00685722e-03 1.09559498e-02 9.99935461e-01 -2.96312038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.931193817 meters Centerline goodness : 0.934868 Centerline is valid? [False, False] Translation: X:28.60, Y:-0.24, Z:-2.96 [[ 9.99994913e-01 2.07947232e-03 -2.41861900e-03 2.85989159e+01] [-2.11261381e-03 9.99902795e-01 -1.37817786e-02 -2.42110596e-01] [ 2.38972508e-03 1.37868181e-02 9.99902102e-01 -2.96378658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters Centerline goodness : 0.937275 Centerline is valid? [False, False] Translation: X:28.62, Y:-0.24, Z:-2.96 [[ 9.99996299e-01 2.41870040e-03 -1.24600491e-03 2.86197614e+01] [-2.43767978e-03 9.99877472e-01 -1.54627891e-02 -2.42359270e-01] [ 1.20845238e-03 1.54657693e-02 9.99879668e-01 -2.96488814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.991193817 meters Centerline goodness : 0.937799 Centerline is valid? [False, False] Translation: X:28.64, Y:-0.25, Z:-2.96 [[ 9.99987524e-01 4.69671117e-03 1.70075739e-03 2.86382839e+01] [-4.67214452e-03 9.99888666e-01 -1.41713571e-02 -2.46021673e-01] [-1.76712680e-03 1.41632341e-02 9.99898135e-01 -2.96451484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters Centerline goodness : 0.936857 Centerline is valid? [False, False] Translation: X:28.66, Y:-0.25, Z:-2.96 [[ 9.99983021e-01 5.79428486e-03 -6.19683022e-04 2.86647265e+01] [-5.80733791e-03 9.99702581e-01 -2.36859410e-02 -2.45893122e-01] [ 4.82255627e-04 2.36891376e-02 9.99719257e-01 -2.96201434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.051193817 meters Centerline goodness : 0.936484 Centerline is valid? [False, False] Translation: X:28.69, Y:-0.25, Z:-2.96 [[ 9.99980310e-01 6.24024608e-03 -6.62387671e-04 2.86866729e+01] [-6.25505663e-03 9.99657891e-01 -2.53963466e-02 -2.47298430e-01] [ 5.03681610e-04 2.53999898e-02 9.99677241e-01 -2.96380519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters Centerline goodness : 0.936195 Centerline is valid? [False, False] Translation: X:28.69, Y:-0.25, Z:-2.96 [[ 9.99975503e-01 6.93594777e-03 -9.41328671e-04 2.86877456e+01] [-6.95682616e-03 9.99678940e-01 -2.43643016e-02 -2.49570514e-01] [ 7.72036925e-04 2.43702534e-02 9.99702703e-01 -2.96458828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.111193817 meters Centerline goodness : 0.934326 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.25, Z:-2.97 [[ 9.99958386e-01 8.67655550e-03 -2.81858530e-03 2.87096351e+01] [-8.73801449e-03 9.99706894e-01 -2.25781786e-02 -2.53598599e-01] [ 2.62185834e-03 2.26018678e-02 9.99741107e-01 -2.96518752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters Centerline goodness : 0.932651 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.26, Z:-2.97 [[ 9.99949759e-01 9.52378362e-03 -3.12666721e-03 2.87107653e+01] [-9.58487169e-03 9.99751192e-01 -2.01416119e-02 -2.61125603e-01] [ 2.93406492e-03 2.01705686e-02 9.99792248e-01 -2.96601783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.171193817 meters Centerline goodness : 0.933292 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.27, Z:-2.97 [[ 9.99944039e-01 1.00261497e-02 -3.37565499e-03 2.87114644e+01] [-1.00879269e-02 9.99772179e-01 -1.88102299e-02 -2.65009847e-01] [ 3.18629176e-03 1.88432307e-02 9.99817373e-01 -2.96633594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters Centerline goodness : 0.933292 Centerline is valid? [False, False] Translation: X:28.71, Y:-0.27, Z:-2.97 [[ 9.99944270e-01 1.00101268e-02 -3.35464198e-03 2.87114384e+01] [-1.00715206e-02 9.99772286e-01 -1.88133252e-02 -2.65007347e-01] [ 3.16555431e-03 1.88460631e-02 9.99817386e-01 -2.96633962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.231193817 meters Centerline goodness : 0.932202 Centerline is valid? [False, False] Translation: X:28.73, Y:-0.27, Z:-2.97 [[ 9.99944439e-01 9.83378608e-03 -3.79690236e-03 2.87333033e+01] [-9.90508300e-03 9.99765845e-01 -1.92391607e-02 -2.68646194e-01] [ 3.60681951e-03 1.92757004e-02 9.99807701e-01 -2.96759993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters Centerline goodness : 0.931943 Centerline is valid? [False, False] Translation: X:28.73, Y:-0.27, Z:-2.97 [[ 9.99937293e-01 1.04565954e-02 -4.00862493e-03 2.87337625e+01] [-1.05262063e-02 9.99786932e-01 -1.77564197e-02 -2.72943370e-01] [ 3.82209912e-03 1.77975019e-02 9.99834307e-01 -2.96769033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.291193817 meters Centerline goodness : 0.933203 Centerline is valid? [False, False] Translation: X:28.73, Y:-0.28, Z:-2.97 [[ 9.99916192e-01 1.22003254e-02 -4.33139681e-03 2.87345570e+01] [-1.22624498e-02 9.99817952e-01 -1.46183310e-02 -2.81013715e-01] [ 4.15225989e-03 1.46702194e-02 9.99883765e-01 -2.96807118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters Centerline goodness : 0.930384 Centerline is valid? [False, False] Translation: X:28.76, Y:-0.28, Z:-2.97 [[ 9.99888484e-01 1.45199272e-02 -3.49156406e-03 2.87559622e+01] [-1.45655131e-02 9.99804048e-01 -1.34056722e-02 -2.84365295e-01] [ 3.29623050e-03 1.34550336e-02 9.99904044e-01 -2.96948089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.351193817 meters Centerline goodness : 0.929953 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.29, Z:-2.97 [[ 9.99856681e-01 1.69262126e-02 3.48236682e-04 2.87736250e+01] [-1.69207622e-02 9.99783633e-01 -1.20985624e-02 -2.87785031e-01] [-5.52944175e-04 1.20909360e-02 9.99926749e-01 -2.96942315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters Centerline goodness : 0.932913 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.29, Z:-2.97 [[ 9.99845441e-01 1.75752681e-02 4.51379253e-04 2.87730986e+01] [-1.75692614e-02 9.99785467e-01 -1.09700441e-02 -2.90891219e-01] [-6.44083883e-04 1.09604182e-02 9.99939725e-01 -2.96892442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.411193817 meters Centerline goodness : 0.932508 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.30, Z:-2.97 [[ 9.99826216e-01 1.86407827e-02 2.41138837e-04 2.87720655e+01] [-1.86380144e-02 9.99789180e-01 -8.61510436e-03 -3.00599834e-01] [-4.01680289e-04 8.60911285e-03 9.99962860e-01 -2.96723473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters Centerline goodness : 0.931945 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.30, Z:-2.97 [[ 9.99878745e-01 1.55716590e-02 1.36064935e-04 2.87717549e+01] [-1.55690990e-02 9.99813902e-01 -1.13913961e-02 -3.03439773e-01] [-3.13422550e-04 1.13878965e-02 9.99935107e-01 -2.96678521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.471193817 meters Centerline goodness : 0.935860 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.31, Z:-2.97 [[ 9.99898464e-01 1.42448215e-02 -3.81865966e-04 2.87737648e+01] [-1.42483797e-02 9.99826429e-01 -1.20039917e-02 -3.07606717e-01] [ 2.10804965e-04 1.20082139e-02 9.99927877e-01 -2.96806802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters Centerline goodness : 0.933077 Centerline is valid? [False, False] Translation: X:28.77, Y:-0.31, Z:-2.97 [[ 9.99936796e-01 1.12239420e-02 -6.52827879e-04 2.87746066e+01] [-1.12317167e-02 9.99846259e-01 -1.34649936e-02 -3.14510010e-01] [ 5.01597206e-04 1.34714749e-02 9.99909130e-01 -2.96854451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53119381700003 meters Centerline goodness : 0.934029 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.32, Z:-2.97 [[ 9.99939561e-01 1.09455475e-02 -1.03367212e-03 2.87760598e+01] [-1.09578373e-02 9.99858741e-01 -1.27445318e-02 -3.18486793e-01] [ 8.94030231e-04 1.27550884e-02 9.99918251e-01 -2.96941574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.561193817 meters Centerline goodness : 0.933270 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.32, Z:-2.97 [[ 9.99936428e-01 1.12093519e-02 -1.22060221e-03 2.87767736e+01] [-1.12227669e-02 9.99869708e-01 -1.16024694e-02 -3.22586011e-01] [ 1.09038701e-03 1.16154303e-02 9.99931944e-01 -2.96981920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.591193817 meters Centerline goodness : 0.931458 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.33, Z:-2.97 [[ 9.99932225e-01 1.15551779e-02 -1.42216404e-03 2.87775453e+01] [-1.15695203e-02 9.99877651e-01 -1.05275889e-02 -3.26336453e-01] [ 1.30034188e-03 1.05433292e-02 9.99943572e-01 -2.97028200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.621193817 meters Centerline goodness : 0.931695 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.33, Z:-2.97 [[ 9.99928415e-01 1.18070792e-02 -1.93861947e-03 2.87794380e+01] [-1.18253881e-02 9.99882821e-01 -9.72132184e-03 -3.33457904e-01] [ 1.82361189e-03 9.74355086e-03 9.99950868e-01 -2.97158997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.651193817 meters Centerline goodness : 0.930027 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.34, Z:-2.97 [[ 9.99919915e-01 1.24829126e-02 -2.08334237e-03 2.87800450e+01] [-1.25002213e-02 9.99885631e-01 -8.51293298e-03 -3.36716836e-01] [ 1.97683790e-03 8.53829347e-03 9.99961594e-01 -2.97203150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.681193817 meters Centerline goodness : 0.927711 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.34, Z:-2.97 [[ 9.99913403e-01 1.29615808e-02 -2.27701106e-03 2.87809458e+01] [-1.29783928e-02 9.99887419e-01 -7.53062588e-03 -3.39768344e-01] [ 2.17914590e-03 7.55952569e-03 9.99969052e-01 -2.97271933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.711193817 meters Centerline goodness : 0.928105 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.34, Z:-2.97 [[ 9.99905947e-01 1.34578023e-02 -2.64274644e-03 2.87821682e+01] [-1.34743081e-02 9.99889178e-01 -6.33051407e-03 -3.43338320e-01] [ 2.55725876e-03 6.36552785e-03 9.99976470e-01 -2.97349042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.741193817 meters Centerline goodness : 0.925285 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.35, Z:-2.98 [[ 9.99897717e-01 1.39567965e-02 -3.12454628e-03 2.87844080e+01] [-1.39722699e-02 9.99889950e-01 -4.98639269e-03 -3.51035399e-01] [ 3.05460836e-03 5.02953967e-03 9.99982686e-01 -2.97519275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.771193817 meters Centerline goodness : 0.925770 Centerline is valid? [False, False] Translation: X:28.78, Y:-0.35, Z:-2.98 [[ 9.99889038e-01 1.45410190e-02 -3.23570390e-03 2.87847255e+01] [-1.45531288e-02 9.99887062e-01 -3.75102207e-03 -3.54841716e-01] [ 3.18079478e-03 3.79769546e-03 9.99987730e-01 -2.97525997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.801193817 meters Centerline goodness : 0.927387 Centerline is valid? [False, False] Translation: X:28.80, Y:-0.36, Z:-2.98 [[ 9.99859119e-01 1.66944071e-02 1.74305266e-03 2.87968900e+01] [-1.66727962e-02 9.99791921e-01 -1.17529785e-02 -3.56196853e-01] [-1.93889897e-03 1.17222612e-02 9.99929412e-01 -2.97996485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.831193817 meters Centerline goodness : 0.926861 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.36, Z:-2.98 [[ 9.99824881e-01 1.85237958e-02 2.65996364e-03 2.88168111e+01] [-1.84829278e-02 9.99721923e-01 -1.46444084e-02 -3.62054366e-01] [-2.93049399e-03 1.45926800e-02 9.99889227e-01 -2.98266469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.861193817 meters Centerline goodness : 0.925469 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.37, Z:-2.98 [[ 9.99806117e-01 1.95259146e-02 2.54307707e-03 2.88175229e+01] [-1.94909554e-02 9.99724027e-01 -1.31138440e-02 -3.66146684e-01] [-2.79843505e-03 1.30617344e-02 9.99910776e-01 -2.98334408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.891193817 meters Centerline goodness : 0.922260 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.37, Z:-2.98 [[ 9.99784348e-01 2.06326108e-02 2.35651240e-03 2.88182856e+01] [-2.06045659e-02 9.99723135e-01 -1.13624802e-02 -3.70449111e-01] [-2.59029759e-03 1.13114749e-02 9.99932668e-01 -2.98393905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.921193817 meters Centerline goodness : 0.922981 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.37, Z:-2.98 [[ 9.99761205e-01 2.17407098e-02 2.20784786e-03 2.88183179e+01] [-2.17186357e-02 9.99718289e-01 -9.57303214e-03 -3.74606837e-01] [-2.41535040e-03 9.52279471e-03 9.99951740e-01 -2.98362703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.951193817 meters Centerline goodness : 0.924977 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.38, Z:-2.98 [[ 9.99717699e-01 2.36451166e-02 2.33035799e-03 2.88177513e+01] [-2.36296687e-02 9.99699990e-01 -6.44743500e-03 -3.84781251e-01] [-2.48210921e-03 6.39054930e-03 9.99976500e-01 -2.98324746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.981193817 meters Centerline goodness : 0.923518 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.39, Z:-2.98 [[ 9.99784810e-01 2.06202442e-02 2.26704011e-03 2.88174844e+01] [-2.05991761e-02 9.99747719e-01 -8.95385693e-03 -3.88998229e-01] [-2.45109890e-03 8.90523099e-03 9.99957344e-01 -2.98299133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.011193817 meters Centerline goodness : 0.924906 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.39, Z:-2.98 [[ 9.99844036e-01 1.75215444e-02 2.21322258e-03 2.88172841e+01] [-1.74958036e-02 9.99784668e-01 -1.11586109e-02 -3.94422184e-01] [-2.40826209e-03 1.11181485e-02 9.99935291e-01 -2.98276130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.041193817 meters Centerline goodness : 0.928307 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.40, Z:-2.98 [[ 9.99897467e-01 1.41780861e-02 2.00949526e-03 2.88174786e+01] [-1.41500315e-02 9.99810785e-01 -1.33480385e-02 -4.00377009e-01] [-2.19836467e-03 1.33182355e-02 9.99908892e-01 -2.98256701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.071193817 meters Centerline goodness : 0.931929 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.42, Z:-2.98 [[ 9.99991321e-01 4.14300304e-03 4.39596365e-04 2.88088643e+01] [-4.14147613e-03 9.99985578e-01 -3.41927746e-03 -4.16654312e-01] [-4.53756102e-04 3.41742721e-03 9.99994058e-01 -2.97667146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.101193817 meters Centerline goodness : 0.932090 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.42, Z:-2.98 [[ 9.99999927e-01 -3.81910416e-04 2.22351384e-05 2.88107815e+01] [ 3.82053564e-04 9.99976536e-01 -6.83970765e-03 -4.21498619e-01] [-1.96224611e-05 6.83971565e-03 9.99976609e-01 -2.97792387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.131193817 meters Centerline goodness : 0.932032 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.43, Z:-2.98 [[ 9.99990935e-01 -4.25251658e-03 -2.13379217e-04 2.88117110e+01] [ 4.25029220e-03 9.99945635e-01 -9.52164486e-03 -4.26435123e-01] [ 2.53858569e-04 9.52065162e-03 9.99954645e-01 -2.97833891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.161193817 meters Centerline goodness : 0.932093 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.43, Z:-2.98 [[ 9.99966801e-01 -8.14053178e-03 -3.59236741e-04 2.88127177e+01] [ 8.13549434e-03 9.99891157e-01 -1.23080204e-02 -4.31282475e-01] [ 4.59391472e-04 1.23046892e-02 9.99924189e-01 -2.97906613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.191193817 meters Centerline goodness : 0.934850 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.44, Z:-2.98 [[ 9.99876550e-01 -1.57086034e-02 -3.52110643e-04 2.88142046e+01] [ 1.56996919e-02 9.99713860e-01 -1.80476510e-02 -4.40114299e-01] [ 6.35513283e-04 1.80398950e-02 9.99837066e-01 -2.98045863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.221193817 meters Centerline goodness : 0.934020 Centerline is valid? [False, False] Translation: X:28.81, Y:-0.44, Z:-2.98 [[ 9.99811063e-01 -1.94348414e-02 -3.54718068e-04 2.88145697e+01] [ 1.94229053e-02 9.99585165e-01 -2.12661616e-02 -4.42801293e-01] [ 7.67875395e-04 2.12552540e-02 9.99773787e-01 -2.98074596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.251193817 meters Centerline goodness : 0.936049 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.45, Z:-2.98 [[ 9.99804012e-01 -1.97861954e-02 -6.66794636e-04 2.88155737e+01] [ 1.97683237e-02 9.99593414e-01 -2.05479951e-02 -4.46823311e-01] [ 1.07309017e-03 2.05307865e-02 9.99788645e-01 -2.98090756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28119381700003 meters Centerline goodness : 0.936247 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.45, Z:-2.98 [[ 9.99806907e-01 -1.96352818e-02 -7.77059544e-04 2.88155617e+01] [ 1.96165266e-02 9.99619448e-01 -1.93946235e-02 -4.50734954e-01] [ 1.15758273e-03 1.93756354e-02 9.99811605e-01 -2.98040152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.311193817 meters Centerline goodness : 0.938207 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.46, Z:-2.98 [[ 9.99809598e-01 -1.95032810e-02 -6.24899602e-04 2.88152107e+01] [ 1.94890822e-02 9.99651762e-01 -1.77913031e-02 -4.56316432e-01] [ 9.71670772e-04 1.77757369e-02 9.99841527e-01 -2.97987302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters Centerline goodness : 0.941130 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.46, Z:-2.98 [[ 9.99812502e-01 -1.93487532e-02 -7.65252223e-04 2.88154402e+01] [ 1.93328668e-02 9.99667179e-01 -1.70813467e-02 -4.58552480e-01] [ 1.09550029e-03 1.70633495e-02 9.99853810e-01 -2.97971804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.371193817 meters Centerline goodness : 0.942619 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.46, Z:-2.98 [[ 9.99817600e-01 -1.90761788e-02 -9.31016353e-04 2.88156701e+01] [ 1.90583864e-02 9.99684264e-01 -1.63752630e-02 -4.60573744e-01] [ 1.24309984e-03 1.63545325e-02 9.99865483e-01 -2.97954015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters Centerline goodness : 0.943408 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.46, Z:-2.98 [[ 9.99877749e-01 -1.56041795e-02 -9.98500750e-04 2.88159217e+01] [ 1.55914667e-02 9.99810273e-01 -1.16757715e-02 -4.64392547e-01] [ 1.18050214e-03 1.16587760e-02 9.99931337e-01 -2.97923707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.431193817 meters Centerline goodness : 0.943978 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.47, Z:-2.98 [[ 9.99929107e-01 -1.18379948e-02 -1.28185067e-03 2.88168246e+01] [ 1.18289002e-02 9.99906339e-01 -6.88413623e-03 -4.68155069e-01] [ 1.36322498e-03 6.86848531e-03 9.99975482e-01 -2.97946110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters Centerline goodness : 0.943325 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.47, Z:-2.98 [[ 9.99930615e-01 -1.16687966e-02 -1.61393872e-03 2.88178158e+01] [ 1.16573818e-02 9.99908175e-01 -6.90986686e-03 -4.67995361e-01] [ 1.69442035e-03 6.89057312e-03 9.99974824e-01 -2.98001054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.491193817 meters Centerline goodness : 0.941473 Centerline is valid? [False, False] Translation: X:28.82, Y:-0.47, Z:-2.98 [[ 9.99965298e-01 -8.06535513e-03 -2.08610989e-03 2.88191212e+01] [ 8.05943869e-03 9.99963520e-01 -2.82913500e-03 -4.69721577e-01] [ 2.10885177e-03 2.81222395e-03 9.99993822e-01 -2.98039730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters Centerline goodness : 0.943182 Centerline is valid? [False, False] Translation: X:28.83, Y:-0.47, Z:-2.99 [[ 9.99989944e-01 -3.92667690e-03 2.16639880e-03 2.88323727e+01] [ 3.94711067e-03 9.99946990e-01 -9.50989625e-03 -4.68224130e-01] [-2.12894167e-03 9.51835164e-03 9.99952433e-01 -2.98512112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.551193817 meters Centerline goodness : 0.942002 Centerline is valid? [False, False] Translation: X:28.83, Y:-0.47, Z:-2.99 [[ 9.99998527e-01 -4.69600404e-04 1.65063504e-03 2.88344214e+01] [ 4.79715707e-04 9.99981077e-01 -6.13308320e-03 -4.67456465e-01] [-1.64772371e-03 6.13386600e-03 9.99979830e-01 -2.98652583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters Centerline goodness : 0.938750 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.47, Z:-2.99 [[ 9.99999276e-01 7.73292587e-04 9.21915331e-04 2.88380579e+01] [-7.68699406e-04 9.99987343e-01 -4.97220267e-03 -4.67248790e-01] [-9.25748629e-04 4.97149039e-03 9.99987214e-01 -2.98922476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.611193817 meters Centerline goodness : 0.936815 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.47, Z:-2.99 [[ 9.99999563e-01 6.86388393e-04 6.34399276e-04 2.88390927e+01] [-6.83042977e-04 9.99985940e-01 -5.25861889e-03 -4.66604785e-01] [-6.37999812e-04 5.25818327e-03 9.99985972e-01 -2.98992003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters Centerline goodness : 0.935863 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.47, Z:-2.99 [[ 9.99999884e-01 3.33835714e-04 3.47067658e-04 2.88401198e+01] [-3.31862747e-04 9.99983874e-01 -5.66927597e-03 -4.66136459e-01] [-3.48954668e-04 5.66916014e-03 9.99983869e-01 -2.99051473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.671193817 meters Centerline goodness : 0.937185 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.47, Z:-2.99 [[ 9.99999996e-01 1.23619871e-05 9.02594842e-05 2.88406116e+01] [-1.18336625e-05 9.99982882e-01 -5.85105345e-03 -4.66296780e-01] [-9.03302698e-05 5.85105235e-03 9.99982878e-01 -2.99039625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters Centerline goodness : 0.938214 Centerline is valid? [False, False] Translation: X:28.84, Y:-0.47, Z:-2.99 [[ 9.99999979e-01 -1.83883740e-04 -9.49687997e-05 2.88408075e+01] [ 1.83309607e-04 9.99981920e-01 -6.01051546e-03 -4.66257036e-01] [ 9.60723187e-05 6.01049792e-03 9.99981932e-01 -2.99008181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.731193817 meters Centerline goodness : 0.941879 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.47, Z:-2.99 [[ 9.99994140e-01 1.95739187e-03 2.80876097e-03 2.88590860e+01] [-1.93095432e-03 9.99954100e-01 -9.38457282e-03 -4.65635709e-01] [-2.82700133e-03 9.37909423e-03 9.99952019e-01 -2.99145051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters Centerline goodness : 0.940303 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.46, Z:-2.99 [[ 9.99994322e-01 2.21287359e-03 2.54167048e-03 2.88594308e+01] [-2.18853635e-03 9.99952113e-01 -9.53849039e-03 -4.64771163e-01] [-2.56265624e-03 9.53287369e-03 9.99951277e-01 -2.99135252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.791193817 meters Centerline goodness : 0.941683 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.46, Z:-2.99 [[ 9.99995048e-01 2.05268610e-03 2.38543159e-03 2.88601019e+01] [-2.02906946e-03 9.99949321e-01 -9.86096213e-03 -4.64326062e-01] [-2.40555216e-03 9.85607309e-03 9.99948534e-01 -2.99183356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters Centerline goodness : 0.938638 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.46, Z:-2.99 [[ 9.99995835e-01 1.83096056e-03 2.23085944e-03 2.88606321e+01] [-1.80836176e-03 9.99947456e-01 -1.00903413e-02 -4.64414583e-01] [-2.24921724e-03 1.00862651e-02 9.99946603e-01 -2.99206946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.851193817 meters Centerline goodness : 0.940995 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.47, Z:-2.99 [[ 9.99996771e-01 1.43749405e-03 2.09582738e-03 2.88610564e+01] [-1.41622039e-03 9.99947820e-01 -1.01168752e-02 -4.65787270e-01] [-2.11026097e-03 1.01138744e-02 9.99946627e-01 -2.99212762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters Centerline goodness : 0.944935 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.47, Z:-2.99 [[ 9.99997752e-01 1.09344351e-03 1.81643980e-03 2.88621375e+01] [-1.07457733e-03 9.99945808e-01 -1.03550590e-02 -4.65905139e-01] [-1.82766403e-03 1.03530838e-02 9.99944735e-01 -2.99276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.911193817 meters Centerline goodness : 0.945039 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.47, Z:-2.99 [[ 9.99998640e-01 6.20699458e-04 1.52822532e-03 2.88636177e+01] [-6.04075065e-04 9.99940903e-01 -1.08547690e-02 -4.65586897e-01] [-1.53487256e-03 1.08538311e-02 9.99939917e-01 -2.99396831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters Centerline goodness : 0.943257 Centerline is valid? [False, False] Translation: X:28.86, Y:-0.47, Z:-2.99 [[ 9.99999090e-01 4.27858294e-04 1.27922599e-03 2.88647691e+01] [-4.13751491e-04 9.99939329e-01 -1.10076102e-02 -4.66086394e-01] [-1.28385807e-03 1.10070709e-02 9.99938596e-01 -2.99484237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.971193817 meters Centerline goodness : 0.944039 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-2.99 [[ 9.99999162e-01 7.58358003e-04 1.04965948e-03 2.88652735e+01] [-7.47311590e-04 9.99944757e-01 -1.04844908e-02 -4.67490996e-01] [-1.05755249e-03 1.04836975e-02 9.99944485e-01 -2.99490727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters Centerline goodness : 0.942418 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-3.00 [[ 9.99991014e-01 4.21095693e-03 4.88705009e-04 2.88676208e+01] [-4.20758931e-03 9.99968711e-01 -6.69867570e-03 -4.70206698e-01] [-5.16897553e-04 6.69655924e-03 9.99977444e-01 -2.99635927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03119381700003 meters Centerline goodness : 0.942067 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-3.00 [[ 9.99972728e-01 7.38510734e-03 -5.69642708e-05 2.88699710e+01] [-7.38524884e-03 9.99967888e-01 -3.11157121e-03 -4.71624500e-01] [ 3.39831541e-05 3.11190705e-03 9.99995157e-01 -2.99776834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.061193817 meters Centerline goodness : 0.941789 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-3.00 [[ 9.99968153e-01 7.97957349e-03 -1.39834166e-04 2.88706760e+01] [-7.97992175e-03 9.99964521e-01 -2.69768660e-03 -4.72354119e-01] [ 1.18302816e-04 2.69871655e-03 9.99996351e-01 -2.99875782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.091193817 meters Centerline goodness : 0.941789 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-3.00 [[ 9.99968153e-01 7.97957349e-03 -1.39834166e-04 2.88706760e+01] [-7.97992175e-03 9.99964521e-01 -2.69768660e-03 -4.72354119e-01] [ 1.18302816e-04 2.69871655e-03 9.99996351e-01 -2.99875782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.121193817 meters Centerline goodness : 0.938430 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.47, Z:-3.00 [[ 9.99970875e-01 7.61122946e-03 -5.64033965e-04 2.88724823e+01] [-7.61278328e-03 9.99967086e-01 -2.80588144e-03 -4.73850614e-01] [ 5.42659193e-04 2.81009359e-03 9.99995904e-01 -2.99998809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.151193817 meters Centerline goodness : 0.941824 Centerline is valid? [False, False] Translation: X:28.87, Y:-0.48, Z:-3.00 [[ 9.99976609e-01 6.75141186e-03 -1.09529066e-03 2.88746686e+01] [-6.75482108e-03 9.99972258e-01 -3.13936436e-03 -4.75968580e-01] [ 1.07406514e-03 3.14668942e-03 9.99994472e-01 -3.00130468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.181193817 meters Centerline goodness : 0.939507 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.48, Z:-3.00 [[ 9.99984328e-01 5.34290458e-03 -1.67234305e-03 2.88769895e+01] [-5.34942384e-03 9.99978015e-01 -3.91838702e-03 -4.78519251e-01] [ 1.65137072e-03 3.92727169e-03 9.99990925e-01 -3.00254996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.211193817 meters Centerline goodness : 0.939898 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.48, Z:-3.00 [[ 9.99997713e-01 3.89742231e-04 -2.10283564e-03 2.88785374e+01] [-4.06007078e-04 9.99969965e-01 -7.73984587e-03 -4.83482817e-01] [ 2.09975593e-03 7.74068194e-03 9.99967836e-01 -3.00307291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.241193817 meters Centerline goodness : 0.941508 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.49, Z:-3.00 [[ 9.99997294e-01 2.83733766e-04 -2.30879292e-03 2.88789029e+01] [-2.99300050e-04 9.99977210e-01 -6.74462420e-03 -4.87412758e-01] [ 2.30682662e-03 6.74529697e-03 9.99974589e-01 -3.00269083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.271193817 meters Centerline goodness : 0.943880 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.49, Z:-3.00 [[ 9.99995489e-01 -8.68000037e-04 -2.87553012e-03 2.88811771e+01] [ 8.47054119e-04 9.99973160e-01 -7.27742074e-03 -4.89624108e-01] [ 2.88176975e-03 7.27495218e-03 9.99969385e-01 -3.00392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.301193817 meters Centerline goodness : 0.945017 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.49, Z:-3.00 [[ 9.99994591e-01 -1.08931090e-03 -3.10336542e-03 2.88817340e+01] [ 1.06755247e-03 9.99974900e-01 -7.00428830e-03 -4.91432253e-01] [ 3.11091737e-03 7.00093741e-03 9.99970654e-01 -3.00388900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.331193817 meters Centerline goodness : 0.948053 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.49, Z:-3.00 [[ 9.99994251e-01 -9.14454468e-04 -3.26520540e-03 2.88819274e+01] [ 8.93752154e-04 9.99979527e-01 -6.33611922e-03 -4.93985556e-01] [ 3.27093265e-03 6.33316451e-03 9.99974596e-01 -3.00360558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.361193817 meters Centerline goodness : 0.949049 Centerline is valid? [False, False] Translation: X:28.88, Y:-0.50, Z:-3.00 [[ 9.99993617e-01 -7.57812079e-04 -3.49160435e-03 2.88824517e+01] [ 7.37075129e-04 9.99982107e-01 -5.93655298e-03 -4.95610686e-01] [ 3.49604067e-03 5.93394152e-03 9.99976283e-01 -3.00363437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.391193817 meters Centerline goodness : 0.953985 Centerline is valid? [False, True] Translation: X:28.88, Y:-0.50, Z:-3.00 [[ 9.99993330e-01 -5.61739798e-04 -3.60883335e-03 2.88825426e+01] [ 5.41651042e-04 9.99984368e-01 -5.56511895e-03 -4.97107234e-01] [ 3.61190309e-03 5.56312710e-03 9.99978003e-01 -3.00336449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.421193817 meters Centerline goodness : 0.954388 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.50, Z:-3.00 [[ 9.99993042e-01 8.83987913e-04 -3.62413358e-03 2.89114567e+01] [-8.84029761e-04 9.99999609e-01 -9.94521461e-06 -5.01372283e-01] [ 3.62412337e-03 1.31489874e-05 9.99993433e-01 -2.99985642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.451193817 meters Centerline goodness : 0.956628 Centerline is valid? [True, True] Translation: X:28.94, Y:-0.50, Z:-3.00 [[ 9.99990235e-01 2.52901875e-03 -3.62413298e-03 2.89415073e+01] [-2.52907218e-03 9.99996802e-01 -1.01595298e-05 -5.02685294e-01] [ 3.62409569e-03 1.93251245e-05 9.99993433e-01 -2.99661757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.481193817 meters Centerline goodness : 0.952235 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.50, Z:-3.00 [[ 9.99986491e-01 3.72604079e-03 -3.62413256e-03 2.89712451e+01] [-3.72610261e-03 9.99993058e-01 -1.03072000e-05 -5.03694507e-01] [ 3.62406899e-03 2.38109506e-05 9.99993433e-01 -2.99732765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.511193817 meters Centerline goodness : 0.953187 Centerline is valid? [True, True] Translation: X:29.00, Y:-0.51, Z:-3.00 [[ 9.99971599e-01 6.60806686e-03 -3.62413213e-03 2.90012815e+01] [-6.60814814e-03 9.99978166e-01 -1.04539565e-05 -5.06162365e-01] [ 3.62398392e-03 3.44024617e-05 9.99993433e-01 -3.00084695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.541193817 meters Centerline goodness : 0.955409 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.51, Z:-3.00 [[ 9.99965213e-01 7.51260433e-03 -3.62413213e-03 2.90326221e+01] [-7.51269155e-03 9.99971779e-01 -1.04539565e-05 -5.06744748e-01] [ 3.62395132e-03 3.76805797e-05 9.99993433e-01 -3.00238162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.571193817 meters Centerline goodness : 0.953819 Centerline is valid? [True, True] Translation: X:29.06, Y:-0.51, Z:-3.00 [[ 9.99957174e-01 8.51563068e-03 -3.62413253e-03 2.90638224e+01] [-8.51572398e-03 9.99963741e-01 -1.03134113e-05 -5.07663840e-01] [ 3.62391330e-03 4.11750819e-05 9.99993433e-01 -3.00377842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.601193817 meters Centerline goodness : 0.950507 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.51, Z:-3.01 [[ 9.99953584e-01 8.92722113e-03 -3.62413293e-03 2.90955687e+01] [-8.92731662e-03 9.99960151e-01 -1.01724484e-05 -5.13509029e-01] [ 3.62389770e-03 4.25257584e-05 9.99993433e-01 -3.00519663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.631193817 meters Centerline goodness : 0.950126 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.52, Z:-3.01 [[ 9.99962337e-01 7.88602435e-03 -3.62413542e-03 2.91273990e+01] [-7.88610945e-03 9.99968904e-01 -9.19163348e-06 -5.16264685e-01] [ 3.62395024e-03 3.77716159e-05 9.99993433e-01 -3.00521098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.661193817 meters Centerline goodness : 0.951377 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.52, Z:-3.01 [[ 9.99972031e-01 6.54243377e-03 -3.62413763e-03 2.91592430e+01] [-6.54250652e-03 9.99978598e-01 -8.21800760e-06 -5.18727154e-01] [ 3.62400629e-03 3.19287218e-05 9.99993433e-01 -3.00543558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.691193817 meters Centerline goodness : 0.951877 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.52, Z:-3.01 [[ 9.99983043e-01 4.55841803e-03 -3.62413808e-03 2.91909893e+01] [-4.55847700e-03 9.99989610e-01 -8.01083760e-06 -5.20257733e-01] [ 3.62406391e-03 2.45312519e-05 9.99993433e-01 -3.00732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.721193817 meters Centerline goodness : 0.952760 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.52, Z:-3.00 [[ 9.99992288e-01 -1.51283351e-03 -3.62413838e-03 2.92213677e+01] [ 1.51281491e-03 9.99998856e-01 -7.87382044e-06 -5.24341098e-01] [ 3.62414615e-03 2.39110916e-06 9.99993433e-01 -3.00495046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.751193817 meters Centerline goodness : 0.950661 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.53, Z:-3.01 [[ 9.99979882e-01 -5.20579552e-03 -3.62413838e-03 2.92495645e+01] [ 5.20580117e-03 9.99986450e-01 -7.87382044e-06 -5.27206122e-01] [ 3.62413026e-03 -1.09928818e-05 9.99993433e-01 -3.00627096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78119381700003 meters Centerline goodness : 0.951200 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.53, Z:-3.01 [[ 9.99958265e-01 -8.38649186e-03 -3.62413742e-03 2.92778834e+01] [ 8.38651688e-03 9.99964833e-01 -8.29209772e-06 -5.30308114e-01] [ 3.62407951e-03 -2.21021380e-05 9.99993433e-01 -3.01163616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.811193817 meters Centerline goodness : 0.956715 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.54, Z:-3.01 [[ 9.99870489e-01 -1.56802383e-02 -3.62413656e-03 2.93067740e+01] [ 1.56803099e-02 9.99877056e-01 -8.65361862e-06 -5.35160606e-01] [ 3.62382669e-03 -4.81750864e-05 9.99993433e-01 -3.00799794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters Centerline goodness : 0.958176 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.54, Z:-3.01 [[ 9.99816007e-01 -1.88365989e-02 -3.62413588e-03 2.93359291e+01] [ 1.88366903e-02 9.99822574e-01 -8.92868738e-06 -5.36706089e-01] [ 3.62366105e-03 -5.93396806e-05 9.99993433e-01 -3.00680112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.871193817 meters Centerline goodness : 0.960344 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.54, Z:-3.01 [[ 9.99738924e-01 -2.25598950e-02 -3.62413333e-03 2.93643509e+01] [ 2.25600074e-02 9.99745491e-01 -9.86533164e-06 -5.36928752e-01] [ 3.62343352e-03 -7.18977187e-05 9.99993433e-01 -3.00591086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters Centerline goodness : 0.959384 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.54, Z:-3.01 [[ 9.99660476e-01 -2.58030643e-02 -3.62413240e-03 2.93927479e+01] [ 2.58031968e-02 9.99667042e-01 -1.01975223e-05 -5.37086606e-01] [ 3.62318884e-03 -8.33201414e-05 9.99993433e-01 -3.00606680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.931193817 meters Centerline goodness : 0.959329 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.54, Z:-3.01 [[ 9.99601350e-01 -2.80001356e-02 -3.62412956e-03 2.94200128e+01] [ 2.80002791e-02 9.99607915e-01 -1.11226390e-05 -5.37055899e-01] [ 3.62302003e-03 -9.03584344e-05 9.99993433e-01 -3.00682968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters Centerline goodness : 0.960149 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.54, Z:-3.00 [[ 9.99472384e-01 -3.22772176e-02 -3.62412810e-03 2.94485126e+01] [ 3.22773877e-02 9.99478949e-01 -1.15793605e-05 -5.35180398e-01] [ 3.62261350e-03 -1.05404137e-04 9.99993433e-01 -3.00391740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.991193817 meters Centerline goodness : 0.960086 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.53, Z:-3.00 [[ 9.99433389e-01 -3.34629140e-02 -3.62412474e-03 2.94768194e+01] [ 3.34630883e-02 9.99439954e-01 -1.25507051e-05 -5.33834424e-01] [ 3.62251504e-03 -1.08730812e-04 9.99993433e-01 -2.99997125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters Centerline goodness : 0.956923 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.53, Z:-3.00 [[ 9.99349777e-01 -3.58732290e-02 -3.62412028e-03 2.95048354e+01] [ 3.58734148e-02 9.99356342e-01 -1.37268665e-05 -5.31407897e-01] [ 3.62228001e-03 -1.16291629e-04 9.99993433e-01 -2.99621190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.051193817 meters Centerline goodness : 0.959830 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.53, Z:-3.00 [[ 9.99273917e-01 -3.79276190e-02 -3.62411516e-03 2.95325326e+01] [ 3.79278139e-02 9.99280482e-01 -1.49680700e-05 -5.28834897e-01] [ 3.62207524e-03 -1.22497563e-04 9.99993433e-01 -2.99881168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters Centerline goodness : 0.958813 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.52, Z:-3.00 [[ 9.99134697e-01 -4.14333465e-02 -3.62411354e-03 2.95618743e+01] [ 4.14335631e-02 9.99141261e-01 -1.53499617e-05 -5.21918437e-01] [ 3.62163737e-03 -1.34823257e-04 9.99993433e-01 -2.99805636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.111193817 meters Centerline goodness : 0.958768 Centerline is valid? [True, True] Translation: X:29.59, Y:-0.52, Z:-3.00 [[ 9.99047042e-01 -4.34956660e-02 -3.62410881e-03 2.95909084e+01] [ 4.34958922e-02 9.99053606e-01 -1.63957447e-05 -5.18287796e-01] [ 3.62139211e-03 -1.41253726e-04 9.99993433e-01 -2.99768573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters Centerline goodness : 0.958878 Centerline is valid? [True, True] Translation: X:29.62, Y:-0.51, Z:-3.00 [[ 9.98943028e-01 -4.58224133e-02 -3.62410371e-03 2.96183979e+01] [ 4.58226511e-02 9.98949590e-01 -1.74548688e-05 -5.14547841e-01] [ 3.62109674e-03 -1.48629620e-04 9.99993433e-01 -2.99780854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.171193817 meters Centerline goodness : 0.959846 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.51, Z:-3.00 [[ 9.98819377e-01 -4.84429310e-02 -3.62410093e-03 2.96471904e+01] [ 4.84431839e-02 9.98825940e-01 -1.80131170e-05 -5.10220617e-01] [ 3.62071863e-03 -1.57571138e-04 9.99993433e-01 -2.99702168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters Centerline goodness : 0.962539 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.50, Z:-3.00 [[ 9.98554321e-01 -5.36295905e-02 -3.62409548e-03 2.96746991e+01] [ 5.36298737e-02 9.98560883e-01 -1.90509950e-05 -5.00570248e-01] [ 3.61990167e-03 -1.75336329e-04 9.99993433e-01 -2.99819013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.231193817 meters Centerline goodness : 0.962761 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.50, Z:-3.00 [[ 9.98429532e-01 -5.59046959e-02 -3.62409351e-03 2.97020492e+01] [ 5.59049927e-02 9.98436093e-01 -1.94186764e-05 -4.95687255e-01] [ 3.61951135e-03 -1.83216741e-04 9.99993433e-01 -2.99859875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters Centerline goodness : 0.961911 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.49, Z:-3.00 [[ 9.98334752e-01 -5.75724629e-02 -3.62408994e-03 2.97306678e+01] [ 5.75727684e-02 9.98341312e-01 -2.00620447e-05 -4.90600703e-01] [ 3.61923373e-03 -1.88620255e-04 9.99993433e-01 -2.99763468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.291193817 meters Centerline goodness : 0.962460 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.48, Z:-3.00 [[ 9.98396733e-01 -5.64874236e-02 -3.62408406e-03 2.97586130e+01] [ 5.64877183e-02 9.98403294e-01 -2.10738242e-05 -4.79457016e-01] [ 3.61948787e-03 -1.83676202e-04 9.99993433e-01 -2.99572232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters Centerline goodness : 0.960931 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.47, Z:-2.99 [[ 9.98512450e-01 -5.44036071e-02 -3.62408195e-03 2.97876209e+01] [ 5.44038868e-02 9.98519012e-01 -2.14306529e-05 -4.72494080e-01] [ 3.61988063e-03 -1.75765370e-04 9.99993433e-01 -2.99383994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.351193817 meters Centerline goodness : 0.960773 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.46, Z:-3.00 [[ 9.98706001e-01 -5.07266070e-02 -3.62407554e-03 2.98156267e+01] [ 5.07268588e-02 9.98712564e-01 -2.24652913e-05 -4.64964685e-01] [ 3.62054936e-03 -1.61401747e-04 9.99993433e-01 -2.99654158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters Centerline goodness : 0.958705 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.46, Z:-3.00 [[ 9.98924657e-01 -4.62211525e-02 -3.62407324e-03 2.98444066e+01] [ 4.62213734e-02 9.98931221e-01 -2.28301842e-05 -4.56840835e-01] [ 3.62125514e-03 -1.44704008e-04 9.99993433e-01 -2.99800193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.411193817 meters Centerline goodness : 0.956346 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.45, Z:-3.00 [[ 9.99124255e-01 -4.16844115e-02 -3.62406684e-03 2.98737872e+01] [ 4.16845991e-02 9.99130819e-01 -2.38045996e-05 -4.48083333e-01] [ 3.62190915e-03 -1.27284020e-04 9.99993433e-01 -2.99626084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters Centerline goodness : 0.951891 Centerline is valid? [True, True] Translation: X:29.90, Y:-0.43, Z:-3.00 [[ 9.99509205e-01 -3.11161674e-02 -3.62406010e-03 2.99029288e+01] [ 3.11162820e-02 9.99515771e-01 -2.47895225e-05 -4.33867247e-01] [ 3.62307658e-03 -8.79899200e-05 9.99993433e-01 -2.99941234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.471193817 meters Centerline goodness : 0.949606 Centerline is valid? [True, False] Translation: X:29.92, Y:-0.43, Z:-3.00 [[ 9.99669507e-01 -2.57015171e-02 5.56123005e-04 2.99157234e+01] [ 2.57045927e-02 9.99648434e-01 -6.50255560e-03 -4.26224006e-01] [-3.88801947e-04 6.51470146e-03 9.99978704e-01 -3.00411113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters Centerline goodness : 0.947725 Centerline is valid? [False, False] Translation: X:29.93, Y:-0.42, Z:-3.01 [[ 9.99835855e-01 -1.80932178e-02 9.47526205e-04 2.99281536e+01] [ 1.81032764e-02 9.99764357e-01 -1.19792454e-02 -4.20343902e-01] [-7.30559832e-04 1.19944324e-02 9.99927797e-01 -3.00725423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53119381700003 meters Centerline goodness : 0.944761 Centerline is valid? [False, False] Translation: X:29.95, Y:-0.41, Z:-3.01 [[ 9.99916722e-01 -1.21925283e-02 4.22991391e-03 2.99459090e+01] [ 1.22595683e-02 9.99793566e-01 -1.62026983e-02 -4.07962290e-01] [-4.03148885e-03 1.62532059e-02 9.99859780e-01 -3.01260582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.561193817 meters Centerline goodness : 0.941591 Centerline is valid? [False, False] Translation: X:29.95, Y:-0.41, Z:-3.01 [[ 9.99954415e-01 -8.79285066e-03 3.72198879e-03 2.99466998e+01] [ 8.84116550e-03 9.99874186e-01 -1.31698610e-02 -4.05007048e-01] [-3.60571989e-03 1.32021674e-02 9.99906346e-01 -3.01236134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.591193817 meters Centerline goodness : 0.945795 Centerline is valid? [False, False] Translation: X:29.95, Y:-0.40, Z:-3.01 [[ 9.99978449e-01 -5.63706823e-03 3.36525975e-03 2.99472402e+01] [ 5.67150114e-03 9.99930751e-01 -1.03115492e-02 -4.02178112e-01] [-3.30689980e-03 1.03304131e-02 9.99941172e-01 -3.01208031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.621193817 meters Centerline goodness : 0.942676 Centerline is valid? [False, False] Translation: X:29.96, Y:-0.39, Z:-3.01 [[ 9.99968992e-01 -2.75251756e-03 7.37828486e-03 2.99637096e+01] [ 2.86545620e-03 9.99878225e-01 -1.53402823e-02 -3.92971675e-01] [-7.33516197e-03 1.53609487e-02 9.99855108e-01 -3.01429354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.651193817 meters Centerline goodness : 0.945583 Centerline is valid? [False, False] Translation: X:29.98, Y:-0.39, Z:-3.02 [[ 9.99952008e-01 -7.93843070e-04 9.76480076e-03 2.99821735e+01] [ 9.85336794e-04 9.99806995e-01 -1.96214603e-02 -3.89479291e-01] [-9.74733975e-03 1.96301403e-02 9.99759795e-01 -3.01601439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.681193817 meters Centerline goodness : 0.945731 Centerline is valid? [False, False] Translation: X:29.98, Y:-0.39, Z:-3.02 [[ 9.99953985e-01 2.24466764e-03 9.32681764e-03 2.99831179e+01] [-2.09175960e-03 9.99863782e-01 -1.63719856e-02 -3.88909131e-01] [-9.36229683e-03 1.63517228e-02 9.99822469e-01 -3.01588765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.711193817 meters Centerline goodness : 0.943450 Centerline is valid? [False, False] Translation: X:29.98, Y:-0.39, Z:-3.02 [[ 9.99945093e-01 5.42517335e-03 8.96538444e-03 2.99838221e+01] [-5.30863608e-03 9.99901772e-01 -1.29716522e-02 -3.88365332e-01] [-9.03487726e-03 1.29233460e-02 9.99875671e-01 -3.01560341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.741193817 meters Centerline goodness : 0.945984 Centerline is valid? [False, False] Translation: X:29.98, Y:-0.38, Z:-3.02 [[ 9.99922499e-01 8.75328259e-03 8.85306084e-03 2.99841785e+01] [-8.66052426e-03 9.99907765e-01 -1.04621636e-02 -3.83854718e-01] [-8.94382255e-03 1.03846806e-02 9.99906079e-01 -3.01566012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.771193817 meters Centerline goodness : 0.945081 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99892515e-01 1.19563780e-02 8.48554150e-03 2.99854411e+01] [-1.18961878e-02 9.99903969e-01 -7.10864800e-03 -3.83111014e-01] [-8.56972031e-03 7.00693833e-03 9.99938729e-01 -3.01613806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.801193817 meters Centerline goodness : 0.945125 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99845820e-01 1.55195146e-02 8.21466065e-03 2.99861312e+01] [-1.54938565e-02 9.99874913e-01 -3.17793645e-03 -3.83632693e-01] [-8.26295313e-03 3.05016970e-03 9.99961209e-01 -3.01605278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.831193817 meters Centerline goodness : 0.943537 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99842555e-01 1.58375582e-02 8.00227203e-03 2.99863958e+01] [-1.58113949e-02 9.99869473e-01 -3.32224701e-03 -3.82764503e-01] [-8.05384380e-03 3.19519686e-03 9.99962462e-01 -3.01593579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.861193817 meters Centerline goodness : 0.945492 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99848851e-01 1.56117971e-02 7.65156033e-03 2.99874364e+01] [-1.55864304e-02 9.99872866e-01 -3.36372320e-03 -3.83418216e-01] [-7.70310132e-03 3.24395426e-03 9.99965069e-01 -3.01638592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.891193817 meters Centerline goodness : 0.944538 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99864152e-01 1.48448005e-02 7.16301142e-03 2.99893171e+01] [-1.48176019e-02 9.99882858e-01 -3.83533524e-03 -3.84029409e-01] [-7.21910711e-03 3.72867557e-03 9.99966990e-01 -3.01756838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.921193817 meters Centerline goodness : 0.941986 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.38, Z:-3.02 [[ 9.99883742e-01 1.37671336e-02 6.55504886e-03 2.99918859e+01] [-1.37369686e-02 9.99894948e-01 -4.62479189e-03 -3.84477220e-01] [-6.61803037e-03 4.53420772e-03 9.99967821e-01 -3.01931855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.951193817 meters Centerline goodness : 0.940828 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.39, Z:-3.02 [[ 9.99901029e-01 1.27529896e-02 5.94081269e-03 2.99945265e+01] [-1.27221098e-02 9.99905513e-01 -5.20701077e-03 -3.85694922e-01] [-6.00665632e-03 5.13091575e-03 9.99968796e-01 -3.02108718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.981193817 meters Centerline goodness : 0.940631 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.39, Z:-3.02 [[ 9.99941702e-01 9.03982074e-03 5.90542449e-03 2.99947961e+01] [-8.99050616e-03 9.99924933e-01 -8.32456993e-03 -3.88582550e-01] [-5.98023381e-03 8.27099187e-03 9.99947912e-01 -3.02146631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.011193817 meters Centerline goodness : 0.940631 Centerline is valid? [False, False] Translation: X:29.99, Y:-0.39, Z:-3.02 [[ 9.99941702e-01 9.03982074e-03 5.90542449e-03 2.99947961e+01] [-8.99050616e-03 9.99924933e-01 -8.32456993e-03 -3.88582550e-01] [-5.98023381e-03 8.27099187e-03 9.99947912e-01 -3.02146631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.041193817 meters Centerline goodness : 0.939778 Centerline is valid? [False, False] Translation: X:30.00, Y:-0.39, Z:-3.02 [[ 9.99958823e-01 7.35517981e-03 5.31537653e-03 2.99976086e+01] [-7.30450028e-03 9.99928272e-01 -9.49184464e-03 -3.90111284e-01] [-5.38480949e-03 9.45262763e-03 9.99940824e-01 -3.02351082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.071193817 meters Centerline goodness : 0.938382 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.39, Z:-3.03 [[ 9.99975641e-01 6.61486938e-03 2.22747816e-03 3.00212241e+01] [-6.58509899e-03 9.99892282e-01 -1.31171928e-02 -3.91986031e-01] [-2.31400674e-03 1.31022051e-02 9.99911485e-01 -3.02601415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.101193817 meters Centerline goodness : 0.937748 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.40, Z:-3.03 [[ 9.99994295e-01 2.77682121e-03 1.92357621e-03 3.00227632e+01] [-2.74524213e-03 9.99864525e-01 -1.62294364e-02 -3.95416717e-01] [-1.96838186e-03 1.62240631e-02 9.99866444e-01 -3.02729972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.131193817 meters Centerline goodness : 0.938763 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.40, Z:-3.03 [[ 9.99995648e-01 2.55886884e-03 1.46811801e-03 3.00238094e+01] [-2.53559624e-03 9.99874462e-01 -1.56407092e-02 -3.98492258e-01] [-1.50795623e-03 1.56369186e-02 9.99876599e-01 -3.02736440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.161193817 meters Centerline goodness : 0.938687 Centerline is valid? [False, False] Translation: X:30.02, Y:-0.40, Z:-3.03 [[ 9.99996642e-01 2.33404254e-03 1.12621193e-03 3.00246556e+01] [-2.31661682e-03 9.99881277e-01 -1.52337128e-02 -4.00931489e-01] [-1.16163435e-03 1.52310526e-02 9.99883326e-01 -3.02746603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.191193817 meters Centerline goodness : 0.938583 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.40, Z:-3.03 [[ 9.99996999e-01 2.32534230e-03 7.70575328e-04 3.00253401e+01] [-2.31380676e-03 9.99890046e-01 -1.46472430e-02 -4.03266656e-01] [-8.04550454e-04 1.46454161e-02 9.99892426e-01 -3.02736776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.221193817 meters Centerline goodness : 0.941153 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.41, Z:-3.03 [[ 9.99997214e-01 2.30676260e-03 5.00734127e-04 3.00257743e+01] [-2.29947851e-03 9.99898085e-01 -1.40901258e-02 -4.05267750e-01] [-5.33185670e-04 1.40889352e-02 9.99900604e-01 -3.02708760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.251193817 meters Centerline goodness : 0.944450 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.41, Z:-3.03 [[ 9.99995846e-01 2.80420640e-03 6.66320823e-04 3.00250179e+01] [-2.79553585e-03 9.99915755e-01 -1.26754576e-02 -4.08879208e-01] [-7.01809289e-04 1.26735423e-02 9.99919441e-01 -3.02636881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28119381700003 meters Centerline goodness : 0.943549 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.41, Z:-3.03 [[ 9.99996154e-01 2.74886344e-03 3.68442252e-04 3.00256790e+01] [-2.74410876e-03 9.99920125e-01 -1.23375157e-02 -4.10506620e-01] [-4.02326968e-04 1.23364572e-02 9.99923822e-01 -3.02638683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.311193817 meters Centerline goodness : 0.946050 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.41, Z:-3.03 [[ 9.99996407e-01 2.67690309e-03 1.41412496e-04 3.00260422e+01] [-2.67500660e-03 9.99923946e-01 -1.20393378e-02 -4.11980820e-01] [-1.73629882e-04 1.20389163e-02 9.99927515e-01 -3.02614968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters Centerline goodness : 0.944966 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.41, Z:-3.03 [[ 9.99996010e-01 2.82456727e-03 -3.91768582e-05 3.00263062e+01] [-2.82483104e-03 9.99929853e-01 -1.15026050e-02 -4.13516707e-01] [ 6.68422826e-06 1.15026698e-02 9.99933842e-01 -3.02597584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.371193817 meters Centerline goodness : 0.942190 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99996930e-01 2.45545888e-03 -3.34121989e-04 3.00266949e+01] [-2.45896990e-03 9.99937043e-01 -1.09482543e-02 -4.16170401e-01] [ 3.07217965e-04 1.09490423e-02 9.99940010e-01 -3.02540432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters Centerline goodness : 0.942922 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99998407e-01 1.61287911e-03 -7.64472069e-04 3.00283073e+01] [-1.62150556e-03 9.99933461e-01 -1.14211992e-02 -4.16736464e-01] [ 7.46000188e-04 1.14224206e-02 9.99934484e-01 -3.02630460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.431193817 meters Centerline goodness : 0.941945 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99999066e-01 5.48770570e-04 -1.25190489e-03 3.00302344e+01] [-5.63870307e-04 9.99926717e-01 -1.20931118e-02 -4.17126062e-01] [ 1.24517680e-03 1.20938065e-02 9.99926092e-01 -3.02738616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters Centerline goodness : 0.941528 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99998313e-01 -4.25381426e-04 -1.78705516e-03 3.00320967e+01] [ 4.02804549e-04 9.99920347e-01 -1.26149848e-02 -4.17766992e-01] [ 1.79227899e-03 1.26142437e-02 9.99918831e-01 -3.02826720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.491193817 meters Centerline goodness : 0.944461 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99997545e-01 -1.44723568e-03 -1.67805230e-03 3.00320022e+01] [ 1.42574962e-03 9.99917885e-01 -1.27354316e-02 -4.18762195e-01] [ 1.69634568e-03 1.27330079e-02 9.99917493e-01 -3.02792987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters Centerline goodness : 0.944731 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99995241e-01 -2.34962083e-03 -1.99920113e-03 3.00330045e+01] [ 2.32242812e-03 9.99906213e-01 -1.34970919e-02 -4.17784133e-01] [ 2.03072668e-03 1.34923847e-02 9.99906912e-01 -3.02826691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.551193817 meters Centerline goodness : 0.944056 Centerline is valid? [False, False] Translation: X:30.03, Y:-0.42, Z:-3.03 [[ 9.99990523e-01 -3.53319083e-03 -2.54380854e-03 3.00346778e+01] [ 3.49612581e-03 9.99889762e-01 -1.44305881e-02 -4.17021129e-01] [ 2.59451414e-03 1.44215579e-02 9.99892638e-01 -3.02889396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters Centerline goodness : 0.947134 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.42, Z:-3.03 [[ 9.99982508e-01 -5.25128995e-03 -2.72161675e-03 3.00356396e+01] [ 5.20884294e-03 9.99868223e-01 -1.53754630e-02 -4.16530165e-01] [ 2.80199911e-03 1.53610176e-02 9.99878087e-01 -3.02922167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.611193817 meters Centerline goodness : 0.944780 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.42, Z:-3.03 [[ 9.99976951e-01 -6.04965442e-03 -3.08212040e-03 3.00369488e+01] [ 5.99945051e-03 9.99853262e-01 -1.60456001e-02 -4.15425070e-01] [ 3.17873847e-03 1.60267393e-02 9.99866511e-01 -3.02991634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters Centerline goodness : 0.944204 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.41, Z:-3.03 [[ 9.99964150e-01 -7.59409868e-03 -3.74533441e-03 3.00397652e+01] [ 7.52714204e-03 9.99817150e-01 -1.75786428e-02 -4.13449039e-01] [ 3.87814353e-03 1.75498210e-02 9.99838469e-01 -3.03176185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.671193817 meters Centerline goodness : 0.941084 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.41, Z:-3.03 [[ 9.99956536e-01 -8.35189019e-03 -4.14402955e-03 3.00413435e+01] [ 8.27442246e-03 9.99796991e-01 -1.83714593e-02 -4.11906873e-01] [ 4.29662468e-03 1.83363713e-02 9.99822643e-01 -3.03275367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters Centerline goodness : 0.938633 Centerline is valid? [False, False] Translation: X:30.04, Y:-0.41, Z:-3.03 [[ 9.99963456e-01 -7.13559831e-03 -4.70853168e-03 3.00439838e+01] [ 7.05515101e-03 9.99832523e-01 -1.68863859e-02 -4.08787980e-01] [ 4.82823758e-03 1.68525494e-02 9.99846328e-01 -3.03426051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.731193817 meters Centerline goodness : 0.936463 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.41, Z:-3.04 [[ 9.99971443e-01 -5.36548102e-03 -5.32201663e-03 3.00467563e+01] [ 5.28478846e-03 9.99872596e-01 -1.50619401e-02 -4.06504697e-01] [ 5.40215314e-03 1.50333842e-02 9.99872399e-01 -3.03596011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters Centerline goodness : 0.937703 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.40, Z:-3.04 [[ 9.99980317e-01 -2.59827148e-03 -5.71099577e-03 3.00482654e+01] [ 2.52675624e-03 9.99918753e-01 -1.24941213e-02 -4.03753358e-01] [ 5.74299489e-03 1.24794451e-02 9.99905636e-01 -3.03674191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.791193817 meters Centerline goodness : 0.938513 Centerline is valid? [False, False] Translation: X:30.05, Y:-0.40, Z:-3.04 [[ 9.99982027e-01 3.79308143e-04 -5.98343616e-03 3.00494207e+01] [-4.39070590e-04 9.99950004e-01 -9.98983160e-03 -4.00411064e-01] [ 5.97934778e-03 9.99227920e-03 9.99932199e-01 -3.03741896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters Centerline goodness : 0.938139 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.39, Z:-3.04 [[ 9.99975928e-01 6.84412794e-03 -1.14111253e-03 3.00632167e+01] [-6.85964448e-03 9.99875662e-01 -1.41987682e-02 -3.90127402e-01] [ 1.04379246e-03 1.42062540e-02 9.99898541e-01 -3.04131322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.851193817 meters Centerline goodness : 0.941843 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.39, Z:-3.04 [[ 9.99945121e-01 1.03955181e-02 -1.29904728e-03 3.00636785e+01] [-1.04099531e-02 9.99877962e-01 -1.16488106e-02 -3.85484654e-01] [ 1.17779332e-03 1.16616944e-02 9.99931306e-01 -3.04137945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters Centerline goodness : 0.941583 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.38, Z:-3.04 [[ 9.99900907e-01 1.40027454e-02 -1.44891810e-03 3.00640332e+01] [-1.40154737e-02 9.99859611e-01 -9.18289816e-03 -3.80438105e-01] [ 1.32012890e-03 9.20229548e-03 9.99956787e-01 -3.04128925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.911193817 meters Centerline goodness : 0.942395 Centerline is valid? [False, False] Translation: X:30.06, Y:-0.37, Z:-3.04 [[ 9.99843130e-01 1.76342481e-02 -1.65778990e-03 3.00645015e+01] [-1.76451341e-02 9.99821197e-01 -6.79880019e-03 -3.74970762e-01] [ 1.53760176e-03 6.82698559e-03 9.99975514e-01 -3.04120199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters Centerline goodness : 0.944150 Centerline is valid? [False, False] Translation: X:30.08, Y:-0.36, Z:-3.05 [[ 9.99675162e-01 2.54035502e-02 2.05687957e-03 3.00805753e+01] [-2.53824044e-02 9.99630505e-01 -9.72562862e-03 -3.62359880e-01] [-2.30318506e-03 9.67026082e-03 9.99950589e-01 -3.04518603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.971193817 meters Centerline goodness : 0.946438 Centerline is valid? [False, False] Translation: X:30.08, Y:-0.36, Z:-3.05 [[ 9.99575158e-01 2.90903976e-02 1.80345771e-03 3.00815222e+01] [-2.90767693e-02 9.99551457e-01 -7.17124536e-03 -3.57712029e-01] [-2.01126316e-03 7.11575999e-03 9.99972660e-01 -3.04550165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters Centerline goodness : 0.943477 Centerline is valid? [False, False] Translation: X:30.08, Y:-0.35, Z:-3.05 [[ 9.99466876e-01 3.26156749e-02 1.47670298e-03 3.00827629e+01] [-3.26085289e-02 9.99457481e-01 -4.62906853e-03 -3.53385971e-01] [-1.62688204e-03 4.57844755e-03 9.99988195e-01 -3.04595981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03119381700003 meters Centerline goodness : 0.941645 Centerline is valid? [False, False] Translation: X:30.08, Y:-0.35, Z:-3.05 [[ 9.99349503e-01 3.60457383e-02 1.12945231e-03 3.00840108e+01] [-3.60434969e-02 9.99348328e-01 -1.94568691e-03 -3.49615619e-01] [-1.19885000e-03 1.90371184e-03 9.99997469e-01 -3.04626049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.061193817 meters Centerline goodness : 0.942102 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.34, Z:-3.05 [[ 9.99247477e-01 3.85604862e-02 4.19147957e-03 3.01005796e+01] [-3.85222193e-02 9.99218498e-01 -8.85621158e-03 -3.40007070e-01] [-4.52970375e-03 8.68808198e-03 9.99951998e-01 -3.04912436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.091193817 meters Centerline goodness : 0.944710 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.34, Z:-3.05 [[ 9.99266077e-01 3.81072684e-02 3.89140216e-03 3.01010229e+01] [-3.80668530e-02 9.99225362e-01 -9.97948340e-03 -3.36869859e-01] [-4.26867858e-03 9.82402579e-03 9.99942632e-01 -3.04889706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.121193817 meters Centerline goodness : 0.944334 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.33, Z:-3.05 [[ 9.99286314e-01 3.75908306e-02 3.71389912e-03 3.01012502e+01] [-3.75479204e-02 9.99234095e-01 -1.10171641e-02 -3.34007268e-01] [-4.12519898e-03 1.08698521e-02 9.99932412e-01 -3.04865457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.151193817 meters Centerline goodness : 0.948487 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.33, Z:-3.05 [[ 9.99314574e-01 3.68531217e-02 3.49699891e-03 3.01015629e+01] [-3.68080867e-02 9.99248242e-01 -1.21702996e-02 -3.31104619e-01] [-3.94288354e-03 1.20332399e-02 9.99919824e-01 -3.04842892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.181193817 meters Centerline goodness : 0.948649 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.33, Z:-3.05 [[ 9.99360172e-01 3.56003776e-02 3.44367118e-03 3.01016043e+01] [-3.55506496e-02 9.99275880e-01 -1.35597595e-02 -3.28499376e-01] [-3.92391010e-03 1.34286589e-02 9.99902132e-01 -3.04819808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.211193817 meters Centerline goodness : 0.949228 Centerline is valid? [False, False] Translation: X:30.10, Y:-0.33, Z:-3.05 [[ 9.99442417e-01 3.32858843e-02 2.62762486e-03 3.01047832e+01] [-3.32405598e-02 9.99323531e-01 -1.57335763e-02 -3.28380811e-01] [-3.14955336e-03 1.56374598e-02 9.99872767e-01 -3.05029022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.241193817 meters Centerline goodness : 0.948598 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.33, Z:-3.05 [[ 9.99509540e-01 3.12630220e-02 1.81742992e-03 3.01081931e+01] [-3.12264228e-02 9.99358578e-01 -1.75312025e-02 -3.28609779e-01] [-2.36434255e-03 1.74658523e-02 9.99844665e-01 -3.05269595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.271193817 meters Centerline goodness : 0.947533 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.33, Z:-3.05 [[ 9.99553039e-01 2.98757664e-02 1.07721863e-03 3.01111090e+01] [-2.98504431e-02 9.99379649e-01 -1.86887016e-02 -3.28436378e-01] [-1.63488966e-03 1.86481930e-02 9.99824771e-01 -3.05459960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.301193817 meters Centerline goodness : 0.948951 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.33, Z:-3.06 [[ 9.99582091e-01 2.88971313e-02 7.73883807e-04 3.01126553e+01] [-2.88760176e-02 9.99384803e-01 -1.99045693e-02 -3.25727884e-01] [-1.34859267e-03 1.98739043e-02 9.99801585e-01 -3.05585550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.331193817 meters Centerline goodness : 0.947266 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.32, Z:-3.06 [[ 9.99586639e-01 2.87464563e-02 4.38034649e-04 3.01136179e+01] [-2.87317155e-02 9.99382369e-01 -2.02328541e-02 -3.24655397e-01] [-1.01938696e-03 2.02119051e-02 9.99795199e-01 -3.05624465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.361193817 meters Centerline goodness : 0.944819 Centerline is valid? [False, False] Translation: X:30.11, Y:-0.32, Z:-3.06 [[ 9.99593732e-01 2.85020190e-02 8.26818726e-05 3.01144678e+01] [-2.84943402e-02 9.99383877e-01 -2.04923950e-02 -3.24338037e-01] [-6.66705561e-04 2.04817136e-02 9.99790005e-01 -3.05643487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.391193817 meters Centerline goodness : 0.946276 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.32, Z:-3.06 [[ 9.99597288e-01 2.83759201e-02 -2.62884593e-04 3.01154857e+01] [-2.83753322e-02 9.99386289e-01 -2.05398436e-02 -3.24524851e-01] [-3.20113701e-04 2.05390314e-02 9.99789001e-01 -3.05689464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.421193817 meters Centerline goodness : 0.946118 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.32, Z:-3.06 [[ 9.99597705e-01 2.83571308e-02 -5.49639437e-04 3.01164796e+01] [-2.83624392e-02 9.99387652e-01 -2.04912707e-02 -3.24953124e-01] [-3.17707748e-05 2.04986162e-02 9.99789881e-01 -3.05754702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.451193817 meters Centerline goodness : 0.947111 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99592279e-01 2.85417983e-02 -8.00844347e-04 3.01169940e+01] [-2.85521754e-02 9.99386250e-01 -2.02952197e-02 -3.25121377e-01] [ 2.21090761e-04 2.03098108e-02 9.99793710e-01 -3.05755091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.481193817 meters Centerline goodness : 0.947851 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99587128e-01 2.87131726e-02 -1.06140260e-03 3.01173295e+01] [-2.87286606e-02 9.99387323e-01 -1.99910480e-02 -3.25738152e-01] [ 4.86745895e-04 2.00132870e-02 9.99799596e-01 -3.05731704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.511193817 meters Centerline goodness : 0.944761 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99589597e-01 2.86159936e-02 -1.32785388e-03 3.01180244e+01] [-2.86366780e-02 9.99394071e-01 -1.97846091e-02 -3.26810510e-01] [ 7.60893049e-04 1.98145147e-02 9.99803384e-01 -3.05753454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.541193817 meters Centerline goodness : 0.948311 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99585610e-01 2.87456479e-02 -1.51538049e-03 3.01186372e+01] [-2.87695674e-02 9.99399613e-01 -1.93061107e-02 -3.28042163e-01] [ 9.59504015e-04 1.93417072e-02 9.99812471e-01 -3.05787709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.571193817 meters Centerline goodness : 0.946347 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99586284e-01 2.86997121e-02 -1.89399571e-03 3.01201722e+01] [-2.87306697e-02 9.99404961e-01 -1.90859408e-02 -3.28794201e-01] [ 1.34510770e-03 1.91324604e-02 9.99816053e-01 -3.05898262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.601193817 meters Centerline goodness : 0.945916 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99574089e-01 2.90979310e-02 -2.22488435e-03 3.01211396e+01] [-2.91344235e-02 9.99401450e-01 -1.86528259e-02 -3.29503821e-01] [ 1.68079400e-03 1.87097022e-02 9.99823545e-01 -3.05940372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.631193817 meters Centerline goodness : 0.946080 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99555724e-01 2.97049610e-02 -2.44314512e-03 3.01214504e+01] [-2.97444833e-02 9.99392706e-01 -1.81516958e-02 -3.30114419e-01] [ 1.90246599e-03 1.82163015e-02 9.99832259e-01 -3.05931946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.661193817 meters Centerline goodness : 0.944929 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99395468e-01 3.46778738e-02 -2.47861137e-03 3.01210680e+01] [-3.47068208e-02 9.99315726e-01 -1.27873510e-02 -3.33524237e-01] [ 2.03347718e-03 1.28656453e-02 9.99915166e-01 -3.05832584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.691193817 meters Centerline goodness : 0.946642 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.33, Z:-3.06 [[ 9.99366710e-01 3.54714069e-02 -2.82086518e-03 3.01216742e+01] [-3.55035095e-02 9.99294012e-01 -1.22873492e-02 -3.33982039e-01] [ 2.38302413e-03 1.23797183e-02 9.99920529e-01 -3.05829501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.721193817 meters Centerline goodness : 0.945642 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.34, Z:-3.06 [[ 9.99245122e-01 3.87070208e-02 -3.30936010e-03 3.01239290e+01] [-3.87348694e-02 9.99210670e-01 -8.81169604e-03 -3.35739971e-01] [ 2.96567343e-03 8.93323192e-03 9.99955700e-01 -3.05955375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.751193817 meters Centerline goodness : 0.943582 Centerline is valid? [False, False] Translation: X:30.12, Y:-0.34, Z:-3.06 [[ 9.99075184e-01 4.28573874e-02 -3.46701948e-03 3.01247229e+01] [-4.28721408e-02 9.99071317e-01 -4.29922910e-03 -3.37618300e-01] [ 3.27954599e-03 4.44389166e-03 9.99984748e-01 -3.05968614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78119381700003 meters Centerline goodness : 0.944811 Centerline is valid? [False, False] Translation: X:30.14, Y:-0.34, Z:-3.06 [[ 9.98799690e-01 4.89784221e-02 5.42441844e-04 3.01368745e+01] [-4.89705364e-02 9.98749909e-01 -1.00252733e-02 -3.36686256e-01] [-1.03278581e-03 9.98667617e-03 9.99949599e-01 -3.06401156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.811193817 meters Centerline goodness : 0.943334 Centerline is valid? [False, False] Translation: X:30.15, Y:-0.34, Z:-3.07 [[ 9.98622536e-01 5.22603823e-02 4.67802924e-03 3.01501777e+01] [-5.21720297e-02 9.98487372e-01 -1.73507180e-02 -3.36491048e-01] [-5.57770827e-03 1.70827557e-02 9.99838521e-01 -3.06875837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.841193817 meters Centerline goodness : 0.941536 Centerline is valid? [False, False] Translation: X:30.15, Y:-0.34, Z:-3.06 [[ 9.98707402e-01 5.01378982e-02 -8.34966647e-03 3.01470071e+01] [-5.02970276e-02 9.98532328e-01 -2.00848148e-02 -3.35740552e-01] [ 7.33040150e-03 2.04788166e-02 9.99763414e-01 -3.06084189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.871193817 meters Centerline goodness : 0.942046 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.34, Z:-3.07 [[ 9.98627717e-01 5.22549723e-02 -3.47869305e-03 3.01590546e+01] [-5.23332962e-02 9.98219637e-01 -2.86143715e-02 -3.36511925e-01] [ 1.97725653e-03 2.87571559e-02 9.99584472e-01 -3.06526949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters Centerline goodness : 0.942046 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.34, Z:-3.07 [[ 9.98627717e-01 5.22549723e-02 -3.47869305e-03 3.01590546e+01] [-5.23332962e-02 9.98219637e-01 -2.86143715e-02 -3.36511925e-01] [ 1.97725653e-03 2.87571559e-02 9.99584472e-01 -3.06526949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.931193817 meters Centerline goodness : 0.942273 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.34, Z:-3.06 [[ 9.98570389e-01 5.32808498e-02 -4.28124819e-03 3.01600615e+01] [-5.33797106e-02 9.98186092e-01 -2.78412044e-02 -3.39439113e-01] [ 2.79007937e-03 2.80299341e-02 9.99603190e-01 -3.06442539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters Centerline goodness : 0.943926 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.35, Z:-3.06 [[ 9.98469854e-01 5.51212707e-02 -4.42678316e-03 3.01597118e+01] [-5.52136507e-02 9.98173183e-01 -2.45305755e-02 -3.46111046e-01] [ 3.06653975e-03 2.47374590e-02 9.99689279e-01 -3.06424978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.991193817 meters Centerline goodness : 0.941496 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.35, Z:-3.07 [[ 9.98488114e-01 5.47381276e-02 -5.02235969e-03 3.01619174e+01] [-5.48429509e-02 9.98209476e-01 -2.38766064e-02 -3.50443509e-01] [ 3.70640630e-03 2.41159487e-02 9.99702297e-01 -3.06580329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters Centerline goodness : 0.940563 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.36, Z:-3.07 [[ 9.98484351e-01 5.47466957e-02 -5.63909268e-03 3.01631600e+01] [-5.48562528e-02 9.98261398e-01 -2.15632217e-02 -3.57591627e-01] [ 4.44877341e-03 2.18398789e-02 9.99751583e-01 -3.06702962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.051193817 meters Centerline goodness : 0.940457 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.36, Z:-3.07 [[ 9.98653152e-01 5.15453399e-02 -5.91266731e-03 3.01634726e+01] [-5.16719482e-02 9.98381634e-01 -2.37512514e-02 -3.62888809e-01] [ 4.67883213e-03 2.40247811e-02 9.99700414e-01 -3.06738671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters Centerline goodness : 0.940489 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.37, Z:-3.07 [[ 9.98815139e-01 4.82695140e-02 -6.19449744e-03 3.01635519e+01] [-4.84135220e-02 9.98496638e-01 -2.57020456e-02 -3.69179995e-01] [ 4.94455962e-03 2.59714896e-02 9.99650455e-01 -3.06734750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.111193817 meters Centerline goodness : 0.941878 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.38, Z:-3.06 [[ 9.99125636e-01 4.12492342e-02 -6.81650733e-03 3.01639564e+01] [-4.14205419e-02 9.98769785e-01 -2.72627162e-02 -3.82892841e-01] [ 5.68355540e-03 2.75212220e-02 9.99605062e-01 -3.06472991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.141193817 meters Centerline goodness : 0.944071 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.39, Z:-3.06 [[ 9.99265554e-01 3.76716022e-02 -7.01444114e-03 3.01638787e+01] [-3.78641385e-02 9.98841220e-01 -2.97073210e-02 -3.87683474e-01] [ 5.88719057e-03 2.99510984e-02 9.99534028e-01 -3.06456321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.171193817 meters Centerline goodness : 0.945469 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.40, Z:-3.06 [[ 9.99495491e-01 3.08948485e-02 -7.36694371e-03 3.01638315e+01] [-3.11251908e-02 9.98953067e-01 -3.35260112e-02 -3.99084870e-01] [ 6.32344998e-03 3.37383946e-02 9.99410694e-01 -3.06385393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters Centerline goodness : 0.945082 Centerline is valid? [False, False] Translation: X:30.16, Y:-0.40, Z:-3.06 [[ 9.99595979e-01 2.74099170e-02 -7.52165979e-03 3.01636720e+01] [-2.76620462e-02 9.98977464e-01 -3.57608253e-02 -4.04777901e-01] [ 6.53376737e-03 3.59544416e-02 9.99332071e-01 -3.06353323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.231193817 meters Centerline goodness : 0.950451 Centerline is valid? [False, True] Translation: X:30.16, Y:-0.41, Z:-3.06 [[ 9.99680423e-01 2.40719601e-02 -7.71959811e-03 3.01638251e+01] [-2.43483198e-02 9.98982392e-01 -3.79649872e-02 -4.09857123e-01] [ 6.79785093e-03 3.81408138e-02 9.99249252e-01 -3.06353572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters Centerline goodness : 0.950144 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.43, Z:-3.05 [[ 9.99775511e-01 2.01487273e-02 -6.55414979e-03 3.01948200e+01] [-2.01478428e-02 9.99796991e-01 2.00961317e-04 -4.31234374e-01] [ 6.55686836e-03 -6.88642233e-05 9.99978501e-01 -3.05369176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.291193817 meters Centerline goodness : 0.951425 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.44, Z:-3.06 [[ 9.99915091e-01 1.12629898e-02 -6.55408724e-03 3.02247114e+01] [-1.12619012e-02 9.99936562e-01 2.02980963e-04 -4.38082647e-01] [ 6.55595764e-03 -1.29152245e-04 9.99978501e-01 -3.05604072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters Centerline goodness : 0.949542 Centerline is valid? [True, False] Translation: X:30.23, Y:-0.44, Z:-3.06 [[ 9.99953423e-01 6.63409900e-03 -7.01006895e-03 3.02265604e+01] [-6.66325101e-03 9.99969216e-01 -4.14345120e-03 -4.39121837e-01] [ 6.98236509e-03 4.18996806e-03 9.99966845e-01 -3.05738554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.351193817 meters Centerline goodness : 0.950284 Centerline is valid? [False, True] Translation: X:30.23, Y:-0.44, Z:-3.06 [[ 9.99970895e-01 2.57063130e-03 -7.18341742e-03 3.02272812e+01] [-2.62785843e-03 9.99964798e-01 -7.96851056e-03 -4.40222617e-01] [ 7.16268045e-03 7.98715564e-03 9.99942449e-01 -3.05793958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters Centerline goodness : 0.949564 Centerline is valid? [True, False] Translation: X:30.23, Y:-0.44, Z:-3.06 [[ 9.99970701e-01 1.18177874e-03 -7.56312353e-03 3.02292725e+01] [-1.24582286e-03 9.99963363e-01 -8.46884521e-03 -4.42951552e-01] [ 7.55283813e-03 8.47801939e-03 9.99935537e-01 -3.05919457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.411193817 meters Centerline goodness : 0.951948 Centerline is valid? [False, True] Translation: X:30.23, Y:-0.45, Z:-3.06 [[ 9.99969759e-01 6.30096238e-04 -7.75134950e-03 3.02300525e+01] [-6.92981089e-04 9.99966851e-01 -8.11275279e-03 -4.45644849e-01] [ 7.74598074e-03 8.11787899e-03 9.99937048e-01 -3.05942788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters Centerline goodness : 0.949710 Centerline is valid? [True, False] Translation: X:30.23, Y:-0.45, Z:-3.06 [[ 9.99965199e-01 -7.75824807e-04 -8.30654201e-03 3.02321192e+01] [ 7.01486082e-04 9.99959714e-01 -8.94859524e-03 -4.46378664e-01] [ 8.31314992e-03 8.94245690e-03 9.99925459e-01 -3.06041578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.471193817 meters Centerline goodness : 0.952575 Centerline is valid? [False, True] Translation: X:30.23, Y:-0.44, Z:-3.06 [[ 9.99956729e-01 -2.88855806e-03 -8.84282437e-03 3.02345073e+01] [ 2.79381200e-03 9.99938763e-01 -1.07081244e-02 -4.44467912e-01] [ 8.87321390e-03 1.06829559e-02 9.99903566e-01 -3.06176905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters Centerline goodness : 0.954568 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.45, Z:-3.06 [[ 9.99954285e-01 -4.60698006e-03 -8.37873637e-03 3.02637029e+01] [ 4.61009060e-03 9.99989312e-01 3.51966375e-04 -4.48059187e-01] [ 8.37702532e-03 -3.90577019e-04 9.99964836e-01 -3.05780754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53119381700003 meters Centerline goodness : 0.951987 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.45, Z:-3.06 [[ 9.99950285e-01 -5.40575313e-03 -8.37883701e-03 3.02911837e+01] [ 5.40887149e-03 9.99985311e-01 3.49554196e-04 -4.46826665e-01] [ 8.37682433e-03 -3.94856870e-04 9.99964836e-01 -3.05828694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.561193817 meters Centerline goodness : 0.953613 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.44, Z:-3.06 [[ 9.99944357e-01 -6.40910377e-03 -8.37887256e-03 3.03197762e+01] [ 6.41225012e-03 9.99979381e-01 3.48700025e-04 -4.44569393e-01] [ 8.37646493e-03 -4.02408049e-04 9.99964836e-01 -3.05780552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.591193817 meters Centerline goodness : 0.953884 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.44, Z:-3.06 [[ 9.99942460e-01 -6.69850358e-03 -8.37897069e-03 3.03490857e+01] [ 6.70164022e-03 9.99977484e-01 3.46325724e-04 -4.36140410e-01] [ 8.37646216e-03 -4.02458643e-04 9.99964836e-01 -3.05616747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.621193817 meters Centerline goodness : 0.955096 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.43, Z:-3.06 [[ 9.99941286e-01 -6.87139676e-03 -8.37906983e-03 3.03783240e+01] [ 6.87451927e-03 9.99976311e-01 3.43910311e-04 -4.31813564e-01] [ 8.37650819e-03 -4.01492195e-04 9.99964836e-01 -3.05538270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.651193817 meters Centerline goodness : 0.955882 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.43, Z:-3.06 [[ 9.99939059e-01 -7.18799439e-03 -8.37916807e-03 3.04063186e+01] [ 7.19110783e-03 9.99974085e-01 3.41499917e-04 -4.27263712e-01] [ 8.37649622e-03 -4.01734607e-04 9.99964836e-01 -3.05591887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.681193817 meters Centerline goodness : 0.956270 Centerline is valid? [True, True] Translation: X:30.44, Y:-0.42, Z:-3.06 [[ 9.99917225e-01 -9.76378945e-03 -8.37920263e-03 3.04356901e+01] [ 9.76698600e-03 9.99952244e-01 3.40649685e-04 -4.16223443e-01] [ 8.37547644e-03 -4.22461043e-04 9.99964836e-01 -3.05505675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.711193817 meters Centerline goodness : 0.956062 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.41, Z:-3.06 [[ 9.99890822e-01 -1.21709173e-02 -8.37929737e-03 3.04651248e+01] [ 1.21741785e-02 9.99925835e-01 3.38303118e-04 -4.10776950e-01] [ 8.37455846e-03 -4.40277245e-04 9.99964836e-01 -3.05512027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.741193817 meters Centerline goodness : 0.954008 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.41, Z:-3.06 [[ 9.99859300e-01 -1.45315511e-02 -8.37939160e-03 3.04924125e+01] [ 1.45348753e-02 9.99894307e-01 3.35952933e-04 -4.05165010e-01] [ 8.37362404e-03 -4.57699077e-04 9.99964836e-01 -3.06048496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.771193817 meters Centerline goodness : 0.955528 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.40, Z:-3.06 [[ 9.99800523e-01 -1.81300842e-02 -8.37943801e-03 3.05208763e+01] [ 1.81335247e-02 9.99835518e-01 3.34791339e-04 -3.99149235e-01] [ 8.37198995e-03 -4.86673302e-04 9.99964836e-01 -3.05778688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.801193817 meters Centerline goodness : 0.957449 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.39, Z:-3.06 [[ 9.99679130e-01 -2.39044196e-02 -8.37954392e-03 3.05487356e+01] [ 2.39080399e-02 9.99714107e-01 3.32119203e-04 -3.88408655e-01] [ 8.36920915e-03 -5.32351106e-04 9.99964836e-01 -3.05819983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.831193817 meters Centerline goodness : 0.957148 Centerline is valid? [True, True] Translation: X:30.58, Y:-0.38, Z:-3.05 [[ 9.99617060e-01 -2.63726386e-02 -8.37957657e-03 3.05778260e+01] [ 2.63763383e-02 9.99652029e-01 3.31293355e-04 -3.82793988e-01] [ 8.36792364e-03 -5.52189037e-04 9.99964836e-01 -3.05248634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.861193817 meters Centerline goodness : 0.959721 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.38, Z:-3.06 [[ 9.99560558e-01 -2.84336474e-02 -8.37967672e-03 3.06060601e+01] [ 2.84373979e-02 9.99595521e-01 3.28740570e-04 -3.76184706e-01] [ 8.36694002e-03 -5.66892309e-04 9.99964836e-01 -3.05780799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.891193817 meters Centerline goodness : 0.960259 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.37, Z:-3.06 [[ 9.99506550e-01 -3.02727133e-02 -8.37971200e-03 3.06348208e+01] [ 3.02765206e-02 9.99541507e-01 3.27838653e-04 -3.68405670e-01] [ 8.36594540e-03 -5.81385404e-04 9.99964836e-01 -3.05913443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.921193817 meters Centerline goodness : 0.957447 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.35, Z:-3.06 [[ 9.99434107e-01 -3.25767641e-02 -8.37979918e-03 3.06647810e+01] [ 3.25806333e-02 9.99469057e-01 3.25594814e-04 -3.51959418e-01] [ 8.36474317e-03 -5.98429726e-04 9.99964836e-01 -3.06309021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.951193817 meters Centerline goodness : 0.955168 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.35, Z:-3.06 [[ 9.99416214e-01 -3.31211365e-02 -8.37987954e-03 3.06937190e+01] [ 3.31250074e-02 9.99451164e-01 3.23513454e-04 -3.45506902e-01] [ 8.36456522e-03 -6.00908163e-04 9.99964836e-01 -3.06432232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.981193817 meters Centerline goodness : 0.951390 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.34, Z:-3.07 [[ 9.99433827e-01 -3.25852898e-02 -8.37996619e-03 3.07216458e+01] [ 3.25891231e-02 9.99468782e-01 3.21253057e-04 -3.38824949e-01] [ 8.36504648e-03 -5.94166922e-04 9.99964836e-01 -3.06705099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.011193817 meters Centerline goodness : 0.950248 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.33, Z:-3.06 [[ 9.99435621e-01 -3.25302267e-02 -8.37999679e-03 3.07505375e+01] [ 3.25340514e-02 9.99470576e-01 3.20452845e-04 -3.30827146e-01] [ 8.36513582e-03 -5.92907234e-04 9.99964836e-01 -3.06228890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.041193817 meters Centerline goodness : 0.949867 Centerline is valid? [True, False] Translation: X:30.77, Y:-0.32, Z:-3.07 [[ 9.99542208e-01 -2.99839810e-02 -4.04175892e-03 3.07655756e+01] [ 2.99559831e-02 9.99527963e-01 -6.81831535e-03 -3.20561890e-01] [ 4.24429130e-03 6.69411911e-03 9.99968587e-01 -3.06679666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.071193817 meters Centerline goodness : 0.952366 Centerline is valid? [False, True] Translation: X:30.78, Y:-0.30, Z:-3.07 [[ 9.99641399e-01 -2.67778040e-02 -1.52399321e-04 3.07816808e+01] [ 2.67739745e-02 9.99567615e-01 -1.21547392e-02 -2.99682029e-01] [ 4.77810649e-04 1.21463001e-02 9.99926117e-01 -3.06967739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.101193817 meters Centerline goodness : 0.952238 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.30, Z:-3.07 [[ 9.99676716e-01 -2.54235705e-02 3.25115822e-04 3.08101753e+01] [ 2.54235759e-02 9.99676769e-01 -1.27854145e-05 -2.96607309e-01] [-3.24685683e-04 2.10468880e-05 9.99999947e-01 -3.06683956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.131193817 meters Centerline goodness : 0.952187 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.29, Z:-3.07 [[ 9.99687957e-01 -2.49776599e-02 3.25117117e-04 3.08378582e+01] [ 2.49776654e-02 9.99688009e-01 -1.27523947e-05 -2.88958634e-01] [-3.24697159e-04 2.08690820e-05 9.99999947e-01 -3.06576703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.161193817 meters Centerline goodness : 0.954816 Centerline is valid? [True, True] Translation: X:30.87, Y:-0.28, Z:-3.06 [[ 9.99680962e-01 -2.52560615e-02 3.25118649e-04 3.08671156e+01] [ 2.52560670e-02 9.99681015e-01 -1.27132129e-05 -2.81713767e-01] [-3.24693856e-04 2.09203753e-05 9.99999947e-01 -3.06135850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.191193817 meters Centerline goodness : 0.959003 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.26, Z:-3.06 [[ 9.99644640e-01 -2.66549902e-02 3.25122257e-04 3.08959147e+01] [ 2.66549957e-02 9.99644692e-01 -1.26202734e-05 -2.64802312e-01] [-3.24670345e-04 2.12819211e-05 9.99999947e-01 -3.05892775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.221193817 meters Centerline goodness : 0.957616 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.26, Z:-3.06 [[ 9.99582571e-01 -2.88890488e-02 3.25123429e-04 3.09237459e+01] [ 2.88890545e-02 9.99582624e-01 -1.25900081e-05 -2.55801876e-01] [-3.24624017e-04 2.19772611e-05 9.99999947e-01 -3.05908507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.251193817 meters Centerline goodness : 0.954094 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.25, Z:-3.06 [[ 9.99514028e-01 -3.11705393e-02 3.25124644e-04 3.09530216e+01] [ 3.11705450e-02 9.99514080e-01 -1.25585641e-05 -2.47521889e-01] [-3.24575202e-04 2.26867733e-05 9.99999947e-01 -3.06055457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28119381700003 meters Centerline goodness : 0.953007 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.23, Z:-3.06 [[ 9.99359126e-01 -3.57942861e-02 3.25128000e-04 3.09821596e+01] [ 3.57942920e-02 9.99359179e-01 -1.24710605e-05 -2.31270801e-01] [-3.24473258e-04 2.41007947e-05 9.99999947e-01 -3.06329248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.311193817 meters Centerline goodness : 0.951499 Centerline is valid? [True, True] Translation: X:31.01, Y:-0.22, Z:-3.06 [[ 9.99283042e-01 -3.78589043e-02 3.25128711e-04 3.10110134e+01] [ 3.78589104e-02 9.99283094e-01 -1.24525066e-05 -2.24234832e-01] [-3.24424186e-04 2.47525974e-05 9.99999947e-01 -3.06422725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters Centerline goodness : 0.950597 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.22, Z:-3.06 [[ 9.99203953e-01 -3.98917936e-02 3.25131968e-04 3.10398091e+01] [ 3.98917997e-02 9.99204005e-01 -1.23668678e-05 -2.16902258e-01] [-3.24379828e-04 2.53271225e-05 9.99999947e-01 -3.06391404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.371193817 meters Centerline goodness : 0.950087 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.21, Z:-3.06 [[ 9.99155616e-01 -4.10846578e-02 3.25135258e-04 3.10674487e+01] [ 4.10846640e-02 9.99155669e-01 -1.22797672e-05 -2.09264456e-01] [-3.24356226e-04 2.56274712e-05 9.99999947e-01 -3.06489578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters Centerline goodness : 0.952344 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.19, Z:-3.06 [[ 9.99196352e-01 -4.00817204e-02 3.25137250e-04 3.10969816e+01] [ 4.00817265e-02 9.99196405e-01 -1.22267810e-05 -1.92676034e-01] [-3.24385901e-04 2.52490173e-05 9.99999947e-01 -3.06414492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.431193817 meters Centerline goodness : 0.951924 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.19, Z:-3.07 [[ 9.99273509e-01 -3.81096928e-02 3.25140431e-04 3.11261530e+01] [ 3.81096988e-02 9.99273561e-01 -1.21415892e-05 -1.85110862e-01] [-3.24441525e-04 2.45237724e-05 9.99999947e-01 -3.06502463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters Centerline goodness : 0.952035 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.18, Z:-3.07 [[ 9.99368698e-01 -3.55260539e-02 3.25141104e-04 3.11561573e+01] [ 3.55260597e-02 9.99368750e-01 -1.21235490e-05 -1.77713392e-01] [-3.24505157e-04 2.36668776e-05 9.99999947e-01 -3.06507565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.491193817 meters Centerline goodness : 0.951059 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.17, Z:-3.07 [[ 9.99469254e-01 -3.25745899e-02 3.25141549e-04 3.11859229e+01] [ 3.25745956e-02 9.99469307e-01 -1.21115972e-05 -1.69803536e-01] [-3.24574469e-04 2.26965235e-05 9.99999947e-01 -3.06500269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters Centerline goodness : 0.953997 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.15, Z:-3.07 [[ 9.99680328e-01 -2.52811274e-02 3.25141996e-04 3.12170026e+01] [ 2.52811327e-02 9.99680381e-01 -1.20995948e-05 -1.53965318e-01] [-3.24732183e-04 2.03156849e-05 9.99999947e-01 -3.06534894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.551193817 meters Centerline goodness : 0.953282 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.15, Z:-3.06 [[ 9.99752290e-01 -2.22542913e-02 3.25141775e-04 3.12476455e+01] [ 2.22542964e-02 9.99752342e-01 -1.21055152e-05 -1.47671222e-01] [-3.24791852e-04 1.93383179e-05 9.99999947e-01 -3.06493540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters Centerline goodness : 0.948568 Centerline is valid? [True, False] Translation: X:31.25, Y:-0.14, Z:-3.06 [[ 9.99819421e-01 -1.90016037e-02 2.54357171e-04 3.12476162e+01] [ 1.90010104e-02 9.99817130e-01 2.16081975e-03 -1.42272968e-01] [-2.95369697e-04 -2.15559650e-03 9.99997633e-01 -3.06488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.611193817 meters Centerline goodness : 0.953648 Centerline is valid? [False, True] Translation: X:31.25, Y:-0.14, Z:-3.06 [[ 9.99871704e-01 -1.60156702e-02 2.73528006e-04 3.12474446e+01] [ 1.60143655e-02 9.99862750e-01 4.24519412e-03 -1.36925729e-01] [-3.41480093e-04 -4.24026910e-03 9.99990952e-01 -3.06487374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters Centerline goodness : 0.952617 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.13, Z:-3.06 [[ 9.99888182e-01 -1.49536783e-02 1.04867966e-04 3.12793932e+01] [ 1.49536788e-02 9.99888187e-01 -4.16230908e-06 -1.29135777e-01] [-1.04793998e-04 5.73000554e-06 9.99999994e-01 -3.06254552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.671193817 meters Centerline goodness : 0.952343 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.12, Z:-3.06 [[ 9.99906985e-01 -1.36385778e-02 1.04867799e-04 3.13116257e+01] [ 1.36385783e-02 9.99906990e-01 -4.16651733e-06 -1.17772525e-01] [-1.04801219e-04 5.59637747e-06 9.99999994e-01 -3.06379431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters Centerline goodness : 0.954623 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.11, Z:-3.06 [[ 9.99913066e-01 -1.31851764e-02 1.04867629e-04 3.13429220e+01] [ 1.31851769e-02 9.99913072e-01 -4.17078240e-06 -1.13154627e-01] [-1.04803521e-04 5.55311805e-06 9.99999994e-01 -3.06487702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.731193817 meters Centerline goodness : 0.955152 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.11, Z:-3.07 [[ 9.99923342e-01 -1.23814361e-02 1.04867460e-04 3.13731618e+01] [ 1.23814366e-02 9.99923347e-01 -4.17502265e-06 -1.08799277e-01] [-1.04807729e-04 5.47311241e-06 9.99999994e-01 -3.07249546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters Centerline goodness : 0.956469 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.10, Z:-3.07 [[ 9.99970553e-01 -7.67349651e-03 1.04867377e-04 3.14050035e+01] [ 7.67349699e-03 9.99970558e-01 -4.17711973e-06 -9.97272351e-02] [-1.04832236e-04 4.98169622e-06 9.99999994e-01 -3.06590277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.791193817 meters Centerline goodness : 0.955946 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.10, Z:-3.07 [[ 9.99987927e-01 -4.91277808e-03 1.04867215e-04 3.14362383e+01] [ 4.91277854e-03 9.99987932e-01 -4.18117263e-06 -9.59565287e-02] [-1.04845408e-04 4.69631156e-06 9.99999994e-01 -3.06551671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters Centerline goodness : 0.955946 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.10, Z:-3.07 [[ 9.99988118e-01 -4.87369103e-03 1.04867051e-04 3.14680423e+01] [ 4.87369149e-03 9.99988123e-01 -4.18528580e-06 -9.72765025e-02] [-1.04845408e-04 4.69632573e-06 9.99999994e-01 -3.06552005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.851193817 meters Centerline goodness : 0.957526 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.09, Z:-3.07 [[ 9.99998456e-01 -1.75410188e-03 1.04866887e-04 3.14998564e+01] [ 1.75410233e-03 9.99998462e-01 -4.18938479e-06 -9.45126705e-02] [-1.04859377e-04 4.37332557e-06 9.99999994e-01 -3.06603005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters Centerline goodness : 0.957090 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.09, Z:-3.07 [[ 9.99998823e-01 1.53050967e-03 1.04866724e-04 3.15299370e+01] [-1.53050924e-03 9.99998829e-01 -4.19345757e-06 -9.17773433e-02] [-1.04873020e-04 4.03295314e-06 9.99999994e-01 -3.06684217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.911193817 meters Centerline goodness : 0.958019 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.09, Z:-3.07 [[ 9.99988597e-01 4.77440348e-03 1.04866446e-04 3.15609014e+01] [-4.77440307e-03 9.99988602e-01 -4.20041563e-06 -8.51261230e-02] [-1.04885305e-04 3.69969306e-06 9.99999994e-01 -3.06599837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters Centerline goodness : 0.961390 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.08, Z:-3.06 [[ 9.99987463e-01 5.00635716e-03 1.04866446e-04 3.15910058e+01] [-5.00635674e-03 9.99987468e-01 -4.20041563e-06 -8.25236455e-02] [-1.04886160e-04 3.67536414e-06 9.99999994e-01 -3.06462300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.971193817 meters Centerline goodness : 0.961488 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.08, Z:-3.06 [[ 9.99990644e-01 4.32449007e-03 1.04866605e-04 3.16206390e+01] [-4.32448965e-03 9.99990649e-01 -4.19642822e-06 -8.01453830e-02] [-1.04883772e-04 3.74289441e-06 9.99999994e-01 -3.06185816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters Centerline goodness : 0.960393 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.08, Z:-3.06 [[ 9.99992486e-01 3.87512347e-03 1.04866774e-04 3.16504846e+01] [-3.87512305e-03 9.99992492e-01 -4.19219235e-06 -7.85835800e-02] [-1.04882232e-04 3.78578919e-06 9.99999994e-01 -3.06106312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03119381700003 meters Centerline goodness : 0.957927 Centerline is valid? [True, True] Translation: X:31.68, Y:-0.08, Z:-3.06 [[ 9.99996865e-01 2.50185508e-03 1.04866943e-04 3.16798030e+01] [-2.50185465e-03 9.99996870e-01 -4.18796348e-06 -7.60757805e-02] [-1.04877093e-04 3.92558849e-06 9.99999994e-01 -3.06320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.061193817 meters Centerline goodness : 0.959723 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.07, Z:-3.07 [[ 9.99997361e-01 2.29492020e-03 1.04867026e-04 3.17098947e+01] [-2.29491977e-03 9.99997367e-01 -4.18588067e-06 -7.48116634e-02] [-1.04876357e-04 3.94520822e-06 9.99999994e-01 -3.06509060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.091193817 meters Centerline goodness : 0.958089 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.07, Z:-3.07 [[ 9.99997331e-01 2.30811300e-03 1.04867026e-04 3.17396941e+01] [-2.30811257e-03 9.99997336e-01 -4.18588067e-06 -7.32013200e-02] [-1.04876409e-04 3.94382460e-06 9.99999994e-01 -3.06775883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.121193817 meters Centerline goodness : 0.953433 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.07, Z:-3.07 [[ 9.99996308e-01 2.71528678e-03 1.04867107e-04 3.17699099e+01] [-2.71528636e-03 9.99996314e-01 -4.18386833e-06 -7.22563855e-02] [-1.04878081e-04 3.89910866e-06 9.99999994e-01 -3.06730363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.151193817 meters Centerline goodness : 0.952852 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.07, Z:-3.07 [[ 9.99991121e-01 4.21260514e-03 1.04867192e-04 3.17995554e+01] [-4.21260473e-03 9.99991127e-01 -4.18173584e-06 -7.12395942e-02] [-1.04883877e-04 3.73993468e-06 9.99999994e-01 -3.07053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.181193817 meters Centerline goodness : 0.954811 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.07, Z:-3.07 [[ 9.99983860e-01 5.68047580e-03 1.04867276e-04 3.18293583e+01] [-5.68047539e-03 9.99983866e-01 -4.17962319e-06 -7.19718720e-02] [-1.04889326e-04 3.58385975e-06 9.99999994e-01 -3.07126263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.211193817 meters Centerline goodness : 0.955932 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.07, Z:-3.07 [[ 9.99969561e-01 7.80161392e-03 1.04867441e-04 3.18594815e+01] [-7.80161353e-03 9.99969567e-01 -4.17547925e-06 -7.26845123e-02] [-1.04896825e-04 3.35721691e-06 9.99999994e-01 -3.07158313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.241193817 meters Centerline goodness : 0.955370 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.07, Z:-3.07 [[ 9.99948664e-01 1.01320576e-02 1.04867605e-04 3.18880123e+01] [-1.01320572e-02 9.99948669e-01 -4.17135399e-06 -7.32840413e-02] [-1.04904487e-04 3.10861527e-06 9.99999994e-01 -3.07265311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.271193817 meters Centerline goodness : 0.953194 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.07, Z:-3.07 [[ 9.99918685e-01 1.27519883e-02 1.04867849e-04 3.19169403e+01] [-1.27519879e-02 9.99918690e-01 -4.16521730e-06 -7.38005075e-02] [-1.04912437e-04 2.82760506e-06 9.99999994e-01 -3.07253092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.301193817 meters Centerline goodness : 0.952742 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.08, Z:-3.08 [[ 9.99865310e-01 1.64118978e-02 1.04868179e-04 3.19455696e+01] [-1.64118974e-02 9.99865316e-01 -4.15689516e-06 -7.58429585e-02] [-1.04922277e-04 2.43524948e-06 9.99999994e-01 -3.07507880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.331193817 meters Centerline goodness : 0.952060 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.08, Z:-3.07 [[ 9.99859531e-01 1.67602806e-02 1.04868423e-04 3.19746159e+01] [-1.67602802e-02 9.99859537e-01 -4.15071592e-06 -7.93531860e-02] [-1.04923260e-04 2.39250871e-06 9.99999994e-01 -3.07404369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.361193817 meters Centerline goodness : 0.951944 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.08, Z:-3.07 [[ 9.99869323e-01 1.61655932e-02 1.04868669e-04 3.20037600e+01] [-1.61655929e-02 9.99869328e-01 -4.14450514e-06 -8.39242553e-02] [-1.04921964e-04 2.44869934e-06 9.99999994e-01 -3.07173538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.391193817 meters Centerline goodness : 0.951825 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.09, Z:-3.07 [[ 9.99896552e-01 1.43831045e-02 1.04869008e-04 3.20329735e+01] [-1.43831041e-02 9.99896558e-01 -4.13589068e-06 -8.78977704e-02] [-1.04917648e-04 2.62712097e-06 9.99999994e-01 -3.07053490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.421193817 meters Centerline goodness : 0.952312 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.10, Z:-3.07 [[ 9.99960995e-01 8.83161662e-03 1.04869181e-04 3.20612590e+01] [-8.83161624e-03 9.99961001e-01 -4.13151501e-06 -9.53871160e-02] [-1.04901579e-04 3.20518950e-06 9.99999994e-01 -3.07342849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.451193817 meters Centerline goodness : 0.948647 Centerline is valid? [True, False] Translation: X:32.07, Y:-0.10, Z:-3.07 [[ 9.99984970e-01 5.37443257e-03 -1.08412079e-03 3.20726125e+01] [-5.36346130e-03 9.99936798e-01 9.88100634e-03 -1.00333694e-01] [ 1.13715708e-03 -9.87504318e-03 9.99950594e-01 -3.07359185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.481193817 meters Centerline goodness : 0.948216 Centerline is valid? [False, False] Translation: X:32.07, Y:-0.10, Z:-3.08 [[ 9.99994313e-01 2.53293109e-03 2.22671385e-03 3.20663966e+01] [-2.56122358e-03 9.99914844e-01 1.27962639e-02 -1.03342682e-01] [-2.19411218e-03 -1.28018942e-02 9.99915645e-01 -3.07735518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.511193817 meters Centerline goodness : 0.945176 Centerline is valid? [False, False] Translation: X:32.04, Y:-0.11, Z:-3.08 [[ 9.99993159e-01 -3.53294404e-03 1.09519612e-03 3.20367594e+01] [ 3.49798827e-03 9.99530902e-01 3.04259686e-02 -1.08049526e-01] [-1.20217561e-03 -3.04219295e-02 9.99536423e-01 -3.07730542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.541193817 meters Centerline goodness : 0.946320 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.12, Z:-3.08 [[ 9.99924226e-01 -1.23035157e-02 -4.07565683e-04 3.20048832e+01] [ 1.23085740e-02 9.98690185e-01 4.96629918e-02 -1.15473695e-01] [-2.03997552e-04 -4.96642452e-02 9.98765949e-01 -3.07555909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.571193817 meters Centerline goodness : 0.946194 Centerline is valid? [False, False] Translation: X:31.98, Y:-0.11, Z:-3.07 [[ 9.99942072e-01 -1.06999158e-02 -1.16780876e-03 3.19825373e+01] [ 1.07316303e-02 9.99437233e-01 3.17812589e-02 -1.12261076e-01] [ 8.27094764e-04 -3.17919504e-02 9.99494166e-01 -3.07353402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.601193817 meters Centerline goodness : 0.945625 Centerline is valid? [False, False] Translation: X:31.96, Y:-0.11, Z:-3.08 [[ 9.99954086e-01 -9.57558822e-03 3.66814847e-04 3.19562277e+01] [ 9.56441027e-03 9.99681477e-01 2.33552259e-02 -1.10892554e-01] [-5.90338034e-04 -2.33506452e-02 9.99727162e-01 -3.07559106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.631193817 meters Centerline goodness : 0.942711 Centerline is valid? [False, False] Translation: X:31.94, Y:-0.11, Z:-3.07 [[ 9.99955171e-01 -9.36797991e-03 -1.37730994e-03 3.19351772e+01] [ 9.39491842e-03 9.99734027e-01 2.10620569e-02 -1.09252134e-01] [ 1.17963468e-03 -2.10740525e-02 9.99777222e-01 -3.07370720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.661193817 meters Centerline goodness : 0.944188 Centerline is valid? [False, False] Translation: X:31.91, Y:-0.11, Z:-3.07 [[ 9.99961515e-01 -8.41053258e-03 -2.49634777e-03 3.19144053e+01] [ 8.45719151e-03 9.99777792e-01 1.93091440e-02 -1.08023648e-01] [ 2.33339287e-03 -1.93295130e-02 9.99810445e-01 -3.07245135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.691193817 meters Centerline goodness : 0.942342 Centerline is valid? [False, False] Translation: X:31.90, Y:-0.11, Z:-3.07 [[ 9.99958272e-01 -5.37984673e-03 -7.38321352e-03 3.19036874e+01] [ 5.46317389e-03 9.99921086e-01 1.13126532e-02 -1.05655936e-01] [ 7.32177054e-03 -1.13525169e-02 9.99908752e-01 -3.06912743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.721193817 meters Centerline goodness : 0.941641 Centerline is valid? [False, False] Translation: X:31.90, Y:-0.11, Z:-3.07 [[ 9.99971983e-01 1.12972965e-05 -7.48558364e-03 3.19045866e+01] [ 1.08613266e-04 9.99871693e-01 1.60182659e-02 -1.05959137e-01] [ 7.48480415e-03 -1.60186302e-02 9.99843678e-01 -3.06996057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.751193817 meters Centerline goodness : 0.941377 Centerline is valid? [False, False] Translation: X:31.90, Y:-0.11, Z:-3.07 [[ 9.99961889e-01 4.35815847e-03 -7.56488799e-03 3.19046941e+01] [-4.20608680e-03 9.99791070e-01 2.00031278e-02 -1.05434709e-01] [ 7.65048426e-03 -1.99705469e-02 9.99771298e-01 -3.06987548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78119381700003 meters Centerline goodness : 0.943296 Centerline is valid? [False, False] Translation: X:31.91, Y:-0.11, Z:-3.07 [[ 9.99888444e-01 1.00303739e-02 -1.10675792e-02 3.19106178e+01] [-9.71160230e-03 9.99546913e-01 2.84895468e-02 -1.05758231e-01] [ 1.13483254e-02 -2.83788847e-02 9.99532818e-01 -3.06822850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.811193817 meters Centerline goodness : 0.944235 Centerline is valid? [False, False] Translation: X:31.91, Y:-0.11, Z:-3.07 [[ 9.99835760e-01 1.42907173e-02 -1.11457869e-02 3.19104236e+01] [-1.39220826e-02 9.99375473e-01 3.24783081e-02 -1.05404264e-01] [ 1.16029643e-02 -3.23178013e-02 9.99410292e-01 -3.06765549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters Centerline goodness : 0.943047 Centerline is valid? [False, False] Translation: X:31.91, Y:-0.10, Z:-3.07 [[ 9.99819001e-01 1.51481143e-02 -1.15108883e-02 3.19106145e+01] [-1.47642895e-02 9.99355234e-01 3.27281541e-02 -1.04800653e-01] [ 1.19992363e-02 -3.25522803e-02 9.99398002e-01 -3.06681400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.871193817 meters Centerline goodness : 0.947259 Centerline is valid? [False, False] Translation: X:31.94, Y:-0.11, Z:-3.06 [[ 9.99768861e-01 1.87509433e-02 -1.05179188e-02 3.19365714e+01] [-1.84086413e-02 9.99326358e-01 3.17482522e-02 -1.08079965e-01] [ 1.11061431e-02 -3.15472933e-02 9.99440554e-01 -3.06430831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters Centerline goodness : 0.950630 Centerline is valid? [False, True] Translation: X:31.95, Y:-0.12, Z:-3.06 [[ 9.99827646e-01 1.72681222e-02 -6.81844250e-03 3.19533876e+01] [-1.70245865e-02 9.99266880e-01 3.42908890e-02 -1.15088545e-01] [ 7.40558303e-03 -3.41688976e-02 9.99388635e-01 -3.06329815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.931193817 meters Centerline goodness : 0.949946 Centerline is valid? [True, False] Translation: X:31.97, Y:-0.12, Z:-3.06 [[ 9.99891755e-01 1.40097903e-02 -4.49484498e-03 3.19723979e+01] [-1.38547273e-02 9.99364257e-01 3.28500994e-02 -1.17627482e-01] [ 4.95221041e-03 -3.27842687e-02 9.99450183e-01 -3.06316743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters Centerline goodness : 0.949561 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.12, Z:-3.06 [[ 9.99900336e-01 1.38520562e-02 -2.72738103e-03 3.19921444e+01] [-1.37395415e-02 9.99195734e-01 3.76710717e-02 -1.22543254e-01] [ 3.24700930e-03 -3.76298443e-02 9.99286471e-01 -3.06439494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.991193817 meters Centerline goodness : 0.951068 Centerline is valid? [False, True] Translation: X:31.99, Y:-0.12, Z:-3.06 [[ 9.99901676e-01 1.35925138e-02 -3.44709197e-03 3.19939316e+01] [-1.34512807e-02 9.99182221e-01 3.81307188e-02 -1.24294710e-01] [ 3.96256533e-03 -3.80806018e-02 9.99266814e-01 -3.06466827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters Centerline goodness : 0.946810 Centerline is valid? [True, False] Translation: X:32.01, Y:-0.13, Z:-3.06 [[ 9.99884078e-01 1.21752800e-02 -9.14296290e-03 3.20056046e+01] [-1.17668119e-02 9.98985279e-01 4.34736143e-02 -1.29852641e-01] [ 9.66298876e-03 -4.33609913e-02 9.99012738e-01 -3.06482410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.051193817 meters Centerline goodness : 0.944464 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.13, Z:-3.07 [[ 9.99871042e-01 1.26327660e-02 -9.91529399e-03 3.20083464e+01] [-1.21856488e-02 9.98960395e-01 4.39276520e-02 -1.30951442e-01] [ 1.04599138e-02 -4.38011629e-02 9.98985510e-01 -3.06643460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters Centerline goodness : 0.941080 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.13, Z:-3.07 [[ 9.99856598e-01 1.34148485e-02 -1.03356282e-02 3.20103692e+01] [-1.29325871e-02 9.98885491e-01 4.53929867e-02 -1.34073726e-01] [ 1.09330491e-02 -4.52528109e-02 9.98915738e-01 -3.06788022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.111193817 meters Centerline goodness : 0.936841 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.14, Z:-3.07 [[ 9.99875171e-01 1.12443424e-02 -1.10998632e-02 3.20133246e+01] [-1.07563133e-02 9.99013350e-01 4.30886005e-02 -1.37162125e-01] [ 1.15734145e-02 -4.29638282e-02 9.99009592e-01 -3.06978721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters Centerline goodness : 0.939223 Centerline is valid? [False, False] Translation: X:32.01, Y:-0.14, Z:-3.07 [[ 9.99865958e-01 1.14986390e-02 -1.16553567e-02 3.20149557e+01] [-1.09767860e-02 9.98976076e-01 4.38897417e-02 -1.39494002e-01] [ 1.21480948e-02 -4.37559203e-02 9.98968390e-01 -3.07051122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.171193817 meters Centerline goodness : 0.935101 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.14, Z:-3.07 [[ 9.99863996e-01 1.14636725e-02 -1.18563942e-02 3.20154168e+01] [-1.09267631e-02 9.98954143e-01 4.43985025e-02 -1.41173423e-01] [ 1.23529640e-02 -4.42629121e-02 9.98943541e-01 -3.07049963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters Centerline goodness : 0.934966 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.14, Z:-3.07 [[ 9.99897565e-01 7.70573824e-03 -1.20615498e-02 3.20155369e+01] [-7.21511452e-03 9.99165412e-01 4.02047570e-02 -1.40421427e-01] [ 1.23612907e-02 -4.01136131e-02 9.99118660e-01 -3.07019228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.231193817 meters Centerline goodness : 0.934712 Centerline is valid? [False, False] Translation: X:32.02, Y:-0.14, Z:-3.07 [[ 9.99900433e-01 7.42696677e-03 -1.19985245e-02 3.20150174e+01] [-6.93121574e-03 9.99141503e-01 4.08437829e-02 -1.42998330e-01] [ 1.22915693e-02 -4.07565518e-02 9.99093500e-01 -3.06963071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters Centerline goodness : 0.935099 Centerline is valid? [False, False] Translation: X:31.98, Y:-0.15, Z:-3.07 [[ 9.99940348e-01 1.94362597e-03 -1.07481245e-02 3.19840918e+01] [-1.43500902e-03 9.98887813e-01 4.71283041e-02 -1.49515607e-01] [ 1.08277704e-02 -4.71100692e-02 9.98831017e-01 -3.07013044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.291193817 meters Centerline goodness : 0.935626 Centerline is valid? [False, False] Translation: X:31.96, Y:-0.15, Z:-3.07 [[ 9.99948165e-01 -1.35300926e-03 -1.00914654e-02 3.19616914e+01] [ 1.78044065e-03 9.99096252e-01 4.24677545e-02 -1.49657781e-01] [ 1.00248860e-02 -4.24835204e-02 9.99046872e-01 -3.06943936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters Centerline goodness : 0.936366 Centerline is valid? [False, False] Translation: X:31.92, Y:-0.15, Z:-3.07 [[ 9.99936443e-01 -3.21199091e-03 -1.08070687e-02 3.19201430e+01] [ 3.63919420e-03 9.99203212e-01 3.97453999e-02 -1.50151946e-01] [ 1.06707959e-02 -3.97822029e-02 9.99151395e-01 -3.06890005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.351193817 meters Centerline goodness : 0.933759 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99914995e-01 -5.02726300e-03 -1.20303747e-02 3.18802845e+01] [ 5.46794164e-03 9.99304652e-01 3.68824367e-02 -1.51038893e-01] [ 1.18365917e-02 -3.69450829e-02 9.99247195e-01 -3.06904100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters Centerline goodness : 0.935424 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99849900e-01 -1.21532027e-02 -1.23481758e-02 3.18812655e+01] [ 1.25181787e-02 9.99473823e-01 2.99227800e-02 -1.52942978e-01] [ 1.19780208e-02 -3.00728652e-02 9.99475938e-01 -3.06920173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.411193817 meters Centerline goodness : 0.937122 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99795197e-01 -1.57909837e-02 -1.26573621e-02 3.18820320e+01] [ 1.61180471e-02 9.99527602e-01 2.61683304e-02 -1.52937836e-01] [ 1.22381591e-02 -2.63669830e-02 9.99577416e-01 -3.06923363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters Centerline goodness : 0.936789 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99724696e-01 -1.95608516e-02 -1.29578576e-02 3.18828165e+01] [ 1.98451114e-02 9.99556912e-01 2.21844997e-02 -1.52499286e-01] [ 1.25181685e-02 -2.24355424e-02 9.99669916e-01 -3.06927293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.471193817 meters Centerline goodness : 0.936013 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99641124e-01 -2.32332168e-02 -1.33357154e-02 3.18838231e+01] [ 2.34766046e-02 9.99555155e-01 1.83940455e-02 -1.52614602e-01] [ 1.29024302e-02 -1.87005216e-02 9.99741876e-01 -3.06937379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.501193817 meters Centerline goodness : 0.937162 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99532018e-01 -2.75973732e-02 -1.31958300e-02 3.18833609e+01] [ 2.77893605e-02 9.99507261e-01 1.45940563e-02 -1.54282883e-01] [ 1.27865703e-02 -1.49539303e-02 9.99806423e-01 -3.06880096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53119381700003 meters Centerline goodness : 0.936300 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99414307e-01 -3.14853261e-02 -1.34059002e-02 3.18841638e+01] [ 3.16260265e-02 9.99445497e-01 1.04160119e-02 -1.53166052e-01] [ 1.30705150e-02 -1.08338867e-02 9.99855884e-01 -3.06897972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.561193817 meters Centerline goodness : 0.934944 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99395864e-01 -3.20372181e-02 -1.34730661e-02 3.18841784e+01] [ 3.21767106e-02 9.99429458e-01 1.02673011e-02 -1.53747997e-01] [ 1.31364434e-02 -1.06946172e-02 9.99856519e-01 -3.06880104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.591193817 meters Centerline goodness : 0.936477 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99373737e-01 -3.26482984e-02 -1.36463225e-02 3.18843355e+01] [ 3.27855312e-02 9.99412815e-01 9.95660127e-03 -1.53728398e-01] [ 1.33132435e-02 -1.03977677e-02 9.99857312e-01 -3.06857348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.621193817 meters Centerline goodness : 0.938983 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99303671e-01 -3.49378700e-02 -1.30964779e-02 3.18815849e+01] [ 3.50437478e-02 9.99354206e-01 7.94400618e-03 -1.52341627e-01] [ 1.28104736e-02 -8.39742421e-03 9.99882681e-01 -3.06638182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.651193817 meters Centerline goodness : 0.942030 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99283602e-01 -3.55040113e-02 -1.31052285e-02 3.18812241e+01] [ 3.56031467e-02 9.99338533e-01 7.41033827e-03 -1.51482408e-01] [ 1.28334631e-02 -7.87161689e-03 9.99886664e-01 -3.06585507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.681193817 meters Centerline goodness : 0.940061 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99267222e-01 -3.60284147e-02 -1.29218036e-02 3.18804831e+01] [ 3.61187961e-02 9.99324159e-01 6.83060990e-03 -1.50449996e-01] [ 1.26669745e-02 -7.29232456e-03 9.99893179e-01 -3.06530728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.711193817 meters Centerline goodness : 0.940061 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99267222e-01 -3.60284147e-02 -1.29218036e-02 3.18804831e+01] [ 3.61187961e-02 9.99324159e-01 6.83060990e-03 -1.50449996e-01] [ 1.26669745e-02 -7.29232456e-03 9.99893179e-01 -3.06530728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.741193817 meters Centerline goodness : 0.939670 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.15, Z:-3.07 [[ 9.99254944e-01 -3.63723956e-02 -1.29075538e-02 3.18803453e+01] [ 3.64547452e-02 9.99316053e-01 6.20299935e-03 -1.48743463e-01] [ 1.26731078e-02 -6.66891936e-03 9.99897454e-01 -3.06516035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.771193817 meters Centerline goodness : 0.941622 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.14, Z:-3.07 [[ 9.99217368e-01 -3.74273123e-02 -1.28003291e-02 3.18805983e+01] [ 3.74840196e-02 9.99288320e-01 4.21921943e-03 -1.43124487e-01] [ 1.26333053e-02 -4.69572512e-03 9.99909171e-01 -3.06578143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.801193817 meters Centerline goodness : 0.941841 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.14, Z:-3.07 [[ 9.99191544e-01 -3.80195634e-02 -1.30679455e-02 3.18813905e+01] [ 3.80619018e-02 9.99270860e-01 3.00649087e-03 -1.39606088e-01] [ 1.29441116e-02 -3.50145111e-03 9.99910091e-01 -3.06615900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.831193817 meters Centerline goodness : 0.942281 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.14, Z:-3.07 [[ 9.99173947e-01 -3.83931287e-02 -1.33188167e-02 3.18821759e+01] [ 3.84217523e-02 9.99259806e-01 1.89983424e-03 -1.36097504e-01] [ 1.32360176e-02 -2.40999715e-03 9.99909496e-01 -3.06654015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.861193817 meters Centerline goodness : 0.940951 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.13, Z:-3.07 [[ 9.99272800e-01 -3.57027267e-02 -1.33860322e-02 3.18823343e+01] [ 3.57676381e-02 9.99349355e-01 4.64148417e-03 -1.34398524e-01] [ 1.32116090e-02 -5.11689564e-03 9.99899630e-01 -3.06693191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.891193817 meters Centerline goodness : 0.941634 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.12, Z:-3.07 [[ 9.99335707e-01 -3.38981247e-02 -1.33814266e-02 3.18828458e+01] [ 3.39641850e-02 9.99411807e-01 4.74065845e-03 -1.24604885e-01] [ 1.32128563e-02 -5.19199851e-03 9.99899227e-01 -3.06786139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.921193817 meters Centerline goodness : 0.943407 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.12, Z:-3.07 [[ 9.99414722e-01 -3.14248513e-02 -1.35163339e-02 3.18828244e+01] [ 3.15153624e-02 9.99481895e-01 6.53633178e-03 -1.19337167e-01] [ 1.33039278e-02 -6.95847838e-03 9.99887286e-01 -3.06783292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.951193817 meters Centerline goodness : 0.943642 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.11, Z:-3.07 [[ 9.99396886e-01 -3.18824420e-02 -1.37613403e-02 3.18834312e+01] [ 3.19518707e-02 9.99477616e-01 4.85511417e-03 -1.11730569e-01] [ 1.35993587e-02 -5.29188655e-03 9.99893521e-01 -3.06796082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.981193817 meters Centerline goodness : 0.942420 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.11, Z:-3.07 [[ 9.99484630e-01 -2.88941658e-02 -1.39857651e-02 3.18833954e+01] [ 2.89968063e-02 9.99553626e-01 7.19259786e-03 -1.06779401e-01] [ 1.37716981e-02 -7.59443353e-03 9.99876325e-01 -3.06763786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.011193817 meters Centerline goodness : 0.941357 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.10, Z:-3.07 [[ 9.99557502e-01 -2.61423000e-02 -1.41908644e-02 3.18841631e+01] [ 2.62576389e-02 9.99623172e-01 8.00311296e-03 -9.77663403e-02] [ 1.39762971e-02 -8.37219019e-03 9.99867276e-01 -3.06847999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.041193817 meters Centerline goodness : 0.941068 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.09, Z:-3.07 [[ 9.99557696e-01 -2.61224247e-02 -1.42137728e-02 3.18850245e+01] [ 2.62146067e-02 9.99636245e-01 6.33816775e-03 -9.22245997e-02] [ 1.40430341e-02 -6.70797282e-03 9.99878891e-01 -3.06966266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.071193817 meters Centerline goodness : 0.941775 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.09, Z:-3.07 [[ 9.99629126e-01 -2.29178515e-02 -1.47099269e-02 3.18863880e+01] [ 2.30479665e-02 9.99696176e-01 8.73764644e-03 -8.82181346e-02] [ 1.45052096e-02 -9.07343978e-03 9.99853625e-01 -3.07061841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.101193817 meters Centerline goodness : 0.938573 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.08, Z:-3.07 [[ 9.99693321e-01 -1.97224927e-02 -1.49762503e-02 3.18867415e+01] [ 1.98864669e-02 9.99743043e-01 1.08801072e-02 -8.34808094e-02] [ 1.47578192e-02 -1.11745952e-02 9.99828653e-01 -3.07087193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.131193817 meters Centerline goodness : 0.939356 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.08, Z:-3.07 [[ 9.99747850e-01 -1.65138222e-02 -1.52161319e-02 3.18867240e+01] [ 1.67078843e-02 9.99779550e-01 1.27160903e-02 -7.80585601e-02] [ 1.50027863e-02 -1.29671133e-02 9.99803366e-01 -3.07083034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.161193817 meters Centerline goodness : 0.940153 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.07, Z:-3.07 [[ 9.99839103e-01 -9.52479334e-03 -1.52001817e-02 3.18859055e+01] [ 9.78565417e-03 9.99804515e-01 1.71806050e-02 -6.74935733e-02] [ 1.50335685e-02 -1.73265844e-02 9.99736856e-01 -3.06980604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.191193817 meters Centerline goodness : 0.941878 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.06, Z:-3.07 [[ 9.99864649e-01 -6.19236704e-03 -1.52426240e-02 3.18854833e+01] [ 6.48537601e-03 9.99793682e-01 1.92492291e-02 -6.19379320e-02] [ 1.51202808e-02 -1.93454778e-02 9.99698519e-01 -3.06918847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.221193817 meters Centerline goodness : 0.940410 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.06, Z:-3.07 [[ 9.99880492e-01 7.37241167e-04 -1.54420929e-02 3.18855109e+01] [-3.54702803e-04 9.99693348e-01 2.47605476e-02 -5.50672856e-02] [ 1.54556121e-02 -2.47521111e-02 9.99574138e-01 -3.06876939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.251193817 meters Centerline goodness : 0.940805 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.05, Z:-3.07 [[ 9.99870056e-01 4.12480592e-03 -1.55839014e-02 3.18856231e+01] [-3.69030367e-03 9.99606468e-01 2.78080908e-02 -5.32656482e-02] [ 1.56924716e-02 -2.77469679e-02 9.99491797e-01 -3.06859092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28119381700003 meters Centerline goodness : 0.940501 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.05, Z:-3.07 [[ 9.99851498e-01 7.21187789e-03 -1.56515537e-02 3.18852944e+01] [-6.72933502e-03 9.99507003e-01 3.06670360e-02 -5.17546958e-02] [ 1.58650045e-02 -3.05571573e-02 9.99407105e-01 -3.06812999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.311193817 meters Centerline goodness : 0.941047 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.05, Z:-3.07 [[ 9.99829618e-01 1.00411338e-02 -1.54890678e-02 3.18843083e+01] [-9.51732929e-03 9.99392445e-01 3.35285221e-02 -5.04753798e-02] [ 1.58163217e-02 -3.33753948e-02 9.99317731e-01 -3.06734468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.341193817 meters Centerline goodness : 0.939097 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.05, Z:-3.07 [[ 9.99798280e-01 1.27731853e-02 -1.54998646e-02 3.18841173e+01] [-1.22131860e-02 9.99287871e-01 3.57013936e-02 -4.66323281e-02] [ 1.59448473e-02 -3.55048892e-02 9.99242295e-01 -3.06719442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.371193817 meters Centerline goodness : 0.938437 Centerline is valid? [False, False] Translation: X:31.88, Y:-0.04, Z:-3.07 [[ 9.99798598e-01 1.23683386e-02 -1.58047018e-02 3.18847573e+01] [-1.18153555e-02 9.99330861e-01 3.46154347e-02 -4.37845266e-02] [ 1.62222617e-02 -3.44217249e-02 9.99275729e-01 -3.06733263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.401193817 meters Centerline goodness : 0.940512 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.04, Z:-3.07 [[ 9.99791293e-01 1.23182302e-02 -1.62982281e-02 3.18859802e+01] [-1.17664471e-02 9.99368486e-01 3.35287820e-02 -4.07489183e-02] [ 1.67009508e-02 -3.33300121e-02 9.99304853e-01 -3.06784575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.431193817 meters Centerline goodness : 0.937774 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.04, Z:-3.07 [[ 9.99790996e-01 1.19421048e-02 -1.65936763e-02 3.18865616e+01] [-1.13957045e-02 9.99402156e-01 3.26415059e-02 -3.88583990e-02] [ 1.69735642e-02 -3.24455871e-02 9.99329366e-01 -3.06802343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.461193817 meters Centerline goodness : 0.937438 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.04, Z:-3.07 [[ 9.99786714e-01 1.16491397e-02 -1.70535678e-02 3.18877049e+01] [-1.11009220e-02 9.99429546e-01 3.18959663e-02 -3.71860856e-02] [ 1.74154001e-02 -3.16998530e-02 9.99345698e-01 -3.06847011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.491193817 meters Centerline goodness : 0.941199 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.04, Z:-3.07 [[ 9.99781239e-01 1.13089270e-02 -1.75949515e-02 3.18886000e+01] [-1.07584415e-02 9.99459224e-01 3.10727488e-02 -3.50258081e-02] [ 1.79368360e-02 -3.08766570e-02 9.99362248e-01 -3.06838422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.521193817 meters Centerline goodness : 0.938617 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.03, Z:-3.07 [[ 9.99793744e-01 1.03381792e-02 -1.74811955e-02 3.18881090e+01] [-9.81559901e-03 9.99510070e-01 2.97199210e-02 -3.26230603e-02] [ 1.77798808e-02 -2.95422027e-02 9.99405390e-01 -3.06809366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.551193817 meters Centerline goodness : 0.940095 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.03, Z:-3.07 [[ 9.99789789e-01 1.00005459e-02 -1.78987806e-02 3.18890830e+01] [-9.47900830e-03 9.99534769e-01 2.89895520e-02 -3.08902795e-02] [ 1.81803648e-02 -2.88137954e-02 9.99419451e-01 -3.06832956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.581193817 meters Centerline goodness : 0.940321 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.03, Z:-3.07 [[ 9.99789116e-01 9.39789007e-03 -1.82593436e-02 3.18896891e+01] [-8.88192029e-03 9.99564634e-01 2.81363516e-02 -2.90087183e-02] [ 1.85158165e-02 -2.79682400e-02 9.99437313e-01 -3.06830902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.611193817 meters Centerline goodness : 0.941301 Centerline is valid? [False, False] Translation: X:31.89, Y:-0.03, Z:-3.07 [[ 9.99798263e-01 8.53883802e-03 -1.81802352e-02 3.18893771e+01] [-8.04316164e-03 9.99598597e-01 2.71652957e-02 -2.74316183e-02] [ 1.84048976e-02 -2.70135889e-02 9.99465620e-01 -3.06815683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.641193817 meters Centerline goodness : 0.940217 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.03, Z:-3.07 [[ 9.99833233e-01 4.00162363e-04 -1.82577835e-02 3.18680470e+01] [ 2.74870645e-04 9.99316898e-01 3.69548591e-02 -2.54860813e-02] [ 1.82600995e-02 -3.69537148e-02 9.99150135e-01 -3.07035052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.671193817 meters Centerline goodness : 0.937699 Centerline is valid? [False, False] Translation: X:31.84, Y:-0.02, Z:-3.07 [[ 9.99867538e-01 -2.96480828e-03 -1.60036413e-02 3.18413182e+01] [ 3.53093839e-03 9.99364733e-01 3.54635442e-02 -2.37519131e-02] [ 1.58883321e-02 -3.55153545e-02 9.99242824e-01 -3.07309655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.701193817 meters Centerline goodness : 0.934622 Centerline is valid? [False, False] Translation: X:31.81, Y:-0.02, Z:-3.07 [[ 9.99862730e-01 -6.96130747e-03 -1.50353166e-02 3.18113906e+01] [ 7.50461933e-03 9.99309601e-01 3.63868483e-02 -2.17934267e-02] [ 1.47716362e-02 -3.64946879e-02 9.99224668e-01 -3.07446936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.731193817 meters Centerline goodness : 0.935023 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.02, Z:-3.07 [[ 9.99838801e-01 -7.58294135e-03 -1.62748593e-02 3.17722722e+01] [ 8.07650559e-03 9.99502793e-01 3.04784572e-02 -1.85071304e-02] [ 1.60356510e-02 -3.06049881e-02 9.99402918e-01 -3.07458678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.761193817 meters Centerline goodness : 0.935952 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.02, Z:-3.07 [[ 9.99796894e-01 -1.17083418e-02 -1.64038277e-02 3.17725658e+01] [ 1.21309523e-02 9.99590807e-01 2.59047882e-02 -1.66282230e-02] [ 1.60938132e-02 -2.60985208e-02 9.99529818e-01 -3.07440316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.791193817 meters Centerline goodness : 0.938972 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.01, Z:-3.08 [[ 9.99790870e-01 -1.49053049e-02 -1.40016867e-02 3.17421532e+01] [ 1.52749134e-02 9.99527522e-01 2.66722528e-02 -1.45780039e-02] [ 1.35975132e-02 -2.68805494e-02 9.99546169e-01 -3.07590627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters Centerline goodness : 0.937641 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.01, Z:-3.08 [[ 9.99782707e-01 -1.53790176e-02 -1.40721524e-02 3.17419493e+01] [ 1.57422930e-02 9.99535918e-01 2.60792935e-02 -1.33981199e-02] [ 1.36645478e-02 -2.62951546e-02 9.99560826e-01 -3.07541785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.851193817 meters Centerline goodness : 0.937336 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.01, Z:-3.07 [[ 9.99779223e-01 -1.54567688e-02 -1.42335605e-02 3.17418434e+01] [ 1.58174609e-02 9.99547453e-01 2.55870554e-02 -1.20078180e-02] [ 1.38316260e-02 -2.58065451e-02 9.99571262e-01 -3.07479832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters Centerline goodness : 0.938463 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.01, Z:-3.07 [[ 9.99786175e-01 -1.48996113e-02 -1.43389953e-02 3.17420801e+01] [ 1.52597689e-02 9.99562299e-01 2.53446080e-02 -9.87344947e-03] [ 1.39550943e-02 -2.55579985e-02 9.99575932e-01 -3.07463486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.911193817 meters Centerline goodness : 0.940609 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.00, Z:-3.07 [[ 9.99916990e-01 -5.49425719e-03 -1.16544410e-02 3.17375608e+01] [ 5.67199780e-03 9.99867272e-01 1.52730638e-02 -1.69489392e-03] [ 1.15689800e-02 -1.53378999e-02 9.99815437e-01 -3.07292364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters Centerline goodness : 0.942111 Centerline is valid? [False, False] Translation: X:31.71, Y:0.00, Z:-3.07 [[ 9.99960278e-01 -4.84676188e-04 -8.89988174e-03 3.17140294e+01] [ 6.18899842e-04 9.99886024e-01 1.50849546e-02 1.69150674e-03] [ 8.89155605e-03 -1.50898635e-02 9.99846606e-01 -3.07119285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.971193817 meters Centerline goodness : 0.946407 Centerline is valid? [False, False] Translation: X:31.71, Y:0.00, Z:-3.07 [[ 9.99958336e-01 2.93037559e-03 -8.64514188e-03 3.17125435e+01] [-2.77482647e-03 9.99835033e-01 1.79501178e-02 3.74231137e-03] [ 8.69631631e-03 -1.79253812e-02 9.99801508e-01 -3.06981515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters Centerline goodness : 0.951902 Centerline is valid? [False, True] Translation: X:31.71, Y:0.01, Z:-3.07 [[ 9.99943520e-01 7.33364392e-03 -7.69247171e-03 3.17081222e+01] [-7.16997879e-03 9.99751827e-01 2.10920597e-02 8.28147012e-03] [ 7.84524430e-03 -2.10357135e-02 9.99747944e-01 -3.06630407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03119381700003 meters Centerline goodness : 0.953256 Centerline is valid? [True, True] Translation: X:31.74, Y:0.02, Z:-3.06 [[ 9.99927222e-01 8.36121222e-03 -8.69721541e-03 3.17367753e+01] [-8.35785771e-03 9.99964983e-01 4.21973834e-04 1.79565963e-02] [ 8.70043908e-03 -3.49253035e-04 9.99962089e-01 -3.06192487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.061193817 meters Centerline goodness : 0.952934 Centerline is valid? [True, True] Translation: X:31.77, Y:0.02, Z:-3.06 [[ 9.99930554e-01 7.95264542e-03 -8.69725843e-03 3.17650536e+01] [-7.94928320e-03 9.99968315e-01 4.21085392e-04 1.82345852e-02] [ 8.70033160e-03 -3.51919179e-04 9.99962089e-01 -3.06401544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.091193817 meters Centerline goodness : 0.955801 Centerline is valid? [True, True] Translation: X:31.79, Y:0.02, Z:-3.06 [[ 9.99937319e-01 7.05091464e-03 -8.69730084e-03 3.17936967e+01] [-7.04752599e-03 9.99975078e-01 4.20207485e-04 1.74850782e-02] [ 8.70004693e-03 -3.58886692e-04 9.99962089e-01 -3.06327026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.121193817 meters Centerline goodness : 0.955447 Centerline is valid? [True, True] Translation: X:31.82, Y:0.02, Z:-3.06 [[ 9.99943490e-01 6.11330999e-03 -8.69733338e-03 3.18227603e+01] [-6.10989179e-03 9.99981246e-01 4.19532908e-04 1.66263558e-02] [ 8.69973501e-03 -3.66369435e-04 9.99962089e-01 -3.06289885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.151193817 meters Centerline goodness : 0.953668 Centerline is valid? [True, True] Translation: X:31.85, Y:0.02, Z:-3.06 [[ 9.99947783e-01 5.36528476e-03 -8.69736608e-03 3.18516636e+01] [-5.36184422e-03 9.99985537e-01 4.18853996e-04 1.67798808e-02] [ 8.69948756e-03 -3.72198202e-04 9.99962089e-01 -3.06242398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.181193817 meters Centerline goodness : 0.953405 Centerline is valid? [True, True] Translation: X:31.88, Y:0.02, Z:-3.07 [[ 9.99931606e-01 7.81908518e-03 -8.69739875e-03 3.18797595e+01] [-7.81574320e-03 9.99969369e-01 4.18174455e-04 1.85397575e-02] [ 8.70040208e-03 -3.50169219e-04 9.99962089e-01 -3.06561510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.211193817 meters Centerline goodness : 0.949475 Centerline is valid? [True, False] Translation: X:31.89, Y:0.02, Z:-3.07 [[ 9.99935647e-01 8.61324500e-03 -7.38340462e-03 3.18946767e+01] [-8.52903878e-03 9.99899082e-01 1.13614066e-02 1.71807706e-02] [ 7.48051808e-03 -1.12977021e-02 9.99908198e-01 -3.07011938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.241193817 meters Centerline goodness : 0.947719 Centerline is valid? [False, False] Translation: X:31.91, Y:0.02, Z:-3.07 [[ 9.99924541e-01 8.98632377e-03 -8.37603591e-03 3.19122619e+01] [-8.81692374e-03 9.99760171e-01 2.00464954e-02 1.66030625e-02] [ 8.55417139e-03 -1.99711318e-02 9.99763962e-01 -3.07427070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.271193817 meters Centerline goodness : 0.950092 Centerline is valid? [False, True] Translation: X:31.91, Y:0.02, Z:-3.07 [[ 9.99912965e-01 9.73061239e-03 -8.90943275e-03 3.19139228e+01] [-9.55115963e-03 9.99755005e-01 1.99676123e-02 1.86118728e-02] [ 9.10154708e-03 -1.98807790e-02 9.99760930e-01 -3.07487881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.301193817 meters Centerline goodness : 0.951831 Centerline is valid? [True, True] Translation: X:31.94, Y:0.03, Z:-3.07 [[ 9.99880258e-01 1.20629786e-02 -9.69296826e-03 3.19414579e+01] [-1.20597938e-02 9.99927203e-01 3.86948810e-04 2.75525906e-02] [ 9.69693039e-03 -2.70007277e-04 9.99952947e-01 -3.06916393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.331193817 meters Centerline goodness : 0.951692 Centerline is valid? [True, True] Translation: X:31.97, Y:0.03, Z:-3.07 [[ 9.99877839e-01 1.22618188e-02 -9.69300680e-03 3.19698907e+01] [-1.22586528e-02 9.99924785e-01 3.85980736e-04 2.61015486e-02] [ 9.69701057e-03 -2.67110380e-04 9.99952947e-01 -3.06671790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.361193817 meters Centerline goodness : 0.951861 Centerline is valid? [True, True] Translation: X:32.00, Y:0.02, Z:-3.07 [[ 9.99874837e-01 1.25041880e-02 -9.69303728e-03 3.19986642e+01] [-1.25010407e-02 9.99921785e-01 3.85213804e-04 2.40330581e-02] [ 9.69709593e-03 -2.63992536e-04 9.99952947e-01 -3.06696345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.391193817 meters Centerline goodness : 0.952374 Centerline is valid? [True, True] Translation: X:32.03, Y:0.02, Z:-3.07 [[ 9.99868856e-01 1.29736413e-02 -9.69306763e-03 3.20279575e+01] [-1.29705235e-02 9.99915805e-01 3.84448740e-04 2.25437367e-02] [ 9.69723922e-03 -2.58674160e-04 9.99952947e-01 -3.06705882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.421193817 meters Centerline goodness : 0.946529 Centerline is valid? [True, False] Translation: X:32.03, Y:0.02, Z:-3.07 [[ 9.99822904e-01 1.56141318e-02 -1.05051878e-02 3.20327400e+01] [-1.55810961e-02 9.99873425e-01 3.21923352e-03 2.00051013e-02] [ 1.05541236e-02 -3.05498106e-03 9.99939637e-01 -3.07098456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.451193817 meters Centerline goodness : 0.944202 Centerline is valid? [False, False] Translation: X:32.03, Y:0.02, Z:-3.07 [[ 9.99809586e-01 1.61699421e-02 -1.09236152e-02 3.20342940e+01] [-1.61284026e-02 9.99862400e-01 3.88017307e-03 1.87033198e-02] [ 1.09848543e-02 -3.70325377e-03 9.99932807e-01 -3.07192756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.481193817 meters Centerline goodness : 0.945044 Centerline is valid? [False, False] Translation: X:32.04, Y:0.02, Z:-3.07 [[ 9.99791868e-01 1.69343238e-02 -1.13775383e-02 3.20357203e+01] [-1.68801064e-02 9.99845784e-01 4.84456292e-03 1.69291899e-02] [ 1.14578231e-02 -4.65150055e-03 9.99923538e-01 -3.07259040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.511193817 meters Centerline goodness : 0.943246 Centerline is valid? [False, False] Translation: X:32.04, Y:0.01, Z:-3.07 [[ 9.99775906e-01 1.75638811e-02 -1.18172561e-02 3.20366502e+01] [-1.74978445e-02 9.99830832e-01 5.66852710e-03 1.49390069e-02] [ 1.19148183e-02 -5.46048031e-03 9.99914106e-01 -3.07262166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.541193817 meters Centerline goodness : 0.943888 Centerline is valid? [False, False] Translation: X:32.05, Y:0.01, Z:-3.07 [[ 9.99806999e-01 1.74987722e-02 -8.93066817e-03 3.20546382e+01] [-1.73939802e-02 9.99780492e-01 1.16797476e-02 6.86427451e-03] [ 9.13308907e-03 -1.15221536e-02 9.99891907e-01 -3.07393434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.571193817 meters Centerline goodness : 0.944135 Centerline is valid? [False, False] Translation: X:32.06, Y:0.01, Z:-3.07 [[ 9.99854704e-01 1.42574110e-02 -9.34333322e-03 3.20551511e+01] [-1.41817352e-02 9.99866494e-01 8.11625300e-03 6.01377573e-03] [ 9.45780258e-03 -7.98256906e-03 9.99923411e-01 -3.07343565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.601193817 meters Centerline goodness : 0.943297 Centerline is valid? [False, False] Translation: X:32.06, Y:0.00, Z:-3.07 [[ 9.99844954e-01 1.47892034e-02 -9.55757695e-03 3.20553818e+01] [-1.46998423e-02 9.99848203e-01 9.35334180e-03 1.95597335e-03] [ 9.69445462e-03 -9.21139673e-03 9.99910580e-01 -3.07318776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.631193817 meters Centerline goodness : 0.943297 Centerline is valid? [False, False] Translation: X:32.06, Y:0.00, Z:-3.07 [[ 9.99844954e-01 1.47892034e-02 -9.55757695e-03 3.20553818e+01] [-1.46998423e-02 9.99848203e-01 9.35334180e-03 1.95597335e-03] [ 9.69445462e-03 -9.21139673e-03 9.99910580e-01 -3.07318776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.661193817 meters Centerline goodness : 0.941359 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.00, Z:-3.07 [[ 9.99865347e-01 1.27545229e-02 -1.03252229e-02 3.20574221e+01] [-1.26814272e-02 9.99894280e-01 7.11412828e-03 -1.79574498e-04] [ 1.04148686e-02 -6.98223178e-03 9.99921386e-01 -3.07364105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.691193817 meters Centerline goodness : 0.945392 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.00, Z:-3.07 [[ 9.99892750e-01 1.00792541e-02 -1.06252898e-02 3.20578553e+01] [-1.00367297e-02 9.99941437e-01 4.04794203e-03 -1.29214190e-03] [ 1.06654677e-02 -3.94086472e-03 9.99935357e-01 -3.07320197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.721193817 meters Centerline goodness : 0.944835 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.01, Z:-3.07 [[ 9.99871978e-01 1.17398875e-02 -1.08720975e-02 3.20581185e+01] [-1.16677017e-02 9.99909621e-01 6.67934059e-03 -8.50154826e-03] [ 1.09495296e-02 -6.55163310e-03 9.99918589e-01 -3.07288165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.751193817 meters Centerline goodness : 0.944699 Centerline is valid? [False, False] Translation: X:32.06, Y:-0.01, Z:-3.07 [[ 9.99893971e-01 9.25182902e-03 -1.12450499e-02 3.20592275e+01] [-9.20896738e-03 9.99950156e-01 3.85742334e-03 -1.02919236e-02] [ 1.12801776e-02 -3.75345904e-03 9.99929332e-01 -3.07317838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78119381700003 meters Centerline goodness : 0.946716 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.02, Z:-3.08 [[ 9.99914791e-01 1.04488858e-02 -7.82503180e-03 3.20767067e+01] [-1.03548731e-02 9.99874860e-01 1.19600092e-02 -1.76420987e-02] [ 7.94902134e-03 -1.18779629e-02 9.99897858e-01 -3.07615105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.811193817 meters Centerline goodness : 0.942316 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.02, Z:-3.08 [[ 9.99934367e-01 7.86102411e-03 -8.33465595e-03 3.20781888e+01] [-7.78491571e-03 9.99928062e-01 9.12501253e-03 -1.94845203e-02] [ 8.40578832e-03 -9.05952903e-03 9.99923631e-01 -3.07667066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters Centerline goodness : 0.939542 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.03, Z:-3.08 [[ 9.99961596e-01 6.42391719e-03 -5.96149790e-03 3.20969834e+01] [-6.33388571e-03 9.99867431e-01 1.50001077e-02 -3.12024200e-02] [ 6.05706703e-03 -1.49617722e-02 9.99869720e-01 -3.07999663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.871193817 meters Centerline goodness : 0.943340 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.04, Z:-3.08 [[ 9.99972193e-01 3.77551934e-03 -6.43104964e-03 3.20982662e+01] [-3.69323953e-03 9.99911789e-01 1.27583305e-02 -3.52553588e-02] [ 6.47865168e-03 -1.27342243e-02 9.99897928e-01 -3.08034275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters Centerline goodness : 0.940944 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.04, Z:-3.08 [[ 9.99975110e-01 1.12376749e-03 -6.96543461e-03 3.20994763e+01] [-1.05130565e-03 9.99945387e-01 1.03980060e-02 -3.89080826e-02] [ 6.97673914e-03 -1.03904244e-02 9.99921679e-01 -3.08040340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.931193817 meters Centerline goodness : 0.941278 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.04, Z:-3.08 [[ 9.99971023e-01 -1.21873165e-03 -7.51452153e-03 3.21008925e+01] [ 1.28050918e-03 9.99965381e-01 8.22176314e-03 -4.23444414e-02] [ 7.50424126e-03 -8.23114731e-03 9.99937965e-01 -3.08062220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters Centerline goodness : 0.940034 Centerline is valid? [False, False] Translation: X:32.10, Y:-0.05, Z:-3.08 [[ 9.99961894e-01 -3.25955860e-03 -8.09850669e-03 3.21027375e+01] [ 3.31128547e-03 9.99974152e-01 6.38203370e-03 -4.60116543e-02] [ 8.07749475e-03 -6.40860698e-03 9.99946841e-01 -3.08127986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.991193817 meters Centerline goodness : 0.936141 Centerline is valid? [False, False] Translation: X:32.12, Y:-0.06, Z:-3.08 [[ 9.99978907e-01 -2.14173152e-03 -6.13177344e-03 3.21226369e+01] [ 2.23495143e-03 9.99881420e-01 1.52364953e-02 -6.03439482e-02] [ 6.09841385e-03 -1.52498781e-02 9.99865116e-01 -3.08478507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters Centerline goodness : 0.934564 Centerline is valid? [False, False] Translation: X:32.14, Y:-0.07, Z:-3.09 [[ 9.99979592e-01 -3.88881009e-03 -5.06878710e-03 3.21430361e+01] [ 3.97705821e-03 9.99838640e-01 1.75178896e-02 -6.67121374e-02] [ 4.99984546e-03 -1.75376910e-02 9.99833702e-01 -3.08584210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.051193817 meters Centerline goodness : 0.933185 Centerline is valid? [False, False] Translation: X:32.16, Y:-0.07, Z:-3.09 [[ 9.99972115e-01 -6.68014227e-03 -3.33854598e-03 3.21634717e+01] [ 6.74021041e-03 9.99809507e-01 1.83171684e-02 -7.30157107e-02] [ 3.21554872e-03 -1.83391601e-02 9.99826653e-01 -3.08704644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters Centerline goodness : 0.934817 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.08, Z:-3.09 [[ 9.99962335e-01 -8.65442681e-03 -6.55493994e-04 3.21815546e+01] [ 8.66641581e-03 9.99736060e-01 2.12768197e-02 -8.06604661e-02] [ 4.71182304e-04 -2.12816991e-02 9.99773408e-01 -3.08746072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.111193817 meters Centerline goodness : 0.933415 Centerline is valid? [False, False] Translation: X:32.21, Y:-0.10, Z:-3.08 [[ 9.99793938e-01 -2.02573695e-02 1.31182289e-03 3.22149074e+01] [ 2.01520985e-02 9.98226165e-01 5.60215688e-02 -1.01909861e-01] [-2.44434555e-03 -5.59835889e-02 9.98428697e-01 -3.08383722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.141193817 meters Centerline goodness : 0.933854 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.11, Z:-3.08 [[ 9.99633216e-01 -2.70623535e-02 1.03102538e-03 3.22281622e+01] [ 2.69355346e-02 9.97460594e-01 6.59305744e-02 -1.08685411e-01] [-2.81264370e-03 -6.58786209e-02 9.97823680e-01 -3.08266484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.171193817 meters Centerline goodness : 0.933516 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.11, Z:-3.08 [[ 9.99394943e-01 -3.47692192e-02 9.21939886e-04 3.22287882e+01] [ 3.46530770e-02 9.97631935e-01 5.94111661e-02 -1.12614207e-01] [-2.98543653e-03 -5.93432709e-02 9.98233171e-01 -3.08185061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters Centerline goodness : 0.932050 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.11, Z:-3.08 [[ 9.98850046e-01 -4.75290858e-02 6.29052135e-03 3.22323445e+01] [ 4.72965927e-02 9.98334837e-01 3.30240246e-02 -1.13554169e-01] [-7.84964830e-03 -3.26885283e-02 9.99434762e-01 -3.08192091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.231193817 meters Centerline goodness : 0.934601 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.12, Z:-3.08 [[ 9.98654033e-01 -5.14935307e-02 6.20799231e-03 3.22326822e+01] [ 5.12875066e-02 9.98241579e-01 2.97210489e-02 -1.16176253e-01] [-7.72751779e-03 -2.93626529e-02 9.99538954e-01 -3.08147901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters Centerline goodness : 0.932973 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.12, Z:-3.08 [[ 9.98468366e-01 -5.49968565e-02 6.02230312e-03 3.22336816e+01] [ 5.48183702e-02 9.98141722e-01 2.66091856e-02 -1.18620871e-01] [-7.47453357e-03 -2.62382972e-02 9.99627772e-01 -3.08164310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.291193817 meters Centerline goodness : 0.932725 Centerline is valid? [False, False] Translation: X:32.23, Y:-0.12, Z:-3.08 [[ 9.98285362e-01 -5.82158347e-02 6.10341620e-03 3.22340194e+01] [ 5.80586212e-02 9.98039599e-01 2.33699656e-02 -1.19983665e-01] [-7.45195312e-03 -2.29755386e-02 9.99708254e-01 -3.08161738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters Centerline goodness : 0.932977 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.98155063e-01 -6.04466344e-02 5.71613627e-03 3.22358222e+01] [ 6.03158576e-02 9.97962584e-01 2.08009116e-02 -1.20905099e-01] [-6.96183522e-03 -2.04177615e-02 9.99767297e-01 -3.08239492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.351193817 meters Centerline goodness : 0.932918 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.98580838e-01 -5.30736192e-02 4.41595992e-03 3.22362216e+01] [ 5.30250043e-02 9.98538184e-01 1.04806332e-02 -1.20631609e-01] [-4.96574974e-03 -1.02316032e-02 9.99935326e-01 -3.08209643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters Centerline goodness : 0.934190 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.98675584e-01 -5.13139309e-02 3.73611161e-03 3.22385404e+01] [ 5.12675971e-02 9.98617696e-01 1.15901203e-02 -1.19720018e-01] [-4.32568180e-03 -1.13832287e-02 9.99925853e-01 -3.08340709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.411193817 meters Centerline goodness : 0.931601 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.99086177e-01 -4.26849434e-02 2.19235394e-03 3.22370355e+01] [ 4.26742028e-02 9.99077834e-01 4.73218057e-03 -1.18192122e-01] [-2.39232509e-03 -4.63429924e-03 9.99986400e-01 -3.08330524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters Centerline goodness : 0.932783 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.99262951e-01 -3.83360404e-02 1.97556027e-03 3.22369880e+01] [ 3.83172748e-02 9.99226936e-01 8.79303486e-03 -1.17477300e-01] [-2.31112317e-03 -8.71085588e-03 9.99959389e-01 -3.08308818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.471193817 meters Centerline goodness : 0.932270 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.99420958e-01 -3.39875249e-02 1.61151924e-03 3.22371935e+01] [ 3.39639391e-02 9.99339643e-01 1.29123438e-02 -1.16886328e-01] [-2.04931367e-03 -1.28501335e-02 9.99915334e-01 -3.08278928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters Centerline goodness : 0.928552 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99740879e-01 -2.27245052e-02 -1.33087911e-03 3.22368946e+01] [ 2.27325660e-02 9.99721147e-01 6.39206149e-03 -1.14931510e-01] [ 1.18525155e-03 -6.42065947e-03 9.99978685e-01 -3.08178595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53119381700003 meters Centerline goodness : 0.929794 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99758006e-01 -2.19559542e-02 -1.36608433e-03 3.22370663e+01] [ 2.19642553e-02 9.99738327e-01 6.39138365e-03 -1.13784707e-01] [ 1.22539794e-03 -6.41984199e-03 9.99978642e-01 -3.08208803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.561193817 meters Centerline goodness : 0.928960 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99771076e-01 -2.13316319e-02 -1.66066326e-03 3.22379545e+01] [ 2.13415894e-02 9.99752838e-01 6.22898385e-03 -1.12091014e-01] [ 1.52737841e-03 -6.26299907e-03 9.99979221e-01 -3.08272532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.591193817 meters Centerline goodness : 0.930679 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99846716e-01 -1.73864033e-02 -2.06320722e-03 3.22387832e+01] [ 1.74064344e-02 9.99797238e-01 1.01241964e-02 -1.11232616e-01] [ 1.88676551e-03 -1.01585576e-02 9.99946620e-01 -3.08309182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.621193817 meters Centerline goodness : 0.930577 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99851202e-01 -1.70778238e-02 -2.43334202e-03 3.22397095e+01] [ 1.71025333e-02 9.99798354e-01 1.05239654e-02 -1.11782972e-01] [ 2.25312492e-03 -1.05640158e-02 9.99941661e-01 -3.08331761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.651193817 meters Centerline goodness : 0.929089 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.11, Z:-3.08 [[ 9.99858517e-01 -1.65916331e-02 -2.76832962e-03 3.22406001e+01] [ 1.66229176e-02 9.99793503e-01 1.16889125e-02 -1.14142215e-01] [ 2.57381981e-03 -1.17332765e-02 9.99927850e-01 -3.08348636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.681193817 meters Centerline goodness : 0.927589 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.08 [[ 9.99859054e-01 -1.65118172e-02 -3.03845814e-03 3.22415510e+01] [ 1.65481802e-02 9.99786681e-01 1.23591843e-02 -1.16306253e-01] [ 2.83373738e-03 -1.24077233e-02 9.99919006e-01 -3.08391822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.711193817 meters Centerline goodness : 0.926588 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.09 [[ 9.99847863e-01 -1.71333572e-02 -3.27102123e-03 3.22432397e+01] [ 1.71713165e-02 9.99781117e-01 1.19525619e-02 -1.17547420e-01] [ 3.06551774e-03 -1.20069112e-02 9.99923215e-01 -3.08527095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.741193817 meters Centerline goodness : 0.927204 Centerline is valid? [False, False] Translation: X:32.24, Y:-0.12, Z:-3.09 [[ 9.99858465e-01 -1.64046687e-02 -3.73327605e-03 3.22442587e+01] [ 1.64559425e-02 9.99764532e-01 1.41450689e-02 -1.22752043e-01] [ 3.50035181e-03 -1.42045015e-02 9.99892984e-01 -3.08500714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.771193817 meters Centerline goodness : 0.925947 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.13, Z:-3.09 [[ 9.99834311e-01 -1.76914530e-02 -4.28521549e-03 3.22461018e+01] [ 1.77448305e-02 9.99761173e-01 1.27560851e-02 -1.25129967e-01] [ 4.05851839e-03 -1.28300120e-02 9.99909456e-01 -3.08563045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.801193817 meters Centerline goodness : 0.926184 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.13, Z:-3.08 [[ 9.99844693e-01 -1.70609008e-02 -4.41761277e-03 3.22458392e+01] [ 1.71217925e-02 9.99753509e-01 1.41338541e-02 -1.28730345e-01] [ 4.17538758e-03 -1.42072965e-02 9.99890353e-01 -3.08472238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.831193817 meters Centerline goodness : 0.929135 Centerline is valid? [False, False] Translation: X:32.25, Y:-0.13, Z:-3.08 [[ 9.99852916e-01 -1.67397619e-02 -3.73195907e-03 3.22546824e+01] [ 1.67540427e-02 9.99852310e-01 3.82878063e-03 -1.29911381e-01] [ 3.66731502e-03 -3.89074287e-03 9.99985706e-01 -3.08313111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.861193817 meters Centerline goodness : 0.930932 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.13, Z:-3.08 [[ 9.99819677e-01 -1.84965523e-02 -4.30003054e-03 3.22564089e+01] [ 1.85050335e-02 9.99826883e-01 1.94100310e-03 -1.32466479e-01] [ 4.26338427e-03 -2.02022530e-03 9.99988871e-01 -3.08364330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.891193817 meters Centerline goodness : 0.931133 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.14, Z:-3.08 [[ 9.99787648e-01 -2.00999415e-02 -4.54431342e-03 3.22567690e+01] [ 2.01050099e-02 9.99797299e-01 1.07240422e-03 -1.38796752e-01] [ 4.52183702e-03 -1.16353996e-03 9.99989100e-01 -3.08322163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.921193817 meters Centerline goodness : 0.929424 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.14, Z:-3.08 [[ 9.99785034e-01 -2.01560099e-02 -4.86007611e-03 3.22579360e+01] [ 2.01640735e-02 9.99795379e-01 1.61588579e-03 -1.41735302e-01] [ 4.82651182e-03 -1.71353736e-03 9.99986884e-01 -3.08381303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.951193817 meters Centerline goodness : 0.930922 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.14, Z:-3.08 [[ 9.99789219e-01 -1.98825650e-02 -5.11872736e-03 3.22586252e+01] [ 1.98952288e-02 9.99799105e-01 2.43509820e-03 -1.44384031e-01] [ 5.06928304e-03 -2.53642318e-03 9.99983934e-01 -3.08396502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.981193817 meters Centerline goodness : 0.932569 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.15, Z:-3.09 [[ 9.99753521e-01 -2.14356960e-02 -5.77989531e-03 3.22610545e+01] [ 2.14437369e-02 9.99769168e-01 1.33280703e-03 -1.49304898e-01] [ 5.74999148e-03 -1.45642108e-03 9.99982408e-01 -3.08521890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.011193817 meters Centerline goodness : 0.928557 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.15, Z:-3.09 [[ 9.99760681e-01 -2.09969224e-02 -6.14092320e-03 3.22622464e+01] [ 2.10132631e-02 9.99775794e-01 2.60864007e-03 -1.53701830e-01] [ 6.08477295e-03 -2.73705661e-03 9.99977742e-01 -3.08574609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.041193817 meters Centerline goodness : 0.929628 Centerline is valid? [False, False] Translation: X:32.26, Y:-0.16, Z:-3.09 [[ 9.99701487e-01 -2.34916838e-02 -6.71393534e-03 3.22641859e+01] [ 2.34945777e-02 9.99723902e-01 3.52477167e-04 -1.56970154e-01] [ 6.70380136e-03 -5.10113024e-04 9.99977399e-01 -3.08653095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.071193817 meters Centerline goodness : 0.928592 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.16, Z:-3.09 [[ 9.99636325e-01 -2.59635482e-02 -7.28783636e-03 3.22663207e+01] [ 2.59516278e-02 9.99661711e-01 -1.72549658e-03 -1.60687868e-01] [ 7.33017097e-03 1.53573785e-03 9.99971955e-01 -3.08757772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.101193817 meters Centerline goodness : 0.927467 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.16, Z:-3.09 [[ 9.99575232e-01 -2.80568010e-02 -7.88492246e-03 3.22687246e+01] [ 2.80293631e-02 9.99600729e-01 -3.56903794e-03 -1.63665872e-01] [ 7.98191002e-03 3.34651257e-03 9.99962544e-01 -3.08885435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.131193817 meters Centerline goodness : 0.927599 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.17, Z:-3.09 [[ 9.99596981e-01 -2.71673280e-02 -8.23483560e-03 3.22693499e+01] [ 2.71572797e-02 9.99630289e-01 -1.32961608e-03 -1.70127525e-01] [ 8.26791320e-03 1.10544448e-03 9.99965209e-01 -3.08859122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.161193817 meters Centerline goodness : 0.929006 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.17, Z:-3.09 [[ 9.99608573e-01 -2.65653845e-02 -8.77387475e-03 3.22705272e+01] [ 2.65669944e-02 9.99647033e-01 6.69713714e-05 -1.73798949e-01] [ 8.76899874e-03 -3.00040638e-04 9.99961507e-01 -3.08876487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.191193817 meters Centerline goodness : 0.926052 Centerline is valid? [False, False] Translation: X:32.27, Y:-0.18, Z:-3.09 [[ 9.99597646e-01 -2.66639136e-02 -9.67379735e-03 3.22737007e+01] [ 2.66688011e-02 9.99644253e-01 3.76556987e-04 -1.77377506e-01] [ 9.66031544e-03 -6.34394055e-04 9.99953137e-01 -3.09037751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.221193817 meters Centerline goodness : 0.925525 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.18, Z:-3.09 [[ 9.99589320e-01 -2.67330658e-02 -1.03215287e-02 3.22762784e+01] [ 2.67430546e-02 9.99641995e-01 8.30938327e-04 -1.81118282e-01] [ 1.02956200e-02 -1.10662628e-03 9.99946386e-01 -3.09182430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.251193817 meters Centerline goodness : 0.928994 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.19, Z:-3.09 [[ 9.99589325e-01 -2.63318245e-02 -1.13055520e-02 3.22791989e+01] [ 2.63578679e-02 9.99650236e-01 2.16077943e-03 -1.89732639e-01] [ 1.12447005e-02 -2.45788230e-03 9.99933756e-01 -3.09293643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28119381700003 meters Centerline goodness : 0.928580 Centerline is valid? [False, False] Translation: X:32.28, Y:-0.19, Z:-3.09 [[ 9.99528751e-01 -2.82881438e-02 -1.19187987e-02 3.22810093e+01] [ 2.82956025e-02 9.99599495e-01 4.57591032e-04 -1.93489128e-01] [ 1.19010808e-02 -7.94624983e-04 9.99928864e-01 -3.09341289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.311193817 meters Centerline goodness : 0.928847 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.20, Z:-3.09 [[ 9.99539384e-01 -2.87218951e-02 -9.80164719e-03 3.22916307e+01] [ 2.86175887e-02 9.99534005e-01 -1.06210625e-02 -1.95762030e-01] [ 1.01021367e-02 1.03356707e-02 9.99895555e-01 -3.09456676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.341193817 meters Centerline goodness : 0.930872 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.20, Z:-3.09 [[ 9.99552966e-01 -2.81348033e-02 -1.01144219e-02 3.22920759e+01] [ 2.80486169e-02 9.99569871e-01 -8.56435112e-03 -2.01992460e-01] [ 1.03510278e-02 8.27682702e-03 9.99912171e-01 -3.09416659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.371193817 meters Centerline goodness : 0.934672 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.21, Z:-3.09 [[ 9.99472650e-01 -3.08941003e-02 -9.99882640e-03 3.22911985e+01] [ 3.08066730e-02 9.99486774e-01 -8.78278117e-03 -2.12219468e-01] [ 1.02650309e-02 8.47011900e-03 9.99911439e-01 -3.09258610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.401193817 meters Centerline goodness : 0.936299 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.22, Z:-3.09 [[ 9.99365839e-01 -3.40936786e-02 -1.02733382e-02 3.22919398e+01] [ 3.39794504e-02 9.99360938e-01 -1.10955799e-02 -2.16932892e-01] [ 1.06450621e-02 1.07394612e-02 9.99885667e-01 -3.09238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.431193817 meters Centerline goodness : 0.935772 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.22, Z:-3.09 [[ 9.99247547e-01 -3.73587890e-02 -1.04240322e-02 3.22923262e+01] [ 3.72196776e-02 9.99219466e-01 -1.32345752e-02 -2.22347723e-01] [ 1.09103236e-02 1.28366377e-02 9.99858083e-01 -3.09200104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.461193817 meters Centerline goodness : 0.936204 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.23, Z:-3.09 [[ 9.99106537e-01 -4.09172603e-02 -1.05785166e-02 3.22928804e+01] [ 4.07478390e-02 9.99045104e-01 -1.57636659e-02 -2.26886295e-01] [ 1.12134213e-02 1.53185299e-02 9.99819785e-01 -3.09181056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.491193817 meters Centerline goodness : 0.937711 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.23, Z:-3.09 [[ 9.98942692e-01 -4.47084507e-02 -1.07075549e-02 3.22936997e+01] [ 4.45020228e-02 9.98832423e-01 -1.87979090e-02 -2.29804408e-01] [ 1.15354784e-02 1.83015260e-02 9.99765966e-01 -3.09208089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters Centerline goodness : 0.937711 Centerline is valid? [False, False] Translation: X:32.29, Y:-0.23, Z:-3.09 [[ 9.98942692e-01 -4.47084507e-02 -1.07075549e-02 3.22936997e+01] [ 4.45020228e-02 9.98832423e-01 -1.87979090e-02 -2.29804408e-01] [ 1.15354784e-02 1.83015260e-02 9.99765966e-01 -3.09208089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.551193817 meters Centerline goodness : 0.939353 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.09 [[ 9.98716079e-01 -5.03825352e-02 -5.27200497e-03 3.23035682e+01] [ 5.03083925e-02 9.98644368e-01 -1.33601009e-02 -2.36114378e-01] [ 5.93797383e-03 1.30777215e-02 9.99896852e-01 -3.09428488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters Centerline goodness : 0.943000 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.09 [[ 9.98721007e-01 -5.02798265e-02 -5.31872694e-03 3.23029859e+01] [ 5.02110242e-02 9.98662115e-01 -1.23625826e-02 -2.39180551e-01] [ 5.93319960e-03 1.20797122e-02 9.99909435e-01 -3.09313887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.611193817 meters Centerline goodness : 0.945070 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.09 [[ 9.98548119e-01 -5.36013598e-02 -5.34296534e-03 3.23028697e+01] [ 5.35098183e-02 9.98438927e-01 -1.60127865e-02 -2.39239534e-01] [ 6.19293171e-03 1.57036368e-02 9.99857512e-01 -3.09236417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters Centerline goodness : 0.946629 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.09 [[ 9.98559456e-01 -5.33582527e-02 -5.64882195e-03 3.23032046e+01] [ 5.32656793e-02 9.98461077e-01 -1.54351944e-02 -2.40833721e-01] [ 6.46372385e-03 1.51120710e-02 9.99864914e-01 -3.09196039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.671193817 meters Centerline goodness : 0.944291 Centerline is valid? [False, False] Translation: X:32.30, Y:-0.24, Z:-3.09 [[ 9.98571514e-01 -5.30956890e-02 -5.98161560e-03 3.23043000e+01] [ 5.29983948e-02 9.98475937e-01 -1.53939134e-02 -2.40404683e-01] [ 6.78984968e-03 1.50549073e-02 9.99863615e-01 -3.09265460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters Centerline goodness : 0.943056 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.24, Z:-3.09 [[ 9.98631345e-01 -5.18866876e-02 -6.57325433e-03 3.23069766e+01] [ 5.17891290e-02 9.98556631e-01 -1.42316708e-02 -2.40517690e-01] [ 7.30220095e-03 1.38717694e-02 9.99877118e-01 -3.09460557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.731193817 meters Centerline goodness : 0.941865 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.24, Z:-3.10 [[ 9.98632387e-01 -5.18123967e-02 -6.98792436e-03 3.23085870e+01] [ 5.17078222e-02 9.98558481e-01 -1.43965779e-02 -2.39562773e-01] [ 7.72377234e-03 1.40155586e-02 9.99871946e-01 -3.09569285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters Centerline goodness : 0.938921 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.24, Z:-3.10 [[ 9.98635878e-01 -5.16924592e-02 -7.36701059e-03 3.23098683e+01] [ 5.15814881e-02 9.98563057e-01 -1.45317355e-02 -2.38649248e-01] [ 8.10760576e-03 1.41319110e-02 9.99867269e-01 -3.09646216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.791193817 meters Centerline goodness : 0.936979 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.24, Z:-3.10 [[ 9.98638087e-01 -5.15947039e-02 -7.74322319e-03 3.23112975e+01] [ 5.14789815e-02 9.98569297e-01 -1.44662671e-02 -2.38332639e-01] [ 8.47852771e-03 1.40479521e-02 9.99865376e-01 -3.09743020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters Centerline goodness : 0.935961 Centerline is valid? [False, False] Translation: X:32.31, Y:-0.24, Z:-3.10 [[ 9.98635371e-01 -5.15462915e-02 -8.38900351e-03 3.23131587e+01] [ 5.14243893e-02 9.98576635e-01 -1.41504562e-02 -2.39415126e-01] [ 9.10646644e-03 1.36997467e-02 9.99864685e-01 -3.09818310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.851193817 meters Centerline goodness : 0.933056 Centerline is valid? [False, False] Translation: X:32.32, Y:-0.24, Z:-3.10 [[ 9.98628551e-01 -5.15788440e-02 -8.97996735e-03 3.23150958e+01] [ 5.14525446e-02 9.98580513e-01 -1.37693556e-02 -2.40910104e-01] [ 9.67742785e-03 1.32884295e-02 9.99864873e-01 -3.09917395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters Centerline goodness : 0.932512 Centerline is valid? [False, False] Translation: X:32.32, Y:-0.24, Z:-3.10 [[ 9.98584234e-01 -5.23222073e-02 -9.58720379e-03 3.23177227e+01] [ 5.21837527e-02 9.98537053e-01 -1.41636604e-02 -2.41713274e-01] [ 1.03142522e-02 1.36433117e-02 9.99853727e-01 -3.10082123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.911193817 meters Centerline goodness : 0.935056 Centerline is valid? [False, False] Translation: X:32.32, Y:-0.24, Z:-3.10 [[ 9.98578522e-01 -5.23594747e-02 -9.97096806e-03 3.23185340e+01] [ 5.22193515e-02 9.98539867e-01 -1.38301523e-02 -2.42734451e-01] [ 1.06805486e-02 1.32898156e-02 9.99854643e-01 -3.10084191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters Centerline goodness : 0.935079 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.24, Z:-3.10 [[ 9.98670795e-01 -5.09364947e-02 -7.88139688e-03 3.23377498e+01] [ 5.08444678e-02 9.98640753e-01 -1.14667825e-02 -2.44894651e-01] [ 8.45476182e-03 1.10508154e-02 9.99903194e-01 -3.10104096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.971193817 meters Centerline goodness : 0.933943 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.25, Z:-3.10 [[ 9.98669190e-01 -5.09096869e-02 -8.24941275e-03 3.23384325e+01] [ 5.08207004e-02 9.98650903e-01 -1.06597995e-02 -2.47357089e-01] [ 8.78097055e-03 1.02263724e-02 9.99909154e-01 -3.10091759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters Centerline goodness : 0.934378 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.25, Z:-3.10 [[ 9.98667756e-01 -5.08795519e-02 -8.60137114e-03 3.23395643e+01] [ 5.07893741e-02 9.98655274e-01 -1.03963181e-02 -2.47961061e-01] [ 9.11876466e-03 9.94560945e-03 9.99908962e-01 -3.10145250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03119381700003 meters Centerline goodness : 0.931602 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.25, Z:-3.10 [[ 9.98668755e-01 -5.08119595e-02 -8.88046371e-03 3.23408992e+01] [ 5.07227936e-02 9.98662774e-01 -9.99308906e-03 -2.49073489e-01] [ 9.37635696e-03 9.52934389e-03 9.99910634e-01 -3.10245868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.061193817 meters Centerline goodness : 0.932941 Centerline is valid? [False, False] Translation: X:32.34, Y:-0.25, Z:-3.10 [[ 9.98667657e-01 -5.07666543e-02 -9.25519683e-03 3.23419431e+01] [ 5.06743414e-02 9.98665664e-01 -9.94995973e-03 -2.48970965e-01] [ 9.74797346e-03 9.46770196e-03 9.99907666e-01 -3.10284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.091193817 meters Centerline goodness : 0.936188 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.11 [[ 9.98775112e-01 -4.93470534e-02 -3.62533670e-03 3.23541619e+01] [ 4.92739959e-02 9.98622249e-01 -1.80465014e-02 -2.45969518e-01] [ 4.51088356e-03 1.78457617e-02 9.99830576e-01 -3.10703620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.121193817 meters Centerline goodness : 0.936933 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.11 [[ 9.98937694e-01 -4.59084388e-02 -3.98736810e-03 3.23543593e+01] [ 4.58494075e-02 9.98852869e-01 -1.38122410e-02 -2.47743297e-01] [ 4.61689248e-03 1.36147497e-02 9.99896656e-01 -3.10658138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.151193817 meters Centerline goodness : 0.935511 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.25, Z:-3.11 [[ 9.98941271e-01 -4.58052403e-02 -4.26824476e-03 3.23549508e+01] [ 4.57412946e-02 9.98854696e-01 -1.40367780e-02 -2.46592345e-01] [ 4.90631431e-03 1.38266818e-02 9.99892370e-01 -3.10663292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.181193817 meters Centerline goodness : 0.934559 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.24, Z:-3.11 [[ 9.98943498e-01 -4.57180448e-02 -4.66347574e-03 3.23558180e+01] [ 4.56466079e-02 9.98853561e-01 -1.44205081e-02 -2.44896827e-01] [ 5.31740679e-03 1.41924010e-02 9.99885144e-01 -3.10678065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.211193817 meters Centerline goodness : 0.932571 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.24, Z:-3.11 [[ 9.99209925e-01 -3.90491110e-02 -7.39550242e-03 3.23846250e+01] [ 3.89027752e-02 9.99062481e-01 -1.89929739e-02 -2.39856753e-01] [ 8.13022775e-03 1.86902625e-02 9.99792265e-01 -3.10603566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.241193817 meters Centerline goodness : 0.933229 Centerline is valid? [False, False] Translation: X:32.40, Y:-0.24, Z:-3.11 [[ 9.99416686e-01 -3.40557123e-02 -2.54857626e-03 3.23971283e+01] [ 3.39852907e-02 9.99137031e-01 -2.38787119e-02 -2.35754983e-01] [ 3.35958346e-03 2.37781690e-02 9.99711614e-01 -3.10979488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.271193817 meters Centerline goodness : 0.934436 Centerline is valid? [False, False] Translation: X:32.42, Y:-0.23, Z:-3.11 [[ 9.99580624e-01 -2.89568123e-02 2.81001480e-04 3.24158175e+01] [ 2.89557797e-02 9.99326040e-01 -2.25616466e-02 -2.32247352e-01] [ 3.72501270e-04 2.25603214e-02 9.99745414e-01 -3.11055566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.301193817 meters Centerline goodness : 0.936546 Centerline is valid? [False, False] Translation: X:32.44, Y:-0.23, Z:-3.11 [[ 9.99767771e-01 -2.14929507e-02 -1.56770539e-03 3.24426150e+01] [ 2.14463044e-02 9.99448163e-01 -2.53658338e-02 -2.28597410e-01] [ 2.11202688e-03 2.53263216e-02 9.99677006e-01 -3.10825465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.331193817 meters Centerline goodness : 0.937285 Centerline is valid? [False, False] Translation: X:32.47, Y:-0.23, Z:-3.11 [[ 9.99894502e-01 -1.41230952e-02 -3.39446525e-03 3.24696493e+01] [ 1.40213609e-02 9.99500351e-01 -2.83275617e-02 -2.25225963e-01] [ 3.79284206e-03 2.82769782e-02 9.99592931e-01 -3.10577681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.361193817 meters Centerline goodness : 0.935496 Centerline is valid? [False, False] Translation: X:32.51, Y:-0.22, Z:-3.11 [[ 9.99988384e-01 -3.26215313e-03 -3.54834609e-03 3.25116459e+01] [ 3.12631977e-03 9.99286655e-01 -3.76351769e-02 -2.19083522e-01] [ 3.66858660e-03 3.76236465e-02 9.99285246e-01 -3.10594784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.391193817 meters Centerline goodness : 0.934096 Centerline is valid? [False, False] Translation: X:32.54, Y:-0.22, Z:-3.10 [[ 9.99982634e-01 2.43898696e-03 -5.36502690e-03 3.25404636e+01] [-2.66719359e-03 9.99073730e-01 -4.29484267e-02 -2.17802300e-01] [ 5.25530679e-03 4.29619904e-02 9.99062885e-01 -3.10487276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.421193817 meters Centerline goodness : 0.932347 Centerline is valid? [False, False] Translation: X:32.56, Y:-0.22, Z:-3.11 [[ 9.99971775e-01 5.32554742e-03 -5.29971170e-03 3.25627268e+01] [-5.53936922e-03 9.99136206e-01 -4.11844332e-02 -2.18806241e-01] [ 5.07580419e-03 4.12126278e-02 9.99137506e-01 -3.10648976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.451193817 meters Centerline goodness : 0.929990 Centerline is valid? [False, False] Translation: X:32.58, Y:-0.23, Z:-3.11 [[ 9.99980023e-01 6.05296978e-03 -1.82054501e-03 3.25766177e+01] [-6.10471948e-03 9.99534023e-01 -2.99076857e-02 -2.26623699e-01] [ 1.63866636e-03 2.99182022e-02 9.99551007e-01 -3.11081321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.481193817 meters Centerline goodness : 0.927063 Centerline is valid? [False, False] Translation: X:32.59, Y:-0.23, Z:-3.12 [[ 9.99993246e-01 2.62411850e-03 2.57322156e-03 3.25898717e+01] [-2.56178680e-03 9.99710248e-01 -2.39344542e-02 -2.31296855e-01] [-2.63528281e-03 2.39277005e-02 9.99710218e-01 -3.11534605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.511193817 meters Centerline goodness : 0.928383 Centerline is valid? [False, False] Translation: X:32.59, Y:-0.24, Z:-3.12 [[ 9.99996722e-01 1.77213047e-03 1.84803819e-03 3.25921614e+01] [-1.72810833e-03 9.99721012e-01 -2.35565527e-02 -2.35388838e-01] [-1.88926789e-03 2.35532819e-02 9.99720798e-01 -3.11646643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.541193817 meters Centerline goodness : 0.928825 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.24, Z:-3.12 [[ 9.99976097e-01 -1.68605793e-03 6.70548320e-03 3.26040118e+01] [ 1.79888971e-03 9.99856301e-01 -1.68565125e-02 -2.41072493e-01] [-6.67609857e-03 1.68681720e-02 9.99835434e-01 -3.12028535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.571193817 meters Centerline goodness : 0.931722 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.25, Z:-3.12 [[ 9.99968799e-01 -4.16942705e-03 6.70939088e-03 3.26026625e+01] [ 4.28233894e-03 9.99847955e-01 -1.69035057e-02 -2.51996574e-01] [-6.63789281e-03 1.69317102e-02 9.99834614e-01 -3.11820853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.601193817 meters Centerline goodness : 0.937983 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.26, Z:-3.12 [[ 9.99973140e-01 -3.43142439e-03 6.47653307e-03 3.26026359e+01] [ 3.52681533e-03 9.99884621e-01 -1.47752092e-02 -2.58358852e-01] [-6.42508580e-03 1.47976539e-02 9.99869865e-01 -3.11747417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.631193817 meters Centerline goodness : 0.937165 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.26, Z:-3.12 [[ 9.99976209e-01 -2.85735311e-03 6.27833721e-03 3.26029663e+01] [ 2.94037417e-03 9.99907836e-01 -1.32542193e-02 -2.62831141e-01] [-6.23988659e-03 1.32723646e-02 9.99892448e-01 -3.11733419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.661193817 meters Centerline goodness : 0.939651 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.27, Z:-3.12 [[ 9.99979463e-01 -2.37176235e-03 5.95377217e-03 3.26038710e+01] [ 2.44320826e-03 9.99924752e-01 -1.20216558e-02 -2.66384836e-01] [-5.92481165e-03 1.20359552e-02 9.99910012e-01 -3.11770197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.691193817 meters Centerline goodness : 0.937890 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.27, Z:-3.12 [[ 9.99992073e-01 -4.65079972e-04 3.95449794e-03 3.26262891e+01] [ 5.06952596e-04 9.99943751e-01 -1.05942060e-02 -2.70762669e-01] [-3.94934835e-03 1.05961267e-02 9.99936060e-01 -3.11852458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.721193817 meters Centerline goodness : 0.940112 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.28, Z:-3.12 [[ 9.99992276e-01 1.28650954e-03 3.71400309e-03 3.26268043e+01] [-1.25814193e-03 9.99970098e-01 -7.63027161e-03 -2.78618218e-01] [-3.72370845e-03 7.62553993e-03 9.99963992e-01 -3.11866788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.751193817 meters Centerline goodness : 0.937477 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.28, Z:-3.12 [[ 9.99995692e-01 9.76955716e-04 2.76787211e-03 3.26493375e+01] [-9.49125635e-04 9.99949165e-01 -1.00382189e-02 -2.81362157e-01] [-2.77753831e-03 1.00355486e-02 9.99945785e-01 -3.12034871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78119381700003 meters Centerline goodness : 0.937250 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.28, Z:-3.12 [[ 9.99997634e-01 1.05998437e-04 2.17283862e-03 3.26519744e+01] [-8.35581487e-05 9.99946691e-01 -1.03251275e-02 -2.84254385e-01] [-2.17381723e-03 1.03249216e-02 9.99944334e-01 -3.12213280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.811193817 meters Centerline goodness : 0.935207 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.29, Z:-3.12 [[ 9.99998594e-01 -9.20076552e-04 1.40159871e-03 3.26550549e+01] [ 9.34805911e-04 9.99943965e-01 -1.05448165e-02 -2.87974815e-01] [-1.39181813e-03 1.05461119e-02 9.99943420e-01 -3.12408246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.841193817 meters Centerline goodness : 0.935507 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.29, Z:-3.13 [[ 9.99972104e-01 -7.43438198e-03 7.22607510e-04 3.26580330e+01] [ 7.44476406e-03 9.99850276e-01 -1.56205022e-02 -2.94617965e-01] [-6.06370538e-04 1.56254461e-02 9.99877731e-01 -3.12618886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.871193817 meters Centerline goodness : 0.934500 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.30, Z:-3.13 [[ 9.99936422e-01 -1.12681099e-02 4.26525308e-04 3.26592122e+01] [ 1.12740938e-02 9.99763492e-01 -1.85971520e-02 -2.98090658e-01] [-2.16869680e-04 1.86007783e-02 9.99826967e-01 -3.12689710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.901193817 meters Centerline goodness : 0.934388 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.30, Z:-3.13 [[ 9.99884705e-01 -1.51843586e-02 1.06882915e-04 3.26602134e+01] [ 1.51831400e-02 9.99652914e-01 -2.15295998e-02 -3.01840759e-01] [ 2.20067347e-04 2.15287404e-02 9.99768206e-01 -3.12720968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.931193817 meters Centerline goodness : 0.934065 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.31, Z:-3.13 [[ 9.99817473e-01 -1.91052790e-02 -9.46320269e-05 3.26608915e+01] [ 1.90972619e-02 9.99518959e-01 -2.44365534e-02 -3.05722465e-01] [ 5.61453676e-04 2.44302858e-02 9.99701378e-01 -3.12731319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters Centerline goodness : 0.936321 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.32, Z:-3.13 [[ 9.99535184e-01 -3.04665084e-02 1.09874640e-03 3.26589806e+01] [ 3.04805877e-02 9.99396715e-01 -1.66475401e-02 -3.16058404e-01] [-5.90891122e-04 1.66732925e-02 9.99860816e-01 -3.12636667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.991193817 meters Centerline goodness : 0.937404 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.32, Z:-3.13 [[ 9.99513253e-01 -3.11847791e-02 8.75968573e-04 3.26597533e+01] [ 3.11947622e-02 9.99387175e-01 -1.58795865e-02 -3.20233559e-01] [-3.80230362e-04 1.58991827e-02 9.99873528e-01 -3.12640201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters Centerline goodness : 0.936343 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.32, Z:-3.13 [[ 9.99500334e-01 -3.16017546e-02 6.41370122e-04 3.26604676e+01] [ 3.16078291e-02 9.99387092e-01 -1.50461204e-02 -3.23851441e-01] [-1.65493217e-04 1.50588747e-02 9.99886595e-01 -3.12649744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.051193817 meters Centerline goodness : 0.937356 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.33, Z:-3.13 [[ 9.99489280e-01 -3.19545623e-02 2.92509297e-04 3.26616709e+01] [ 3.19554616e-02 9.99385663e-01 -1.43925425e-02 -3.26997913e-01] [ 1.67577798e-04 1.43945392e-02 9.99896379e-01 -3.12694562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters Centerline goodness : 0.934817 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.33, Z:-3.13 [[ 9.99354212e-01 -3.59327045e-02 2.52542788e-05 3.26629839e+01] [ 3.59274371e-02 9.99195179e-01 -1.78385507e-02 -3.28893824e-01] [ 6.15753419e-04 1.78279381e-02 9.99840880e-01 -3.12761851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.111193817 meters Centerline goodness : 0.937437 Centerline is valid? [False, False] Translation: X:32.68, Y:-0.33, Z:-3.13 [[ 9.99410933e-01 -3.42947309e-02 1.28760321e-03 3.26829030e+01] [ 3.43113176e-02 9.99275117e-01 -1.64916384e-02 -3.32065048e-01] [-7.21093543e-04 1.65261031e-02 9.99863175e-01 -3.12795176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters Centerline goodness : 0.938576 Centerline is valid? [False, False] Translation: X:32.68, Y:-0.33, Z:-3.13 [[ 9.99412818e-01 -3.42446780e-02 1.14961316e-03 3.26827682e+01] [ 3.42587137e-02 9.99284550e-01 -1.60227550e-02 -3.33237294e-01] [-6.00096580e-04 1.60527310e-02 9.99870967e-01 -3.12730618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.171193817 meters Centerline goodness : 0.938586 Centerline is valid? [False, False] Translation: X:32.68, Y:-0.33, Z:-3.13 [[ 9.99413914e-01 -3.42185552e-02 9.58681074e-04 3.26829821e+01] [ 3.42294166e-02 9.99289901e-01 -1.57493205e-02 -3.33763591e-01] [-4.19081322e-04 1.57729051e-02 9.99875512e-01 -3.12701301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters Centerline goodness : 0.937228 Centerline is valid? [False, False] Translation: X:32.68, Y:-0.34, Z:-3.13 [[ 9.99521171e-01 -3.09356413e-02 6.44431780e-04 3.26833191e+01] [ 3.09410184e-02 9.99454698e-01 -1.15308125e-02 -3.35778377e-01] [-2.87367290e-04 1.15452306e-02 9.99933310e-01 -3.12660970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.231193817 meters Centerline goodness : 0.940613 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.33, Z:-3.13 [[ 9.99616115e-01 -2.68470668e-02 6.84530460e-03 3.26953294e+01] [ 2.69552166e-02 9.99504891e-01 -1.62292878e-02 -3.32339951e-01] [-6.40620666e-03 1.64075743e-02 9.99844864e-01 -3.13002674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters Centerline goodness : 0.941207 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.33, Z:-3.13 [[ 9.99717782e-01 -2.28349122e-02 6.55159353e-03 3.26952145e+01] [ 2.29128017e-02 9.99664595e-01 -1.20706630e-02 -3.32347506e-01] [-6.27376357e-03 1.22173718e-02 9.99905683e-01 -3.12922990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.291193817 meters Centerline goodness : 0.944212 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.33, Z:-3.13 [[ 9.99795905e-01 -1.92358628e-02 6.17488956e-03 3.26957351e+01] [ 1.92894349e-02 9.99775768e-01 -8.73675326e-03 -3.30546034e-01] [-6.00544596e-03 8.85408027e-03 9.99942768e-01 -3.12903137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters Centerline goodness : 0.943763 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.32, Z:-3.13 [[ 9.99886499e-01 -1.07309873e-02 1.05752174e-02 3.27079417e+01] [ 1.08612758e-02 9.99864860e-01 -1.23407304e-02 -3.21402078e-01] [-1.04413600e-02 1.24541901e-02 9.99867927e-01 -3.13349920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.351193817 meters Centerline goodness : 0.942146 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.32, Z:-3.13 [[ 9.99925524e-01 -6.80820783e-03 1.01289222e-02 3.27089200e+01] [ 6.89919632e-03 9.99935920e-01 -8.97538061e-03 -3.18682518e-01] [-1.00671669e-02 9.04459358e-03 9.99908420e-01 -3.13376738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters Centerline goodness : 0.941733 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.32, Z:-3.13 [[ 9.99948059e-01 -3.32903822e-03 9.63308934e-03 3.27102698e+01] [ 3.38496959e-03 9.99977476e-01 -5.79570466e-03 -3.16585533e-01] [-9.61357824e-03 5.82801134e-03 9.99936805e-01 -3.13429732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.411193817 meters Centerline goodness : 0.942026 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.31, Z:-3.14 [[ 9.99957286e-01 -2.73736174e-04 9.23855946e-03 3.27118974e+01] [ 3.00781341e-04 9.99995674e-01 -2.92616004e-03 -3.14585083e-01] [-9.23771850e-03 2.92881384e-03 9.99953042e-01 -3.13535239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters Centerline goodness : 0.942026 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.31, Z:-3.14 [[ 9.99957286e-01 -2.73736174e-04 9.23855946e-03 3.27118974e+01] [ 3.00781341e-04 9.99995674e-01 -2.92616004e-03 -3.14585083e-01] [-9.23771850e-03 2.92881384e-03 9.99953042e-01 -3.13535239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.471193817 meters Centerline goodness : 0.939829 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.31, Z:-3.14 [[ 9.99962828e-01 7.66071017e-04 8.58811246e-03 3.27147883e+01] [-7.46386489e-04 9.99997088e-01 -2.29503767e-03 -3.12228845e-01] [-8.58984561e-03 2.28854230e-03 9.99960488e-01 -3.13738672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters Centerline goodness : 0.937729 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.31, Z:-3.14 [[ 9.99967152e-01 1.79818012e-04 8.10323451e-03 3.27163352e+01] [-1.52653489e-04 9.99994368e-01 -3.35280003e-03 -3.09818108e-01] [-8.10379176e-03 3.35145291e-03 9.99961547e-01 -3.13824718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53119381700003 meters Centerline goodness : 0.933692 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.31, Z:-3.14 [[ 9.99969787e-01 -1.31021799e-03 7.66213121e-03 3.27180593e+01] [ 1.34980718e-03 9.99985756e-01 -5.16397738e-03 -3.06728744e-01] [-7.65525613e-03 5.17416376e-03 9.99957312e-01 -3.13934171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.561193817 meters Centerline goodness : 0.932878 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.31, Z:-3.14 [[ 9.99971901e-01 -1.77623497e-03 7.28294651e-03 3.27193708e+01] [ 1.81726453e-03 9.99982495e-01 -5.63090599e-03 -3.05736921e-01] [-7.27281721e-03 5.64398281e-03 9.99957625e-01 -3.14011163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.591193817 meters Centerline goodness : 0.936682 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99974142e-01 -2.58229126e-03 6.71173304e-03 3.27213743e+01] [ 2.62548287e-03 9.99975852e-01 -6.43441457e-03 -3.04747076e-01] [-6.69495543e-03 6.45186973e-03 9.99956775e-01 -3.14123970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.621193817 meters Centerline goodness : 0.929012 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99975845e-01 -3.15212880e-03 6.19458469e-03 3.27230012e+01] [ 3.19616262e-03 9.99969606e-01 -7.11144173e-03 -3.03800261e-01] [-6.17198023e-03 7.13106885e-03 9.99955526e-01 -3.14204928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.651193817 meters Centerline goodness : 0.934072 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99983072e-01 -2.74162169e-04 5.81205768e-03 3.27239976e+01] [ 2.98488109e-04 9.99991198e-01 -4.18497218e-03 -3.02448393e-01] [-5.81085916e-03 4.18663617e-03 9.99974353e-01 -3.14224116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.681193817 meters Centerline goodness : 0.933271 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99984102e-01 5.04823314e-05 5.63847149e-03 3.27240759e+01] [-2.54754791e-05 9.99990165e-01 -4.43502478e-03 -3.00765358e-01] [-5.63863993e-03 4.43481063e-03 9.99974269e-01 -3.14188570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.711193817 meters Centerline goodness : 0.939773 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99984990e-01 1.98376977e-04 5.47547657e-03 3.27239787e+01] [-1.72474817e-04 9.99988796e-01 -4.73064322e-03 -2.99388877e-01] [-5.47635368e-03 4.72962783e-03 9.99973820e-01 -3.14128995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.741193817 meters Centerline goodness : 0.938242 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99986622e-01 3.07171421e-04 5.16352196e-03 3.27243962e+01] [-2.81686304e-04 9.99987780e-01 -4.93561029e-03 -2.98404347e-01] [-5.16497494e-03 4.93408977e-03 9.99974489e-01 -3.14101254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.771193817 meters Centerline goodness : 0.936726 Centerline is valid? [False, False] Translation: X:32.72, Y:-0.30, Z:-3.14 [[ 9.99987410e-01 6.32580317e-04 4.97790379e-03 3.27247323e+01] [-6.06880230e-04 9.99986489e-01 -5.16265131e-03 -2.96694051e-01] [-4.98110233e-03 5.15956532e-03 9.99974283e-01 -3.14099517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.801193817 meters Centerline goodness : 0.937453 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.30, Z:-3.14 [[ 9.99989098e-01 4.68525467e-04 4.64581406e-03 3.27254777e+01] [-4.42527404e-04 9.99984247e-01 -5.59546866e-03 -2.95266734e-01] [-4.64836249e-03 5.59335176e-03 9.99973553e-01 -3.14109605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.831193817 meters Centerline goodness : 0.938589 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99990454e-01 4.55197153e-04 4.34558221e-03 3.27260088e+01] [-4.29815299e-04 9.99982855e-01 -5.83998885e-03 -2.94217037e-01] [-4.34816605e-03 5.83806531e-03 9.99973505e-01 -3.14097393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.861193817 meters Centerline goodness : 0.938137 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99991623e-01 4.71728067e-04 4.06597081e-03 3.27267591e+01] [-4.46979710e-04 9.99981383e-01 -6.08546422e-03 -2.93241723e-01] [-4.06876580e-03 6.08359583e-03 9.99973217e-01 -3.14123203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.891193817 meters Centerline goodness : 0.936723 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99992605e-01 6.64319971e-04 3.78791898e-03 3.27274165e+01] [-6.40695675e-04 9.99980360e-01 -6.23455407e-03 -2.92457739e-01] [-3.79198633e-03 6.23208106e-03 9.99973391e-01 -3.14139951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.921193817 meters Centerline goodness : 0.938495 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99993675e-01 9.77023955e-04 3.41986314e-03 3.27282865e+01] [-9.56057616e-04 9.99980773e-01 -6.12702906e-03 -2.92331578e-01] [-3.42578364e-03 6.12372072e-03 9.99975382e-01 -3.14159099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.951193817 meters Centerline goodness : 0.938054 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99980812e-01 5.30250442e-03 3.20295277e-03 3.27290186e+01] [-5.29790110e-03 9.99984923e-01 -1.44398927e-03 -2.94533444e-01] [-3.21056124e-03 1.42699264e-03 9.99993828e-01 -3.14189338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.981193817 meters Centerline goodness : 0.936893 Centerline is valid? [False, False] Translation: X:32.73, Y:-0.29, Z:-3.14 [[ 9.99973466e-01 6.78283933e-03 2.65711330e-03 3.27308908e+01] [-6.78198329e-03 9.99976947e-01 -3.31047804e-04 -2.94895970e-01] [-2.65929749e-03 3.13018522e-04 9.99996415e-01 -3.14295237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.011193817 meters Centerline goodness : 0.937327 Centerline is valid? [False, False] Translation: X:32.74, Y:-0.30, Z:-3.15 [[ 9.99888513e-01 1.36761954e-02 5.99352151e-03 3.27416337e+01] [-1.36433141e-02 9.99891837e-01 -5.49311453e-03 -2.95515116e-01] [-6.06799814e-03 5.41073063e-03 9.99966951e-01 -3.14563445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.041193817 meters Centerline goodness : 0.936637 Centerline is valid? [False, False] Translation: X:32.75, Y:-0.30, Z:-3.15 [[ 9.99778047e-01 1.81576813e-02 1.06843043e-02 3.27546055e+01] [-1.80367320e-02 9.99773357e-01 -1.13097949e-02 -2.95084569e-01] [-1.08872424e-02 1.11145748e-02 9.99878960e-01 -3.15036537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.071193817 meters Centerline goodness : 0.934805 Centerline is valid? [False, False] Translation: X:32.77, Y:-0.29, Z:-3.15 [[ 9.99708937e-01 2.04580496e-02 1.27870511e-02 3.27734004e+01] [-2.02663412e-02 9.99682891e-01 -1.49463462e-02 -2.94900090e-01] [-1.30887693e-02 1.46828491e-02 9.99806530e-01 -3.15286364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.101193817 meters Centerline goodness : 0.936150 Centerline is valid? [False, False] Translation: X:32.78, Y:-0.30, Z:-3.15 [[ 9.99658864e-01 2.31664331e-02 1.20611794e-02 3.27758977e+01] [-2.30219053e-02 9.99663096e-01 -1.19869294e-02 -2.98015513e-01] [-1.23348103e-02 1.17051689e-02 9.99855410e-01 -3.15422240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.131193817 meters Centerline goodness : 0.932525 Centerline is valid? [False, False] Translation: X:32.80, Y:-0.30, Z:-3.16 [[ 9.99607693e-01 2.46922043e-02 1.32195248e-02 3.27959315e+01] [-2.44917368e-02 9.99585722e-01 -1.51175166e-02 -2.99479564e-01] [-1.35873331e-02 1.47878168e-02 9.99798332e-01 -3.15641080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.161193817 meters Centerline goodness : 0.929029 Centerline is valid? [False, False] Translation: X:32.80, Y:-0.31, Z:-3.16 [[ 9.99508659e-01 2.86813345e-02 1.26420251e-02 3.27979370e+01] [-2.85512009e-02 9.99538677e-01 -1.03567742e-02 -3.08560900e-01] [-1.29332391e-02 9.99074053e-03 9.99866449e-01 -3.15778932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.191193817 meters Centerline goodness : 0.927639 Centerline is valid? [False, False] Translation: X:32.82, Y:-0.31, Z:-3.16 [[ 9.99490763e-01 2.93309231e-02 1.25662885e-02 3.28192425e+01] [-2.91610965e-02 9.99483678e-01 -1.34910441e-02 -3.12077964e-01] [-1.29555050e-02 1.31177272e-02 9.99830026e-01 -3.16014542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.221193817 meters Centerline goodness : 0.927539 Centerline is valid? [False, False] Translation: X:32.82, Y:-0.32, Z:-3.16 [[ 9.99470788e-01 3.01038077e-02 1.23249844e-02 3.28199562e+01] [-2.99596051e-02 9.99482373e-01 -1.17221223e-02 -3.18318328e-01] [-1.26714852e-02 1.13466671e-02 9.99855333e-01 -3.16047872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.251193817 meters Centerline goodness : 0.926383 Centerline is valid? [False, False] Translation: X:32.84, Y:-0.32, Z:-3.16 [[ 9.99496054e-01 2.94618893e-02 1.18167646e-02 3.28414276e+01] [-2.92850797e-02 9.99460540e-01 -1.48665211e-02 -3.24557907e-01] [-1.22483857e-02 1.45129743e-02 9.99819659e-01 -3.16235619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28119381700003 meters Centerline goodness : 0.923810 Centerline is valid? [False, False] Translation: X:32.84, Y:-0.33, Z:-3.16 [[ 9.99541478e-01 2.79914504e-02 1.15461211e-02 3.28422015e+01] [-2.78137028e-02 9.99496361e-01 -1.52781449e-02 -3.32367087e-01] [-1.19679635e-02 1.49499991e-02 9.99816616e-01 -3.16299714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.311193817 meters Centerline goodness : 0.921809 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.35, Z:-3.16 [[ 9.99619787e-01 2.57320275e-02 9.90680506e-03 3.28453820e+01] [-2.56339137e-02 9.99622311e-01 -9.90646789e-03 -3.53304902e-01] [-1.01579769e-02 9.64875113e-03 9.99901854e-01 -3.16250214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.341193817 meters Centerline goodness : 0.921358 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.36, Z:-3.16 [[ 9.99685427e-01 2.32472867e-02 9.41331746e-03 3.28474334e+01] [-2.31445107e-02 9.99672884e-01 -1.08837351e-02 -3.62185250e-01] [-9.66325553e-03 1.06624447e-02 9.99896462e-01 -3.16407184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.371193817 meters Centerline goodness : 0.920153 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.37, Z:-3.16 [[ 9.99726355e-01 2.14354273e-02 9.36685115e-03 3.28476083e+01] [-2.13322331e-02 9.99712131e-01 -1.09813970e-02 -3.72285356e-01] [-9.59954566e-03 1.07785761e-02 9.99895830e-01 -3.16424897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters Centerline goodness : 0.920131 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.38, Z:-3.16 [[ 9.99764439e-01 1.96767065e-02 9.15932296e-03 3.28479576e+01] [-1.95748576e-02 9.99747002e-01 -1.10796180e-02 -3.82495397e-01] [-9.37501606e-03 1.08977156e-02 9.99896669e-01 -3.16427581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.431193817 meters Centerline goodness : 0.922461 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.40, Z:-3.16 [[ 9.99780941e-01 1.89592287e-02 8.86665441e-03 3.28486002e+01] [-1.89049955e-02 9.99802303e-01 -6.16087460e-03 -4.04593458e-01] [-8.98170693e-03 5.99190094e-03 9.99941711e-01 -3.16256048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters Centerline goodness : 0.925289 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.41, Z:-3.16 [[ 9.99805683e-01 1.76559501e-02 8.76714210e-03 3.28488716e+01] [-1.76014012e-02 9.99825482e-01 -6.26063770e-03 -4.14002020e-01] [-8.87614958e-03 6.10510717e-03 9.99941969e-01 -3.16274552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.491193817 meters Centerline goodness : 0.929023 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.42, Z:-3.16 [[ 9.99833506e-01 1.61080171e-02 8.57270428e-03 3.28488439e+01] [-1.60540273e-02 9.99851089e-01 -6.32985971e-03 -4.24126817e-01] [-8.67338920e-03 6.19117940e-03 9.99943219e-01 -3.16237246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters Centerline goodness : 0.931603 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.45, Z:-3.16 [[ 9.99839944e-01 1.54086139e-02 9.09175626e-03 3.28475321e+01] [-1.54084201e-02 9.99881279e-01 -9.13705625e-05 -4.48805076e-01] [-9.09208477e-03 -4.87336614e-05 9.99958665e-01 -3.15904310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.551193817 meters Centerline goodness : 0.936102 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.46, Z:-3.16 [[ 9.99879052e-01 1.27035694e-02 8.97219383e-03 3.28484135e+01] [-1.26924471e-02 9.99918608e-01 -1.29550088e-03 -4.58209476e-01] [-8.98792106e-03 1.18146510e-03 9.99958910e-01 -3.15975897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters Centerline goodness : 0.937165 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.47, Z:-3.16 [[ 9.99910328e-01 1.01300355e-02 8.75886391e-03 3.28488581e+01] [-1.01136540e-02 9.99947027e-01 -1.91254853e-03 -4.68432809e-01] [-8.77777411e-03 1.82379291e-03 9.99959811e-01 -3.15937516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.611193817 meters Centerline goodness : 0.940516 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.48, Z:-3.16 [[ 9.99941592e-01 6.84850660e-03 8.36126339e-03 3.28497401e+01] [-6.82090223e-03 9.99971208e-01 -3.32552344e-03 -4.79677911e-01] [-8.38379752e-03 3.26829784e-03 9.99959514e-01 -3.15922056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters Centerline goodness : 0.943787 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.51, Z:-3.15 [[ 9.99946522e-01 5.31034275e-04 1.03282136e-02 3.28463782e+01] [-5.62716860e-04 9.99995145e-01 3.06491240e-03 -5.08517262e-01] [-1.03265359e-02 -3.07056035e-03 9.99941965e-01 -3.15411323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.671193817 meters Centerline goodness : 0.944334 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.52, Z:-3.15 [[ 9.99948463e-01 -3.25622057e-03 9.61601251e-03 3.28486770e+01] [ 3.24414870e-03 9.99993930e-01 1.27072436e-03 -5.19769238e-01] [-9.62009191e-03 -1.23946310e-03 9.99952958e-01 -3.15481482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters Centerline goodness : 0.947470 Centerline is valid? [False, False] Translation: X:32.85, Y:-0.53, Z:-3.16 [[ 9.99935190e-01 -6.38141438e-03 9.42834269e-03 3.28501661e+01] [ 6.38022352e-03 9.99979634e-01 1.56379545e-04 -5.31031715e-01] [-9.42914860e-03 -9.62144760e-05 9.99955540e-01 -3.15566149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.731193817 meters Centerline goodness : 0.950439 Centerline is valid? [False, True] Translation: X:32.85, Y:-0.54, Z:-3.16 [[ 9.99917410e-01 -9.31284063e-03 8.85682559e-03 3.28530433e+01] [ 9.32007490e-03 9.99956266e-01 -7.75878391e-04 -5.41502500e-01] [-8.84921262e-03 8.58360590e-04 9.99960477e-01 -3.15727268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters Centerline goodness : 0.946067 Centerline is valid? [True, False] Translation: X:32.87, Y:-0.56, Z:-3.16 [[ 9.99935046e-01 -1.09112099e-02 3.29383630e-03 3.28668181e+01] [ 1.09285714e-02 9.99926237e-01 -5.29973697e-03 -5.62223493e-01] [-3.23576679e-03 5.33538966e-03 9.99980532e-01 -3.15858703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.791193817 meters Centerline goodness : 0.944310 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.57, Z:-3.16 [[ 9.99901538e-01 -1.36719170e-02 3.16111373e-03 3.28683885e+01] [ 1.36924807e-02 9.99884618e-01 -6.57774704e-03 -5.70658280e-01] [-3.07081859e-03 6.62038287e-03 9.99973370e-01 -3.15976964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters Centerline goodness : 0.944072 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.58, Z:-3.16 [[ 9.99860630e-01 -1.64613207e-02 2.78293916e-03 3.28709217e+01] [ 1.64830365e-02 9.99832387e-01 -7.96915588e-03 -5.78742103e-01] [-2.65128987e-03 8.01391651e-03 9.99964373e-01 -3.16150148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.851193817 meters Centerline goodness : 0.941043 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.59, Z:-3.16 [[ 9.99806766e-01 -1.95071357e-02 2.42947602e-03 3.28732737e+01] [ 1.95300680e-02 9.99761209e-01 -9.80316247e-03 -5.86376935e-01] [-2.23766426e-03 9.84871600e-03 9.99948997e-01 -3.16314442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters Centerline goodness : 0.936140 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.59, Z:-3.16 [[ 9.99741651e-01 -2.26498001e-02 1.90208367e-03 3.28758617e+01] [ 2.26703019e-02 9.99676217e-01 -1.15549954e-02 -5.94015924e-01] [-1.63974947e-03 1.15951310e-02 9.99931430e-01 -3.16470995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.911193817 meters Centerline goodness : 0.926418 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.61, Z:-3.17 [[ 9.99706620e-01 -2.41407804e-02 -1.97413545e-03 3.28988512e+01] [ 2.41137663e-02 9.99628271e-01 -1.27218937e-02 -6.11984166e-01] [ 2.28051805e-03 1.26705575e-02 9.99917125e-01 -3.16505993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.941193817 meters Centerline goodness : 0.924199 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.62, Z:-3.17 [[ 9.99690625e-01 -2.47310248e-02 -2.65154187e-03 3.29012642e+01] [ 2.46977814e-02 9.99623991e-01 -1.19119816e-02 -6.19906372e-01] [ 2.94514038e-03 1.18428092e-02 9.99925534e-01 -3.16587318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.971193817 meters Centerline goodness : 0.920099 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.63, Z:-3.17 [[ 9.99682669e-01 -2.49651069e-02 -3.36221547e-03 3.29032869e+01] [ 2.49288490e-02 9.99634864e-01 -1.04255272e-02 -6.28215292e-01] [ 3.62126220e-03 1.03384027e-02 9.99940000e-01 -3.16582084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters Centerline goodness : 0.916043 Centerline is valid? [False, False] Translation: X:32.92, Y:-0.64, Z:-3.17 [[ 9.99721226e-01 -2.35722879e-02 -1.34812596e-03 3.29211268e+01] [ 2.35522705e-02 9.99633903e-01 -1.33172695e-02 -6.36483014e-01] [ 1.66155093e-03 1.32818055e-02 9.99910412e-01 -3.16672091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03119381700003 meters Centerline goodness : 0.912248 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.65, Z:-3.17 [[ 9.99700411e-01 -2.43237059e-02 -2.72848565e-03 3.29453479e+01] [ 2.42889784e-02 9.99631620e-01 -1.21107138e-02 -6.52473762e-01] [ 3.02205797e-03 1.20408134e-02 9.99922940e-01 -3.16576277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.061193817 meters Centerline goodness : 0.910900 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.66, Z:-3.17 [[ 9.99693554e-01 -2.45223190e-02 -3.38428588e-03 3.29474777e+01] [ 2.44857637e-02 9.99645556e-01 -1.04503855e-02 -6.60118509e-01] [ 3.63935402e-03 1.03643162e-02 9.99939666e-01 -3.16574165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09119381700003 meters Centerline goodness : 0.907726 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.67, Z:-3.17 [[ 9.99604050e-01 -2.79412942e-02 -3.32084040e-03 3.29479687e+01] [ 2.78955765e-02 9.99525044e-01 -1.30967241e-02 -6.65313210e-01] [ 3.68520257e-03 1.29989017e-02 9.99908720e-01 -3.16614506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.121193817 meters Centerline goodness : 0.906105 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.67, Z:-3.17 [[ 9.99501612e-01 -3.13782983e-02 -3.45405550e-03 3.29487156e+01] [ 3.13213003e-02 9.99389555e-01 -1.54755550e-02 -6.71063746e-01] [ 3.93754357e-03 1.53596567e-02 9.99874280e-01 -3.16638376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.151193817 meters Centerline goodness : 0.908390 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.68, Z:-3.17 [[ 9.99593347e-01 -2.83069889e-02 3.44308387e-03 3.29573936e+01] [ 2.83714719e-02 9.99389300e-01 -2.03982068e-02 -6.79795590e-01] [-2.86356937e-03 2.04875972e-02 9.99786006e-01 -3.17494614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.181193817 meters Centerline goodness : 0.902232 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.69, Z:-3.18 [[ 9.99491735e-01 -3.18710141e-02 7.14909973e-04 3.29648955e+01] [ 3.18788196e-02 9.99152010e-01 -2.60576649e-02 -6.89514659e-01] [ 1.16180470e-04 2.60672112e-02 9.99660186e-01 -3.17785326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.211193817 meters Centerline goodness : 0.901159 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.70, Z:-3.19 [[ 9.99626570e-01 -2.53274824e-02 1.02585988e-02 3.29708344e+01] [ 2.56029069e-02 9.99289145e-01 -2.76712056e-02 -6.98754998e-01] [-9.55046440e-03 2.79235223e-02 9.99564438e-01 -3.18693606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.241193817 meters Centerline goodness : 0.898367 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.70, Z:-3.19 [[ 9.99651280e-01 -2.49444064e-02 8.66572613e-03 3.29746044e+01] [ 2.51904767e-02 9.99245738e-01 -2.95532706e-02 -7.03823537e-01] [-7.92200110e-03 2.97612586e-02 9.99525642e-01 -3.18753999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.271193817 meters Centerline goodness : 0.901208 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.71, Z:-3.19 [[ 9.99740994e-01 -1.92788633e-02 1.20942109e-02 3.29858289e+01] [ 1.96628683e-02 9.99278970e-01 -3.24794144e-02 -7.11444931e-01] [-1.14593244e-02 3.27088089e-02 9.99399228e-01 -3.19379865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.301193817 meters Centerline goodness : 0.897988 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.72, Z:-3.19 [[ 9.99837985e-01 -1.40472599e-02 1.12551618e-02 3.29866808e+01] [ 1.43077713e-02 9.99623563e-01 -2.34098063e-02 -7.24684354e-01] [-1.09220813e-02 2.35670498e-02 9.99662594e-01 -3.18981461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.331193817 meters Centerline goodness : 0.897988 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.72, Z:-3.19 [[ 9.99837985e-01 -1.40472599e-02 1.12551618e-02 3.29866808e+01] [ 1.43077713e-02 9.99623563e-01 -2.34098063e-02 -7.24684354e-01] [-1.09220813e-02 2.35670498e-02 9.99662594e-01 -3.18981461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.361193817 meters Centerline goodness : 0.891289 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.73, Z:-3.19 [[ 9.99896404e-01 -9.91715771e-03 1.04322695e-02 3.29883665e+01] [ 1.00933325e-02 9.99805008e-01 -1.69726200e-02 -7.32431525e-01] [-1.02619151e-02 1.70761581e-02 9.99801529e-01 -3.18818122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.391193817 meters Centerline goodness : 0.896580 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.74, Z:-3.19 [[ 9.99936942e-01 -6.12525091e-03 9.41239580e-03 3.29907011e+01] [ 6.22422226e-03 9.99925271e-01 -1.05219322e-02 -7.40508450e-01] [-9.34724295e-03 1.05798535e-02 9.99900343e-01 -3.18632698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.421193817 meters Centerline goodness : 0.893537 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.75, Z:-3.19 [[ 9.99942774e-01 -5.67022481e-03 9.07178757e-03 3.29918872e+01] [ 5.75487150e-03 9.99939896e-01 -9.33202725e-03 -7.45575486e-01] [-9.01832762e-03 9.38370019e-03 9.99915304e-01 -3.18678998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.451193817 meters Centerline goodness : 0.884907 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.76, Z:-3.19 [[ 9.99952977e-01 -3.60959855e-03 9.00078322e-03 3.29918804e+01] [ 3.65528160e-03 9.99980496e-01 -5.06417828e-03 -7.58161514e-01] [-8.98232802e-03 5.09684055e-03 9.99946669e-01 -3.18541790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.481193817 meters Centerline goodness : 0.885131 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.77, Z:-3.18 [[ 9.99957296e-01 -2.70122689e-03 8.83794912e-03 3.29916180e+01] [ 2.72638009e-03 9.99992264e-01 -2.83523573e-03 -7.65001149e-01] [-8.83022213e-03 2.85921026e-03 9.99956925e-01 -3.18378664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.511193817 meters Centerline goodness : 0.883055 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.77, Z:-3.18 [[ 9.99960473e-01 -1.60591290e-03 8.74496386e-03 3.29908164e+01] [ 1.60711490e-03 9.99998700e-01 -1.30424300e-04 -7.72444291e-01] [-8.74474305e-03 1.44473307e-04 9.99961754e-01 -3.18123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.541193817 meters Centerline goodness : 0.884955 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.78, Z:-3.18 [[ 9.99961829e-01 -5.65946035e-04 8.71897152e-03 3.29900252e+01] [ 5.48025798e-04 9.99997733e-01 2.05756752e-03 -7.79294500e-01] [-8.72011623e-03 -2.05271076e-03 9.99959872e-01 -3.17938412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.571193817 meters Centerline goodness : 0.883502 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.79, Z:-3.18 [[ 9.99960200e-01 5.20995649e-04 8.90660851e-03 3.29889455e+01] [-5.56634506e-04 9.99991848e-01 3.99938429e-03 -7.85682559e-01] [-8.90445224e-03 -4.00418284e-03 9.99952337e-01 -3.17806559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.601193817 meters Centerline goodness : 0.882099 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.80, Z:-3.18 [[ 9.99941912e-01 3.79943897e-03 1.00864695e-02 3.29844731e+01] [-3.88312282e-03 9.99958097e-01 8.29006562e-03 -7.99535797e-01] [-1.00545493e-02 -8.32875106e-03 9.99914765e-01 -3.17561017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.631193817 meters Centerline goodness : 0.883002 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.81, Z:-3.17 [[ 9.99932796e-01 5.01444389e-03 1.04527084e-02 3.29833858e+01] [-5.12197973e-03 9.99933974e-01 1.02865880e-02 -8.06901949e-01] [-1.04004368e-02 -1.03394352e-02 9.99892458e-01 -3.17490595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.661193817 meters Centerline goodness : 0.883500 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.81, Z:-3.17 [[ 9.99923178e-01 6.24878697e-03 1.07047180e-02 3.29822785e+01] [-6.38041692e-03 9.99903913e-01 1.23067439e-02 -8.14649619e-01] [-1.06267872e-02 -1.23740990e-02 9.99866968e-01 -3.17396697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.691193817 meters Centerline goodness : 0.887430 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.82, Z:-3.17 [[ 9.99916010e-01 7.23163217e-03 1.07552853e-02 3.29819742e+01] [-7.38445501e-03 9.99871368e-01 1.42379164e-02 -8.22632088e-01] [-1.06509384e-02 -1.43161425e-02 9.99840790e-01 -3.17331714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.721193817 meters Centerline goodness : 0.884737 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.83, Z:-3.17 [[ 9.99911140e-01 7.90123576e-03 1.07369347e-02 3.29824918e+01] [-8.07071116e-03 9.99842065e-01 1.58337664e-02 -8.30736304e-01] [-1.06101327e-02 -1.59190142e-02 9.99816988e-01 -3.17363310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.751193817 meters Centerline goodness : 0.887734 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.85, Z:-3.18 [[ 9.99936990e-01 9.88199077e-03 5.32555408e-03 3.30012515e+01] [-9.94274628e-03 9.99884379e-01 1.15052035e-02 -8.48586095e-01] [-5.21124402e-03 -1.15574292e-02 9.99919631e-01 -3.17737335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78119381700003 meters Centerline goodness : 0.888095 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.85, Z:-3.18 [[ 9.99960588e-01 6.67042341e-03 5.85897618e-03 3.30019181e+01] [-6.71199740e-03 9.99952233e-01 7.10501018e-03 -8.52306953e-01] [-5.81130289e-03 -7.14405559e-03 9.99957595e-01 -3.18191500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.811193817 meters Centerline goodness : 0.890785 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.86, Z:-3.18 [[ 9.99987643e-01 1.72533342e-03 4.66227742e-03 3.30040287e+01] [-1.74677047e-03 9.99987904e-01 4.59782603e-03 -8.58847451e-01] [-4.65428825e-03 -4.60591315e-03 9.99978561e-01 -3.17831632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84119381700003 meters Centerline goodness : 0.892810 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.86, Z:-3.18 [[ 9.99992929e-01 -6.74703262e-04 3.69960589e-03 3.30086536e+01] [ 6.56377309e-04 9.99987521e-01 4.95246658e-03 -8.63008158e-01] [-3.70290116e-03 -4.95000322e-03 9.99980893e-01 -3.17790645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.871193817 meters Centerline goodness : 0.890544 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.86, Z:-3.18 [[ 9.99994081e-01 -2.30285740e-03 2.55648151e-03 3.30136557e+01] [ 2.29208393e-03 9.99988515e-01 4.20913946e-03 -8.63065590e-01] [-2.56614520e-03 -4.20325488e-03 9.99987874e-01 -3.18007236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters Centerline goodness : 0.886113 Centerline is valid? [False, False] Translation: X:33.02, Y:-0.86, Z:-3.18 [[ 9.99991112e-01 -3.72621850e-03 1.97260895e-03 3.30177725e+01] [ 3.72106724e-03 9.99989674e-01 2.60865186e-03 -8.60578128e-01] [-1.98230899e-03 -2.60128846e-03 9.99994652e-01 -3.18395646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.931193817 meters Centerline goodness : 0.878540 Centerline is valid? [False, False] Translation: X:33.03, Y:-0.86, Z:-3.19 [[ 9.99989816e-01 -4.51169028e-03 -1.15941140e-04 3.30347943e+01] [ 4.51254878e-03 9.99949587e-01 8.96993860e-03 -8.58464234e-01] [ 7.54657105e-05 -8.97037043e-03 9.99959763e-01 -3.18698971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters Centerline goodness : 0.877517 Centerline is valid? [False, False] Translation: X:33.04, Y:-0.86, Z:-3.18 [[ 9.99998086e-01 -1.44505325e-03 -1.31877435e-03 3.30374874e+01] [ 1.46375568e-03 9.99896783e-01 1.42926578e-02 -8.60327217e-01] [ 1.29798458e-03 -1.42945609e-02 9.99896985e-01 -3.18398782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.991193817 meters Centerline goodness : 0.882358 Centerline is valid? [False, False] Translation: X:33.04, Y:-0.87, Z:-3.17 [[ 9.99996706e-01 -6.38478970e-04 -2.48587331e-03 3.30435736e+01] [ 6.96325762e-04 9.99727359e-01 2.33393126e-02 -8.65214110e-01] [ 2.47029390e-03 -2.33409667e-02 9.99724511e-01 -3.17433530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters Centerline goodness : 0.885606 Centerline is valid? [False, False] Translation: X:33.05, Y:-0.87, Z:-3.17 [[ 9.99990118e-01 -2.04828470e-03 -3.94565666e-03 3.30470184e+01] [ 2.15219329e-03 9.99646146e-01 2.65132330e-02 -8.69332942e-01] [ 3.88995382e-03 -2.65214628e-02 9.99640676e-01 -3.16790141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.051193817 meters Centerline goodness : 0.888654 Centerline is valid? [False, False] Translation: X:33.05, Y:-0.87, Z:-3.17 [[ 9.99917275e-01 -1.21966029e-02 -4.08495956e-03 3.30493054e+01] [ 1.22578292e-02 9.99807587e-01 1.53144934e-02 -8.70856698e-01] [ 3.89738877e-03 -1.53632993e-02 9.99874382e-01 -3.17127188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters Centerline goodness : 0.889013 Centerline is valid? [False, False] Translation: X:33.06, Y:-0.87, Z:-3.18 [[ 9.99895545e-01 -1.44197981e-02 9.84326482e-04 3.30633400e+01] [ 1.44202832e-02 9.99895903e-01 -4.87551772e-04 -8.66124883e-01] [-9.77193619e-04 5.01695111e-04 9.99999397e-01 -3.18129268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.111193817 meters Centerline goodness : 0.887703 Centerline is valid? [False, False] Translation: X:33.07, Y:-0.87, Z:-3.18 [[ 9.99878191e-01 -1.56075912e-02 7.92140852e-05 3.30663899e+01] [ 1.56076287e-02 9.99878070e-01 -4.97189947e-04 -8.66716917e-01] [-7.14444892e-05 4.98365729e-04 9.99999873e-01 -3.18112052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters Centerline goodness : 0.889864 Centerline is valid? [False, False] Translation: X:33.07, Y:-0.87, Z:-3.18 [[ 9.99853676e-01 -1.70871624e-02 -8.09488789e-04 3.30700700e+01] [ 1.70863379e-02 9.99853503e-01 -1.01474220e-03 -8.66566268e-01] [ 8.26709266e-04 1.00076252e-03 9.99999158e-01 -3.18203589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.171193817 meters Centerline goodness : 0.889319 Centerline is valid? [False, False] Translation: X:33.07, Y:-0.87, Z:-3.18 [[ 9.99811382e-01 -1.93369851e-02 -1.81152005e-03 3.30746782e+01] [ 1.93347397e-02 9.99812286e-01 -1.24890675e-03 -8.67278696e-01] [ 1.83533009e-03 1.21364591e-03 9.99997579e-01 -3.18235492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters Centerline goodness : 0.885346 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.87, Z:-3.18 [[ 9.99580524e-01 -2.88839716e-02 2.11932304e-03 3.29756311e+01] [ 2.88628380e-02 9.99539147e-01 9.40375276e-03 -8.66324425e-01] [-2.38996407e-03 -9.33863844e-03 9.99953538e-01 -3.17512637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.231193817 meters Centerline goodness : 0.890088 Centerline is valid? [False, False] Translation: X:33.19, Y:-0.92, Z:-3.13 [[ 0.99855588 0.04223723 -0.03319902 33.18684161] [-0.04099177 0.99846148 0.03734084 -0.92163118] [ 0.03472512 -0.03592603 0.99875096 -3.12850007] [ 0. 0. 0. 1. ]] SLAMing on 276.261193817 meters Centerline goodness : 0.889223 Centerline is valid? [False, False] Translation: X:33.19, Y:-0.92, Z:-3.13 [[ 9.98812705e-01 3.65844251e-02 -3.21676997e-02 3.31856158e+01] [-3.54323475e-02 9.98734813e-01 3.56836253e-02 -9.21333353e-01] [ 3.34324665e-02 -3.45014812e-02 9.98845292e-01 -3.12880006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.291193817 meters Centerline goodness : 0.888835 Centerline is valid? [False, False] Translation: X:33.20, Y:-0.92, Z:-3.14 [[ 9.99020932e-01 3.36708107e-02 -2.86958775e-02 3.31993914e+01] [-3.32055775e-02 9.99311708e-01 1.65378586e-02 -9.15719183e-01] [ 2.92329695e-02 -1.55688037e-02 9.99451372e-01 -3.14182371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters Centerline goodness : 0.888869 Centerline is valid? [False, False] Translation: X:33.22, Y:-0.91, Z:-3.15 [[ 9.99203937e-01 3.08076839e-02 -2.53451770e-02 3.32167164e+01] [-3.07831486e-02 9.99525164e-01 1.35773345e-03 -9.11349904e-01] [ 2.53749708e-02 -5.76448254e-04 9.99677837e-01 -3.15153794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.351193817 meters Centerline goodness : 0.889707 Centerline is valid? [False, False] Translation: X:33.22, Y:-0.91, Z:-3.15 [[ 9.99214654e-01 2.98047538e-02 -2.61103968e-02 3.32190627e+01] [-2.97882736e-02 9.99555710e-01 1.01999131e-03 -9.10842679e-01] [ 2.61291968e-02 -2.41406620e-04 9.99658545e-01 -3.15147791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters Centerline goodness : 0.891548 Centerline is valid? [False, False] Translation: X:33.22, Y:-0.91, Z:-3.15 [[ 9.99226349e-01 2.88990126e-02 -2.66749216e-02 3.32210767e+01] [-2.88971727e-02 9.99582286e-01 4.54535560e-04 -9.09928415e-01] [ 2.66769147e-02 3.16645909e-04 9.99644058e-01 -3.15195177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.411193817 meters Centerline goodness : 0.890177 Centerline is valid? [False, False] Translation: X:33.24, Y:-0.90, Z:-3.16 [[ 9.99634849e-01 2.17430861e-02 -1.60439191e-02 3.32369426e+01] [-2.18260455e-02 9.99749211e-01 -5.01389604e-03 -9.02876545e-01] [ 1.59308779e-02 5.36224052e-03 9.99858717e-01 -3.16292237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters Centerline goodness : 0.888184 Centerline is valid? [False, False] Translation: X:33.24, Y:-0.90, Z:-3.16 [[ 9.99647997e-01 2.07135595e-02 -1.65780232e-02 3.32394065e+01] [-2.08176106e-02 9.99764506e-01 -6.12866718e-03 -9.00583568e-01] [ 1.64471726e-02 6.47162470e-03 9.99843792e-01 -3.16450853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.471193817 meters Centerline goodness : 0.886713 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.90, Z:-3.17 [[ 9.99680634e-01 2.17662919e-02 -1.28397045e-02 3.32591140e+01] [-2.19420232e-02 9.99665260e-01 -1.37082515e-02 -8.97910709e-01] [ 1.25370287e-02 1.39856027e-02 9.99823597e-01 -3.17034697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters Centerline goodness : 0.886207 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.90, Z:-3.17 [[ 9.99591199e-01 2.50300325e-02 -1.38178013e-02 3.32614852e+01] [-2.51478528e-02 9.99648284e-01 -8.41981897e-03 -8.99825634e-01] [ 1.36021930e-02 8.76386497e-03 9.99869079e-01 -3.16765424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53119381700003 meters Centerline goodness : 0.885376 Centerline is valid? [False, False] Translation: X:33.28, Y:-0.90, Z:-3.17 [[ 9.99595297e-01 2.63567512e-02 -1.07034632e-02 3.32813485e+01] [-2.65233885e-02 9.99524315e-01 -1.57370299e-02 -8.98225389e-01] [ 1.02835947e-02 1.60145532e-02 9.99818874e-01 -3.17316887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.561193817 meters Centerline goodness : 0.886302 Centerline is valid? [False, False] Translation: X:33.28, Y:-0.90, Z:-3.17 [[ 9.99499245e-01 2.93527931e-02 -1.18183185e-02 3.32846826e+01] [-2.94885407e-02 9.99499186e-01 -1.14805920e-02 -8.98662142e-01] [ 1.14754123e-02 1.18233480e-02 9.99864252e-01 -3.17230055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59119381700003 meters Centerline goodness : 0.887977 Centerline is valid? [False, False] Translation: X:33.29, Y:-0.90, Z:-3.17 [[ 9.99502455e-01 2.90132107e-02 -1.23723638e-02 3.32862547e+01] [-2.91588492e-02 9.99505634e-01 -1.17579680e-02 -8.98490235e-01] [ 1.20251109e-02 1.21128818e-02 9.99854327e-01 -3.17277834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.621193817 meters Centerline goodness : 0.888203 Centerline is valid? [False, False] Translation: X:33.29, Y:-0.90, Z:-3.17 [[ 9.99388356e-01 3.23626414e-02 -1.32504278e-02 3.32885051e+01] [-3.24476360e-02 9.99453892e-01 -6.25048886e-03 -9.02285483e-01] [ 1.30409093e-02 6.67661084e-03 9.99892673e-01 -3.17041335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.651193817 meters Centerline goodness : 0.886570 Centerline is valid? [False, False] Translation: X:33.30, Y:-0.90, Z:-3.18 [[ 9.99294917e-01 3.66574552e-02 -8.11787984e-03 3.33015919e+01] [-3.67674880e-02 9.99227902e-01 -1.38474365e-02 -9.02026276e-01] [ 7.60400026e-03 1.41361469e-02 9.99871166e-01 -3.17672540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.681193817 meters Centerline goodness : 0.885761 Centerline is valid? [False, False] Translation: X:33.30, Y:-0.91, Z:-3.17 [[ 9.99140524e-01 4.05526124e-02 -8.58481468e-03 3.33028384e+01] [-4.06249333e-02 9.99138951e-01 -8.42447208e-03 -9.05498549e-01] [ 8.23578838e-03 8.76598897e-03 9.99927662e-01 -3.17489118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.711193817 meters Centerline goodness : 0.884888 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.18 [[ 9.99273218e-01 3.80196005e-02 2.74707578e-03 3.33147888e+01] [-3.79874462e-02 9.99218360e-01 -1.09371851e-02 -9.04498615e-01] [-3.16075597e-03 1.08248818e-02 9.99936414e-01 -3.18436001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.741193817 meters Centerline goodness : 0.889630 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.90, Z:-3.19 [[ 9.98883002e-01 4.63495255e-02 9.19076503e-03 3.33250884e+01] [-4.62028817e-02 9.98810680e-01 -1.55730184e-02 -9.02314536e-01] [-9.90163628e-03 1.51309835e-02 9.99836492e-01 -3.18861990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.771193817 meters Centerline goodness : 0.890374 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.89, Z:-3.21 [[ 9.98498568e-01 4.99724453e-02 2.24357850e-02 3.33353211e+01] [-4.87079951e-02 9.97365723e-01 -5.37507681e-02 -8.85695009e-01] [-2.50627402e-02 5.25772628e-02 9.98302304e-01 -3.21446021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.801193817 meters Centerline goodness : 0.884847 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.88, Z:-3.21 [[ 9.98811816e-01 4.85169804e-02 4.58903361e-03 3.33469761e+01] [-4.81867980e-02 9.97283625e-01 -5.57082028e-02 -8.79665405e-01] [-7.27936186e-03 5.54208803e-02 9.98436546e-01 -3.20829494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.831193817 meters Centerline goodness : 0.884815 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.88, Z:-3.20 [[ 9.98713683e-01 5.02130304e-02 7.04485446e-03 3.33104749e+01] [-4.99537890e-02 9.98202605e-01 -3.31085888e-02 -8.80439218e-01] [-8.69467465e-03 3.27140835e-02 9.99426931e-01 -3.19630593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.861193817 meters Centerline goodness : 0.883655 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.88, Z:-3.19 [[ 9.98044435e-01 6.21272445e-02 6.89289870e-03 3.33118407e+01] [-6.20054233e-02 9.97936636e-01 -1.66672565e-02 -8.84935000e-01] [-7.91416686e-03 1.62072655e-02 9.99837332e-01 -3.18871039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.891193817 meters Centerline goodness : 0.887670 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.89, Z:-3.18 [[ 9.98092296e-01 6.14124945e-02 6.34625251e-03 3.33130736e+01] [-6.13257595e-02 9.98032346e-01 -1.30609157e-02 -8.90129836e-01] [-7.13586870e-03 1.26468106e-02 9.99894563e-01 -3.18239843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.921193817 meters Centerline goodness : 0.886006 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.89, Z:-3.18 [[ 9.98320759e-01 5.75750725e-02 6.38538294e-03 3.33120302e+01] [-5.74633417e-02 9.98211528e-01 -1.64836176e-02 -8.91232598e-01] [-7.32300834e-03 1.60890122e-02 9.99843746e-01 -3.18125789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.951193817 meters Centerline goodness : 0.886891 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.89, Z:-3.18 [[ 9.98362009e-01 5.69244904e-02 5.73603720e-03 3.33137786e+01] [-5.68273480e-02 9.98257821e-01 -1.58737534e-02 -8.92723869e-01] [-6.62964931e-03 1.55217885e-02 9.99857551e-01 -3.18018266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.981193817 meters Centerline goodness : 0.890750 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.90, Z:-3.17 [[ 9.98603953e-01 5.24236840e-02 6.47324599e-03 3.33351933e+01] [-5.24027381e-02 9.98620366e-01 -3.36416512e-03 -8.97152291e-01] [-6.64067721e-03 3.02025277e-03 9.99973389e-01 -3.17246146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.011193817 meters Centerline goodness : 0.887485 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.90, Z:-3.17 [[ 9.98675510e-01 5.11616752e-02 5.45064501e-03 3.33386070e+01] [-5.11430251e-02 9.98685179e-01 -3.50784926e-03 -8.97720519e-01] [-5.62294583e-03 3.22444067e-03 9.99978993e-01 -3.17276233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.041193817 meters Centerline goodness : 0.885989 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.90, Z:-3.17 [[ 9.98739504e-01 4.98966718e-02 5.45206142e-03 3.33390403e+01] [-4.98862907e-02 9.98752853e-01 -2.02382567e-03 -8.97671592e-01] [-5.54624407e-03 1.74929153e-03 9.99983089e-01 -3.17299132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.071193817 meters Centerline goodness : 0.884917 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.89, Z:-3.17 [[ 9.99103334e-01 4.11247388e-02 -1.00639824e-02 3.33459033e+01] [-4.11503427e-02 9.99150202e-01 -2.35032092e-03 -8.92758123e-01] [ 9.95877368e-03 2.76234979e-03 9.99946595e-01 -3.16832397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.101193817 meters Centerline goodness : 0.886225 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.17 [[ 9.99180660e-01 3.92326611e-02 -9.94021331e-03 3.33463039e+01] [-3.92345856e-02 9.99230027e-01 1.39832073e-06 -8.95881097e-01] [ 9.93261448e-03 3.88602975e-04 9.99950595e-01 -3.16933207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.131193817 meters Centerline goodness : 0.888464 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.17 [[ 9.99271448e-01 3.64194156e-02 -1.14105026e-02 3.33488520e+01] [-3.64381053e-02 9.99334882e-01 -1.43427554e-03 -8.98412035e-01] [ 1.13506778e-02 1.84900770e-03 9.99933869e-01 -3.16944274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.161193817 meters Centerline goodness : 0.886059 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.17 [[ 9.99361729e-01 3.35211429e-02 -1.23478087e-02 3.33499756e+01] [-3.35647137e-02 9.99430971e-01 -3.33839669e-03 -9.00854324e-01] [ 1.22288756e-02 3.75071656e-03 9.99918190e-01 -3.16886337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.191193817 meters Centerline goodness : 0.889151 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.17 [[ 9.99472559e-01 3.02395063e-02 -1.18395598e-02 3.33478584e+01] [-3.03272249e-02 9.99513360e-01 -7.30082063e-03 -9.00210354e-01] [ 1.16130250e-02 7.65603088e-03 9.99903257e-01 -3.16873043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.221193817 meters Centerline goodness : 0.889177 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.16 [[ 9.99464239e-01 3.00895895e-02 -1.28783572e-02 3.33473015e+01] [-3.02172443e-02 9.99494965e-01 -9.83524756e-03 -8.99844811e-01] [ 1.25759146e-02 1.02191267e-02 9.99868699e-01 -3.16493280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.251193817 meters Centerline goodness : 0.889177 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.90, Z:-3.16 [[ 9.99464239e-01 3.00895895e-02 -1.28783572e-02 3.33473015e+01] [-3.02172443e-02 9.99494965e-01 -9.83524756e-03 -8.99844811e-01] [ 1.25759146e-02 1.02191267e-02 9.99868699e-01 -3.16493280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28119381700003 meters Centerline goodness : 0.889933 Centerline is valid? [False, False] Translation: X:33.30, Y:-0.90, Z:-3.16 [[ 9.99537572e-01 2.80453016e-02 -1.17517527e-02 3.33032946e+01] [-2.79984522e-02 9.99599425e-01 4.13235011e-03 -9.00250058e-01] [ 1.18629383e-02 -3.80140830e-03 9.99922407e-01 -3.15561585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.311193817 meters Centerline goodness : 0.891711 Centerline is valid? [False, False] Translation: X:33.30, Y:-0.90, Z:-3.16 [[ 9.99533558e-01 2.80485085e-02 -1.20809188e-02 3.33040301e+01] [-2.79918761e-02 9.99596474e-01 4.83164024e-03 -8.99388544e-01] [ 1.22115641e-02 -4.49121897e-03 9.99915350e-01 -3.15541828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34119381700003 meters Centerline goodness : 0.887956 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99536113e-01 2.78180648e-02 -1.23981767e-02 3.33057760e+01] [-2.77505614e-02 9.99599283e-01 5.58382813e-03 -8.97970312e-01] [ 1.25485398e-02 -5.23718150e-03 9.99907549e-01 -3.15672342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.371193817 meters Centerline goodness : 0.884862 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99531613e-01 2.79516976e-02 -1.24602387e-02 3.33071513e+01] [-2.78659513e-02 9.99587139e-01 7.00292744e-03 -8.97166984e-01] [ 1.26508380e-02 -6.65243096e-03 9.99897846e-01 -3.15823575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters Centerline goodness : 0.889294 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99519242e-01 2.83107595e-02 -1.26406224e-02 3.33068069e+01] [-2.82214946e-02 9.99575870e-01 7.18517814e-03 -8.97324507e-01] [ 1.28386790e-02 -6.82498655e-03 9.99894288e-01 -3.15691934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.431193817 meters Centerline goodness : 0.889531 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99488726e-01 2.88629364e-02 -1.37556395e-02 3.33080032e+01] [-2.87720077e-02 9.99563121e-01 6.76300582e-03 -8.96998887e-01] [ 1.39448301e-02 -6.36377071e-03 9.99882515e-01 -3.15534760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters Centerline goodness : 0.889812 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99471775e-01 2.90332263e-02 -1.46028586e-02 3.33099794e+01] [-2.89510864e-02 9.99563972e-01 5.80524866e-03 -8.96767085e-01] [ 1.47650364e-02 -5.37941356e-03 9.99876520e-01 -3.15596853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.491193817 meters Centerline goodness : 0.888399 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99458412e-01 2.89295551e-02 -1.56832379e-02 3.33127508e+01] [-2.88550633e-02 9.99571322e-01 4.95547952e-03 -8.97318098e-01] [ 1.58198746e-02 -4.50025487e-03 9.99864730e-01 -3.15725148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters Centerline goodness : 0.884886 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99526529e-01 2.67242448e-02 -1.52490508e-02 3.33127358e+01] [-2.66505615e-02 9.99632231e-01 5.01494935e-03 -9.00058660e-01] [ 1.53774634e-02 -4.60617915e-03 9.99871150e-01 -3.15870156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.551193817 meters Centerline goodness : 0.884445 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99576870e-01 2.50103300e-02 -1.48514319e-02 3.33122889e+01] [-2.49431030e-02 9.99677848e-01 4.69476793e-03 -9.02308872e-01] [ 1.49640652e-02 -4.32234064e-03 9.99878690e-01 -3.15915333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters Centerline goodness : 0.885159 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.91, Z:-3.16 [[ 9.99712399e-01 1.98843124e-02 -1.34064445e-02 3.33103550e+01] [-1.98319429e-02 9.99795214e-01 4.02799607e-03 -9.05384034e-01] [ 1.34837930e-02 -3.76096177e-03 9.99902016e-01 -3.15984232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.611193817 meters Centerline goodness : 0.887525 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.91, Z:-3.16 [[ 9.99755229e-01 1.79390103e-02 -1.29489023e-02 3.33094413e+01] [-1.78937819e-02 9.99833411e-01 3.60029047e-03 -9.05890525e-01] [ 1.30113308e-02 -3.36770438e-03 9.99909678e-01 -3.15935765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters Centerline goodness : 0.888106 Centerline is valid? [False, False] Translation: X:33.31, Y:-0.90, Z:-3.16 [[ 9.99743388e-01 1.83912278e-02 -1.32257450e-02 3.33089302e+01] [-1.83546822e-02 9.99827393e-01 2.87932444e-03 -9.04658461e-01] [ 1.32764165e-02 -2.63583123e-03 9.99908390e-01 -3.15726572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.671193817 meters Centerline goodness : 0.888818 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.90, Z:-3.17 [[ 9.99756143e-01 2.04299720e-02 -8.38273941e-03 3.33378141e+01] [-2.05939069e-02 9.99588667e-01 -1.99596392e-02 -8.98393571e-01] [ 7.97151645e-03 2.01274053e-02 9.99765644e-01 -3.17021186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters Centerline goodness : 0.893031 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.90, Z:-3.17 [[ 9.99713664e-01 2.26895095e-02 -7.60107352e-03 3.33330926e+01] [-2.28264665e-02 9.99569295e-01 -1.84439069e-02 -8.95809584e-01] [ 7.17931650e-03 1.86121314e-02 9.99801003e-01 -3.16661647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.731193817 meters Centerline goodness : 0.891344 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.17 [[ 9.99699516e-01 2.39751591e-02 -5.10582599e-03 3.33284485e+01] [-2.40570564e-02 9.99572210e-01 -1.66329220e-02 -8.93832641e-01] [ 4.70486482e-03 1.67507552e-02 9.99848627e-01 -3.16514319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters Centerline goodness : 0.894381 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.16 [[ 9.99678005e-01 2.49589343e-02 -4.57587945e-03 3.33262354e+01] [-2.50309546e-02 9.99551775e-01 -1.64225634e-02 -8.92007373e-01] [ 4.16393874e-03 1.65318140e-02 9.99854670e-01 -3.16433101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.791193817 meters Centerline goodness : 0.895183 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.90, Z:-3.16 [[ 9.99546539e-01 2.96523054e-02 -5.23992352e-03 3.33320745e+01] [-2.96732669e-02 9.99551772e-01 -3.96891555e-03 -8.95834958e-01] [ 5.11988735e-03 4.12260145e-03 9.99978395e-01 -3.15578696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters Centerline goodness : 0.889767 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.16 [[ 9.99398674e-01 3.42963430e-02 -5.10401007e-03 3.33311827e+01] [-3.42976325e-02 9.99411649e-01 -1.65308664e-04 -8.94244743e-01] [ 5.09533764e-03 3.40264721e-04 9.99986961e-01 -3.15549182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.851193817 meters Centerline goodness : 0.891810 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.16 [[ 9.99384157e-01 3.47451746e-02 -4.90703234e-03 3.33308278e+01] [-3.47512488e-02 9.99395322e-01 -1.15803639e-03 -8.91305165e-01] [ 4.86382899e-03 1.32784873e-03 9.99987290e-01 -3.15709059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters Centerline goodness : 0.887733 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.16 [[ 9.99250056e-01 3.83175689e-02 -5.57578252e-03 3.33330876e+01] [-3.83025433e-02 9.99262329e-01 2.77711931e-03 -8.90641639e-01] [ 5.67808189e-03 -2.56146997e-03 9.99980599e-01 -3.15707601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.911193817 meters Centerline goodness : 0.887171 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.89, Z:-3.16 [[ 9.99224327e-01 3.89985901e-02 -5.46397234e-03 3.33330577e+01] [-3.89900354e-02 9.99238215e-01 1.66355786e-03 -8.86928424e-01] [ 5.52468638e-03 -1.44922700e-03 9.99983689e-01 -3.15934273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters Centerline goodness : 0.882416 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.99195825e-01 3.97395424e-02 -5.33585477e-03 3.33326681e+01] [-3.97366554e-02 9.99209978e-01 6.46023493e-04 -8.83382594e-01] [ 5.35731201e-03 -4.33474956e-04 9.99985556e-01 -3.16118784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.971193817 meters Centerline goodness : 0.883633 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.99026718e-01 4.37208265e-02 -5.84012330e-03 3.33345822e+01] [-4.37007805e-02 9.99038474e-01 3.51713081e-03 -8.81025869e-01] [ 5.98827973e-03 -3.25848970e-03 9.99976761e-01 -3.16320972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.001193817 meters Centerline goodness : 0.880912 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.88, Z:-3.17 [[ 9.99029832e-01 4.36177464e-02 -6.07350841e-03 3.33357816e+01] [-4.36038034e-02 9.99045996e-01 2.40956578e-03 -8.78613701e-01] [ 6.17281409e-03 -2.14240003e-03 9.99978653e-01 -3.16521357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03119381700003 meters Centerline goodness : 0.881273 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.88, Z:-3.17 [[ 9.99014559e-01 4.39826691e-02 -5.95278613e-03 3.33353618e+01] [-4.39717766e-02 9.99030873e-01 1.94854559e-03 -8.77297998e-01] [ 6.03271937e-03 -1.68487083e-03 9.99980384e-01 -3.16590623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.061193817 meters Centerline goodness : 0.878786 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.88, Z:-3.17 [[ 9.99010753e-01 4.40300369e-02 -6.23466283e-03 3.33357373e+01] [-4.40203081e-02 9.99029208e-01 1.68923405e-03 -8.76231810e-01] [ 6.30298731e-03 -1.41311120e-03 9.99979138e-01 -3.16589054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09119381700003 meters Centerline goodness : 0.881723 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98966738e-01 4.50520059e-02 -5.98110422e-03 3.33335905e+01] [-4.50385457e-02 9.98982447e-01 2.36644356e-03 -8.76795901e-01] [ 6.08163116e-03 -2.09461817e-03 9.99979313e-01 -3.16417711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.121193817 meters Centerline goodness : 0.881429 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98961460e-01 4.51452155e-02 -6.15722318e-03 3.33335212e+01] [-4.51299184e-02 9.98977740e-01 2.60120950e-03 -8.76685976e-01] [ 6.26836106e-03 -2.32063306e-03 9.99977661e-01 -3.16330332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.151193817 meters Centerline goodness : 0.883004 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98947439e-01 4.54763557e-02 -5.99288907e-03 3.33326905e+01] [-4.54606709e-02 9.98962404e-01 2.72803745e-03 -8.76224422e-01] [ 6.11073207e-03 -2.45272527e-03 9.99978321e-01 -3.16279521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.181193817 meters Centerline goodness : 0.882238 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98921213e-01 4.60969222e-02 -5.61102599e-03 3.33311054e+01] [-4.60821620e-02 9.98933917e-01 2.73209964e-03 -8.75346205e-01] [ 5.73098555e-03 -2.47058408e-03 9.99980526e-01 -3.16236587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.211193817 meters Centerline goodness : 0.882648 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98917580e-01 4.61695633e-02 -5.66036531e-03 3.33308677e+01] [-4.61538608e-02 9.98930208e-01 2.87412786e-03 -8.75209892e-01] [ 5.78700713e-03 -2.60976913e-03 9.99979850e-01 -3.16170045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.241193817 meters Centerline goodness : 0.884731 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98906704e-01 4.64262980e-02 -5.47684297e-03 3.33300913e+01] [-4.64105450e-02 9.98918037e-01 2.96921101e-03 -8.75306696e-01] [ 5.60876670e-03 -2.71178151e-03 9.99980594e-01 -3.16136218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.271193817 meters Centerline goodness : 0.884647 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98900634e-01 4.65413678e-02 -5.60583628e-03 3.33301225e+01] [-4.65228165e-02 9.98911457e-01 3.39550526e-03 -8.75659945e-01] [ 5.75776554e-03 -3.13097306e-03 9.99978522e-01 -3.16058198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.301193817 meters Centerline goodness : 0.885187 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98904316e-01 4.64651103e-02 -5.58213215e-03 3.33302610e+01] [-4.64473479e-02 9.98915385e-01 3.27064722e-03 -8.76151492e-01] [ 5.72804867e-03 -3.00778839e-03 9.99979071e-01 -3.16094587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.331193817 meters Centerline goodness : 0.886580 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98921170e-01 4.60593915e-02 -5.91844250e-03 3.33314133e+01] [-4.60426616e-02 9.98935170e-01 2.93263959e-03 -8.76050156e-01] [ 6.04721595e-03 -2.65697493e-03 9.99978186e-01 -3.16152284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.361193817 meters Centerline goodness : 0.887867 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98946625e-01 4.54464582e-02 -6.34511955e-03 3.33331799e+01] [-4.54291809e-02 9.98963522e-01 2.84108010e-03 -8.77247329e-01] [ 6.46766000e-03 -2.54983379e-03 9.99975834e-01 -3.16222443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.391193817 meters Centerline goodness : 0.883737 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.88, Z:-3.16 [[ 9.98960366e-01 4.50935780e-02 -6.68999187e-03 3.33342677e+01] [-4.50755091e-02 9.98979581e-01 2.82759683e-03 -8.78115088e-01] [ 6.81067173e-03 -2.52310237e-03 9.99973624e-01 -3.16240245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.421193817 meters Centerline goodness : 0.885898 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.88, Z:-3.16 [[ 9.99151259e-01 4.05623116e-02 -7.17358831e-03 3.33358044e+01] [-4.05777493e-02 9.99174343e-01 -2.01965666e-03 -8.77914380e-01] [ 7.08574344e-03 2.30903057e-03 9.99972230e-01 -3.16418603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.451193817 meters Centerline goodness : 0.887703 Centerline is valid? [False, False] Translation: X:33.34, Y:-0.88, Z:-3.16 [[ 9.99217795e-01 3.86959652e-02 -8.14986368e-03 3.33399623e+01] [-3.87091159e-02 9.99249452e-01 -1.46204621e-03 -8.81282117e-01] [ 8.08717153e-03 1.77637661e-03 9.99965720e-01 -3.16400075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.481193817 meters Centerline goodness : 0.884014 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.89, Z:-3.16 [[ 9.99422135e-01 3.26750635e-02 -9.36673089e-03 3.33501052e+01] [-3.26864149e-02 9.99465093e-01 -1.06133001e-03 -8.85268020e-01] [ 9.32704153e-03 1.36688156e-03 9.99955568e-01 -3.16329642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.511193817 meters Centerline goodness : 0.887047 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.90, Z:-3.15 [[ 9.99929723e-01 1.05273351e-02 -5.45193313e-03 3.33892746e+01] [-1.03864870e-02 9.99627244e-01 2.52486343e-02 -9.02373097e-01] [ 5.71570172e-03 -2.51902334e-02 9.99666336e-01 -3.14644678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.541193817 meters Centerline goodness : 0.886985 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.90, Z:-3.15 [[ 9.99964342e-01 6.20346512e-03 -5.72987205e-03 3.33902047e+01] [-6.08406823e-03 9.99768767e-01 2.06251353e-02 -9.02679654e-01] [ 5.85649442e-03 -2.05895389e-02 9.99770860e-01 -3.14750579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.571193817 meters Centerline goodness : 0.888762 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.90, Z:-3.15 [[ 9.99980511e-01 1.92158281e-03 -5.94014357e-03 3.33906519e+01] [-1.82434272e-03 9.99864955e-01 1.63322894e-02 -9.02493926e-01] [ 5.97072523e-03 -1.63211342e-02 9.99848974e-01 -3.14760853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.601193817 meters Centerline goodness : 0.889336 Centerline is valid? [False, False] Translation: X:33.36, Y:-0.90, Z:-3.14 [[ 9.99965218e-01 -7.75481325e-03 -3.06999205e-03 3.33640912e+01] [ 7.84685289e-03 9.99482391e-01 3.11989993e-02 -9.04018484e-01] [ 2.82646058e-03 -3.12220039e-02 9.99508478e-01 -3.14051533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.631193817 meters Centerline goodness : 0.889740 Centerline is valid? [False, False] Translation: X:33.38, Y:-0.90, Z:-3.16 [[ 9.99941861e-01 -1.07770055e-02 -3.61399939e-04 3.33793900e+01] [ 1.07801327e-02 9.99889824e-01 1.02043543e-02 -8.95676127e-01] [ 2.51387739e-04 -1.02076570e-02 9.99947869e-01 -3.15668110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.661193817 meters Centerline goodness : 0.888937 Centerline is valid? [False, False] Translation: X:33.38, Y:-0.89, Z:-3.16 [[ 9.99913047e-01 -1.31259683e-02 -1.26764378e-03 3.33847097e+01] [ 1.31367629e-02 9.99873923e-01 8.91985481e-03 -8.94489667e-01] [ 1.15040223e-03 -8.93573194e-03 9.99959414e-01 -3.15948876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.691193817 meters Centerline goodness : 0.886280 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.89, Z:-3.16 [[ 9.99890073e-01 -1.46871757e-02 -2.03190384e-03 3.33885843e+01] [ 1.47025922e-02 9.99861545e-01 7.79256427e-03 -8.92561628e-01] [ 1.91717175e-03 -7.82158191e-03 9.99967573e-01 -3.16170020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.721193817 meters Centerline goodness : 0.888445 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.89, Z:-3.16 [[ 9.99890152e-01 -1.46525944e-02 -2.23274585e-03 3.33879819e+01] [ 1.46691700e-02 9.99863536e-01 7.59771478e-03 -8.90057684e-01] [ 2.12111493e-03 -7.62963271e-03 9.99968644e-01 -3.16033596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.751193817 meters Centerline goodness : 0.888465 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.89, Z:-3.16 [[ 9.99828909e-01 -1.82753363e-02 -2.85730050e-03 3.33908026e+01] [ 1.82868332e-02 9.99824576e-01 4.05070729e-03 -8.88482083e-01] [ 2.78277122e-03 -4.10226523e-03 9.99987714e-01 -3.16271621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78119381700003 meters Centerline goodness : 0.889116 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.89, Z:-3.16 [[ 9.99801505e-01 -1.96293145e-02 -3.41175060e-03 3.33925057e+01] [ 1.96433625e-02 9.99798504e-01 4.13400460e-03 -8.87688449e-01] [ 3.32991547e-03 -4.20020228e-03 9.99985635e-01 -3.16109494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.811193817 meters Centerline goodness : 0.888791 Centerline is valid? [False, False] Translation: X:33.39, Y:-0.89, Z:-3.16 [[ 9.99776035e-01 -2.07631307e-02 -4.09549196e-03 3.33947947e+01] [ 2.07791919e-02 9.99776409e-01 3.91892174e-03 -8.87592454e-01] [ 4.01320716e-03 -4.00314505e-03 9.99983934e-01 -3.16088271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84119381700003 meters Centerline goodness : 0.889499 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.89, Z:-3.16 [[ 9.99746405e-01 -2.20117129e-02 -4.75509250e-03 3.33977537e+01] [ 2.20296764e-02 9.99750251e-01 3.75898288e-03 -8.88466821e-01] [ 4.67116326e-03 -3.86278277e-03 9.99981629e-01 -3.16145533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.871193817 meters Centerline goodness : 0.884927 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.89, Z:-3.16 [[ 9.99715037e-01 -2.32335673e-02 -5.48141896e-03 3.34010296e+01] [ 2.32532127e-02 9.99723312e-01 3.54791319e-03 -8.89765912e-01] [ 5.39747164e-03 -3.67436276e-03 9.99978683e-01 -3.16250740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters Centerline goodness : 0.881876 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.89, Z:-3.16 [[ 9.99656981e-01 -2.57028834e-02 -5.02807419e-03 3.34032537e+01] [ 2.57179555e-02 9.99664868e-01 2.95625171e-03 -8.94496479e-01] [ 4.95040493e-03 -3.08454945e-03 9.99982989e-01 -3.16389661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.931193817 meters Centerline goodness : 0.879245 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.90, Z:-3.16 [[ 9.99668207e-01 -2.52408524e-02 -5.13565258e-03 3.34025086e+01] [ 2.52618762e-02 9.99672579e-01 4.07084632e-03 -8.97260544e-01] [ 5.03121943e-03 -4.19923186e-03 9.99978526e-01 -3.16186461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters Centerline goodness : 0.884182 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.90, Z:-3.16 [[ 9.99692148e-01 -2.43163598e-02 -4.93194346e-03 3.34006158e+01] [ 2.43422741e-02 9.99689823e-01 5.26421710e-03 -8.99517975e-01] [ 4.80240709e-03 -5.38265122e-03 9.99973982e-01 -3.15966705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.991193817 meters Centerline goodness : 0.884375 Centerline is valid? [False, False] Translation: X:33.41, Y:-0.90, Z:-3.17 [[ 9.99822996e-01 -1.87998553e-02 -7.35657516e-04 3.34110436e+01] [ 1.87961627e-02 9.99812100e-01 -4.74013407e-03 -8.98249968e-01] [ 8.24633121e-04 4.72546751e-03 9.99988495e-01 -3.16779414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.021193817 meters Centerline goodness : 0.882461 Centerline is valid? [False, False] Translation: X:33.41, Y:-0.90, Z:-3.17 [[ 9.99878841e-01 -1.54993973e-02 -1.43948841e-03 3.34135973e+01] [ 1.54992758e-02 9.99879874e-01 -9.55228559e-05 -9.01148163e-01] [ 1.44079604e-03 7.32002546e-05 9.99998959e-01 -3.16789195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.051193817 meters Centerline goodness : 0.878642 Centerline is valid? [False, False] Translation: X:33.42, Y:-0.90, Z:-3.17 [[ 9.99923901e-01 -1.21464398e-02 -2.15805507e-03 3.34164501e+01] [ 1.21551417e-02 9.99917857e-01 4.06601433e-03 -9.03298504e-01] [ 2.10849020e-03 -4.09193637e-03 9.99989405e-01 -3.16894664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters Centerline goodness : 0.877374 Centerline is valid? [False, False] Translation: X:33.43, Y:-0.90, Z:-3.18 [[ 9.99965209e-01 -8.25255161e-03 1.21534076e-03 3.34312061e+01] [ 8.25891747e-03 9.99951692e-01 -5.32952305e-03 -9.01132792e-01] [-1.17129989e-03 5.33937503e-03 9.99985059e-01 -3.17748367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.111193817 meters Centerline goodness : 0.880706 Centerline is valid? [False, False] Translation: X:33.46, Y:-0.90, Z:-3.19 [[ 9.99989509e-01 3.41573317e-03 3.05186068e-03 3.34639817e+01] [-3.30381366e-03 9.99347980e-01 -3.59541435e-02 -8.95538759e-01] [-3.17268056e-03 3.59436836e-02 9.99348781e-01 -3.19285808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters Centerline goodness : 0.880706 Centerline is valid? [False, False] Translation: X:33.46, Y:-0.90, Z:-3.19 [[ 9.99989509e-01 3.41573317e-03 3.05186068e-03 3.34639817e+01] [-3.30381366e-03 9.99347980e-01 -3.59541435e-02 -8.95538759e-01] [-3.17268056e-03 3.59436836e-02 9.99348781e-01 -3.19285808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.171193817 meters Centerline goodness : 0.882689 Centerline is valid? [False, False] Translation: X:33.47, Y:-0.90, Z:-3.19 [[ 9.99980694e-01 5.97721158e-03 1.69857987e-03 3.34650109e+01] [-5.91042192e-03 9.99300503e-01 -3.69265687e-02 -8.95509992e-01] [-1.91810964e-03 3.69158165e-02 9.99316538e-01 -3.19071397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters Centerline goodness : 0.883573 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.90, Z:-3.19 [[ 9.99959851e-01 7.31674547e-03 5.17325666e-03 3.34866652e+01] [-7.09338873e-03 9.99094543e-01 -4.19496964e-02 -8.95553773e-01] [-5.47550775e-03 4.19113162e-02 9.99106331e-01 -3.19413873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.231193817 meters Centerline goodness : 0.884009 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.90, Z:-3.19 [[ 9.99957974e-01 8.37136884e-03 3.73769174e-03 3.34932529e+01] [-8.23231893e-03 9.99325631e-01 -3.57842480e-02 -8.99863545e-01] [-4.03473429e-03 3.57519742e-02 9.99352549e-01 -3.19111379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters Centerline goodness : 0.883840 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.90, Z:-3.19 [[ 9.99937831e-01 1.10607096e-02 1.41233079e-03 3.35238607e+01] [-1.10099693e-02 9.99429129e-01 -3.19405074e-02 -9.03956192e-01] [-1.76480921e-03 3.19229720e-02 9.99488774e-01 -3.18718190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.291193817 meters Centerline goodness : 0.882567 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.90, Z:-3.19 [[ 9.99954172e-01 9.50139648e-03 1.17340892e-03 3.35241499e+01] [-9.45870684e-03 9.99436969e-01 -3.21912796e-02 -9.03475221e-01] [-1.47861036e-03 3.21787054e-02 9.99481038e-01 -3.18644680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters Centerline goodness : 0.885023 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.91, Z:-3.18 [[ 9.99943705e-01 1.06092564e-02 -1.74994231e-04 3.35512668e+01] [-1.06095251e-02 9.99451681e-01 -3.13652040e-02 -9.07379116e-01] [-1.57863212e-04 3.13652949e-02 9.99507976e-01 -3.18292618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.351193817 meters Centerline goodness : 0.882471 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.91, Z:-3.18 [[ 9.99983846e-01 5.31582801e-03 2.01230601e-03 3.35486848e+01] [-5.25251958e-03 9.99528355e-01 -3.02568765e-02 -9.06731294e-01] [-2.17219727e-03 3.02458181e-02 9.99540130e-01 -3.18358121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters Centerline goodness : 0.874849 Centerline is valid? [False, False] Translation: X:33.56, Y:-0.91, Z:-3.18 [[ 9.99996173e-01 2.73868336e-03 3.90969516e-04 3.35552385e+01] [-2.72546618e-03 9.99529845e-01 -3.05394913e-02 -9.07638894e-01] [-4.74423696e-04 3.05383089e-02 9.99533484e-01 -3.18462967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.411193817 meters Centerline goodness : 0.881413 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.91, Z:-3.19 [[ 9.99996899e-01 -1.79535694e-03 -1.72581243e-03 3.35654852e+01] [ 1.74122888e-03 9.99521904e-01 -3.08695774e-02 -9.08777910e-01] [ 1.78040924e-03 3.08664766e-02 9.99521931e-01 -3.18572016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters Centerline goodness : 0.879839 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.91, Z:-3.17 [[ 9.99952026e-01 -7.69434766e-03 -6.06161253e-03 3.35651640e+01] [ 7.61426917e-03 9.99884874e-01 -1.31248843e-02 -9.14593509e-01] [ 6.16190211e-03 1.30780999e-02 9.99895492e-01 -3.17283989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.471193817 meters Centerline goodness : 0.886593 Centerline is valid? [False, False] Translation: X:33.58, Y:-0.92, Z:-3.17 [[ 9.99814300e-01 -1.75828018e-02 -7.88738043e-03 3.35756615e+01] [ 1.74470045e-02 9.99703809e-01 -1.69675344e-02 -9.16394182e-01] [ 8.18338105e-03 1.68267724e-02 9.99824931e-01 -3.17131030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.501193817 meters Centerline goodness : 0.888844 Centerline is valid? [False, False] Translation: X:33.58, Y:-0.92, Z:-3.17 [[ 9.99827500e-01 -1.60134448e-02 -9.40960857e-03 3.35803823e+01] [ 1.59174114e-02 9.99821347e-01 -1.01936491e-02 -9.20031026e-01] [ 9.57116295e-03 1.00421141e-02 9.99903770e-01 -3.16532665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53119381700003 meters Centerline goodness : 0.885770 Centerline is valid? [False, False] Translation: X:33.59, Y:-0.92, Z:-3.17 [[ 9.99781149e-01 -1.78943802e-02 -1.08371867e-02 3.35850234e+01] [ 1.77822665e-02 9.99788263e-01 -1.03547602e-02 -9.20022425e-01] [ 1.10201841e-02 1.01597843e-02 9.99887661e-01 -3.16502923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.561193817 meters Centerline goodness : 0.888059 Centerline is valid? [False, False] Translation: X:33.59, Y:-0.92, Z:-3.16 [[ 9.99796960e-01 -1.62505992e-02 -1.19145943e-02 3.35890484e+01] [ 1.61866537e-02 9.99854167e-01 -5.44392389e-03 -9.21829327e-01] [ 1.20013238e-02 5.24996114e-03 9.99914199e-01 -3.16255088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59119381700003 meters Centerline goodness : 0.880305 Centerline is valid? [False, False] Translation: X:33.60, Y:-0.92, Z:-3.16 [[ 9.99611768e-01 -2.44689747e-02 -1.33260271e-02 3.36017624e+01] [ 2.43634696e-02 9.99670973e-01 -8.02285990e-03 -9.18591415e-01] [ 1.35179536e-02 7.69507691e-03 9.99879018e-01 -3.16448817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.621193817 meters Centerline goodness : 0.884210 Centerline is valid? [False, False] Translation: X:33.61, Y:-0.92, Z:-3.16 [[ 9.99534387e-01 -2.70085371e-02 -1.41967370e-02 3.36064080e+01] [ 2.68989821e-02 9.99607318e-01 -7.85206396e-03 -9.19924910e-01] [ 1.44032349e-02 7.46653017e-03 9.99868390e-01 -3.16422566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.651193817 meters Centerline goodness : 0.882586 Centerline is valid? [False, False] Translation: X:33.61, Y:-0.92, Z:-3.16 [[ 9.99461566e-01 -2.92168578e-02 -1.49316375e-02 3.36104456e+01] [ 2.91063358e-02 9.99547683e-01 -7.56639162e-03 -9.22138907e-01] [ 1.51459498e-02 7.12771237e-03 9.99859888e-01 -3.16394743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.681193817 meters Centerline goodness : 0.878601 Centerline is valid? [False, False] Translation: X:33.61, Y:-0.93, Z:-3.16 [[ 9.99391155e-01 -3.10263070e-02 -1.59589216e-02 3.36144751e+01] [ 3.09183876e-02 9.99497643e-01 -6.96522944e-03 -9.25138173e-01] [ 1.61670098e-02 6.46756457e-03 9.99848388e-01 -3.16317162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.711193817 meters Centerline goodness : 0.881208 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.93, Z:-3.16 [[ 9.99200155e-01 -3.62463676e-02 -1.68893664e-02 3.36171798e+01] [ 3.60781521e-02 9.99297320e-01 -1.01604070e-02 -9.28037376e-01] [ 1.72457764e-02 9.54294313e-03 9.99805739e-01 -3.16129036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.741193817 meters Centerline goodness : 0.885677 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.93, Z:-3.16 [[ 9.99194328e-01 -3.61706174e-02 -1.73891188e-02 3.36173239e+01] [ 3.60197645e-02 9.99311343e-01 -8.91154234e-03 -9.29970363e-01] [ 1.76994797e-02 8.27801060e-03 9.99809083e-01 -3.15861242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.771193817 meters Centerline goodness : 0.886127 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.93, Z:-3.15 [[ 9.99305028e-01 -3.24452867e-02 -1.83511401e-02 3.36185062e+01] [ 3.24009164e-02 9.99471278e-01 -2.71010304e-03 -9.34429086e-01] [ 1.84293675e-02 2.11362584e-03 9.99827931e-01 -3.15454534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.801193817 meters Centerline goodness : 0.890918 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.94, Z:-3.15 [[ 9.99406794e-01 -2.85680499e-02 -1.92334676e-02 3.36197995e+01] [ 2.86194224e-02 9.99587497e-01 2.40100722e-03 -9.37194375e-01] [ 1.91569416e-02 -2.95003367e-03 9.99812137e-01 -3.15267159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.831193817 meters Centerline goodness : 0.885222 Centerline is valid? [False, False] Translation: X:33.63, Y:-0.94, Z:-3.16 [[ 9.99626346e-01 -2.24617827e-02 -1.55768220e-02 3.36326619e+01] [ 2.23657601e-02 9.99729932e-01 -6.31152670e-03 -9.35245293e-01] [ 1.57143834e-02 5.96078091e-03 9.99858754e-01 -3.16206644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.861193817 meters Centerline goodness : 0.885743 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.17 [[ 9.99786069e-01 -1.73884614e-02 -1.12008021e-02 3.36458569e+01] [ 1.72346249e-02 9.99757780e-01 -1.36875627e-02 -9.34852556e-01] [ 1.14360946e-02 1.34915929e-02 9.99843584e-01 -3.16860917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.891193817 meters Centerline goodness : 0.888820 Centerline is valid? [False, False] Translation: X:33.64, Y:-0.94, Z:-3.16 [[ 9.99866202e-01 -1.20161666e-02 -1.10991183e-02 3.36434075e+01] [ 1.19334519e-02 9.99900751e-01 -7.48877371e-03 -9.36794404e-01] [ 1.11880031e-02 7.35532093e-03 9.99910360e-01 -3.16463083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.921193817 meters Centerline goodness : 0.888338 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.94, Z:-3.17 [[ 9.99977346e-01 -3.08396644e-03 -5.98304971e-03 3.36531541e+01] [ 3.02289709e-03 9.99943518e-01 -1.01893919e-02 -9.36568758e-01] [ 6.01413551e-03 1.01710749e-02 9.99930187e-01 -3.16588292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.951193817 meters Centerline goodness : 0.892441 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.94, Z:-3.16 [[ 9.99977059e-01 3.87812702e-03 -5.55360325e-03 3.36477851e+01] [-3.90168455e-03 9.99983411e-01 -4.23731291e-03 -9.35807192e-01] [ 5.53707828e-03 4.25888410e-03 9.99975601e-01 -3.16107420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.981193817 meters Centerline goodness : 0.895488 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99975784e-01 4.36375092e-03 -5.42109097e-03 3.36470331e+01] [-4.38947805e-03 9.99979118e-01 -4.74294951e-03 -9.32990442e-01] [ 5.40028072e-03 4.76663042e-03 9.99974058e-01 -3.16141920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.011193817 meters Centerline goodness : 0.893001 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99947322e-01 8.55030522e-03 -5.67843276e-03 3.36469869e+01] [-8.55131592e-03 9.99963425e-01 -1.53731747e-04 -9.33087189e-01] [ 5.67691062e-03 2.02281721e-04 9.99983866e-01 -3.15980570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.041193817 meters Centerline goodness : 0.895302 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99946675e-01 8.68937305e-03 -5.58043049e-03 3.36468127e+01] [-8.69366301e-03 9.99961932e-01 -7.44953285e-04 -9.31752790e-01] [ 5.57374487e-03 7.93427943e-04 9.99984152e-01 -3.16071497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.071193817 meters Centerline goodness : 0.897745 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99949644e-01 8.04874603e-03 -5.99392257e-03 3.36488314e+01] [-8.05645314e-03 9.99966749e-01 -1.26278778e-03 -9.32147871e-01] [ 5.98355940e-03 1.31101394e-03 9.99981239e-01 -3.16225186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.101193817 meters Centerline goodness : 0.894809 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99951369e-01 7.33587321e-03 -6.59128449e-03 3.36511262e+01] [-7.34620315e-03 9.99971824e-01 -1.54437074e-03 -9.32961148e-01] [ 6.57976946e-03 1.59271655e-03 9.99977085e-01 -3.16323123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.131193817 meters Centerline goodness : 0.896134 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99948797e-01 7.34997810e-03 -6.95571644e-03 3.36518302e+01] [-7.36455789e-03 9.99970733e-01 -2.07280082e-03 -9.31760548e-01] [ 6.94027782e-03 2.12392046e-03 9.99973660e-01 -3.16375277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.161193817 meters Centerline goodness : 0.891168 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.93, Z:-3.16 [[ 9.99947238e-01 6.98826807e-03 -7.52898507e-03 3.36533127e+01] [-7.00692180e-03 9.99972440e-01 -2.45406666e-03 -9.31303540e-01] [ 7.51162789e-03 2.50669219e-03 9.99968645e-01 -3.16409700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.191193817 meters Centerline goodness : 0.893805 Centerline is valid? [False, False] Translation: X:33.66, Y:-0.93, Z:-3.17 [[ 9.99947570e-01 5.93600069e-03 -8.34392996e-03 3.36566453e+01] [-5.95979746e-03 9.99978236e-01 -2.83002060e-03 -9.32729937e-01] [ 8.32694936e-03 2.87960036e-03 9.99961184e-01 -3.16560389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.221193817 meters Centerline goodness : 0.892353 Centerline is valid? [False, False] Translation: X:33.66, Y:-0.93, Z:-3.17 [[ 9.99917367e-01 8.68256175e-03 -9.48015218e-03 3.36613059e+01] [-8.68139003e-03 9.99962302e-01 1.64741361e-04 -9.32522313e-01] [ 9.48122517e-03 -8.24268491e-05 9.99955049e-01 -3.16827909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.251193817 meters Centerline goodness : 0.892044 Centerline is valid? [False, False] Translation: X:33.66, Y:-0.93, Z:-3.17 [[ 9.99919236e-01 7.94274341e-03 -9.92137315e-03 3.36637162e+01] [-7.95093664e-03 9.99968081e-01 -7.86644939e-04 -9.31979772e-01] [ 9.91480836e-03 8.65465616e-04 9.99950473e-01 -3.17059742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28119381700003 meters Centerline goodness : 0.891925 Centerline is valid? [False, False] Translation: X:33.67, Y:-0.93, Z:-3.17 [[ 9.99918725e-01 7.06682013e-03 -1.06115007e-02 3.36668124e+01] [-7.07754460e-03 9.99974480e-01 -9.73433096e-04 -9.33990242e-01] [ 1.06043508e-02 1.04845735e-03 9.99943223e-01 -3.17219556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.311193817 meters Centerline goodness : 0.892410 Centerline is valid? [False, False] Translation: X:33.67, Y:-0.94, Z:-3.17 [[ 9.99917185e-01 5.85486069e-03 -1.14605516e-02 3.36704936e+01] [-5.86542382e-03 9.99982404e-01 -8.88299851e-04 -9.37603158e-01] [ 1.14551491e-02 9.55447279e-04 9.99933931e-01 -3.17340116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34119381700003 meters Centerline goodness : 0.895413 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.94, Z:-3.18 [[ 9.99941783e-01 7.90446116e-03 -7.34512452e-03 3.36831864e+01] [-7.98208196e-03 9.99911969e-01 -1.05991325e-02 -9.37549994e-01] [ 7.26069749e-03 1.06571449e-02 9.99916850e-01 -3.17727800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.371193817 meters Centerline goodness : 0.893595 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.94, Z:-3.17 [[ 9.99937040e-01 8.53209244e-03 -7.28826246e-03 3.36817380e+01] [-8.60102712e-03 9.99918073e-01 -9.47992292e-03 -9.38814205e-01] [ 7.20678178e-03 9.54201261e-03 9.99928504e-01 -3.17483699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters Centerline goodness : 0.901373 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.94, Z:-3.17 [[ 9.99935653e-01 8.57014466e-03 -7.43249180e-03 3.36816987e+01] [-8.63609596e-03 9.99923215e-01 -8.88714668e-03 -9.39404940e-01] [ 7.35575696e-03 8.95076253e-03 9.99932886e-01 -3.17362245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.431193817 meters Centerline goodness : 0.901069 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.94, Z:-3.17 [[ 9.99899607e-01 1.15038676e-02 -8.27267065e-03 3.36843232e+01] [-1.15352586e-02 9.99926409e-01 -3.75689554e-03 -9.42248071e-01] [ 8.22884302e-03 3.85194577e-03 9.99958723e-01 -3.17163632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters Centerline goodness : 0.901542 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.94, Z:-3.17 [[ 9.99907481e-01 1.06547175e-02 -8.45614212e-03 3.36859112e+01] [-1.06926999e-02 9.99932888e-01 -4.45926687e-03 -9.41567913e-01] [ 8.40806238e-03 4.54927329e-03 9.99954303e-01 -3.17291977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.491193817 meters Centerline goodness : 0.899745 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.94, Z:-3.17 [[ 9.99910403e-01 9.85064171e-03 -9.06376055e-03 3.36880765e+01] [-9.89468236e-03 9.99939396e-01 -4.82703634e-03 -9.41491868e-01] [ 9.01566184e-03 4.91628688e-03 9.99947273e-01 -3.17353049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters Centerline goodness : 0.897441 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.94, Z:-3.17 [[ 9.99913778e-01 8.41601675e-03 -1.00800649e-02 3.36918913e+01] [-8.46571673e-03 9.99952169e-01 -4.89804337e-03 -9.43229557e-01] [ 1.00383607e-02 4.98295602e-03 9.99937199e-01 -3.17415948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.551193817 meters Centerline goodness : 0.899672 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.95, Z:-3.17 [[ 9.99929538e-01 5.16148144e-03 -1.06901228e-02 3.36963199e+01] [-5.22391191e-03 9.99969417e-01 -5.82034834e-03 -9.45603868e-01] [ 1.06597543e-02 5.87578249e-03 9.99925920e-01 -3.17476029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters Centerline goodness : 0.901127 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.95, Z:-3.17 [[ 9.99924249e-01 4.16119860e-03 -1.15836416e-02 3.36990060e+01] [-4.22513593e-03 9.99975945e-01 -5.50063382e-03 -9.47130272e-01] [ 1.15604737e-02 5.54915960e-03 9.99917778e-01 -3.17420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.611193817 meters Centerline goodness : 0.900716 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.95, Z:-3.17 [[ 9.99919380e-01 3.57721036e-03 -1.21834779e-02 3.37007537e+01] [-3.64278009e-03 9.99978979e-01 -5.36392369e-03 -9.47628919e-01] [ 1.21640339e-02 5.40787298e-03 9.99911392e-01 -3.17398516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters Centerline goodness : 0.903188 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.95, Z:-3.18 [[ 9.99910220e-01 2.16781947e-03 -1.32231982e-02 3.37046264e+01] [-2.24605622e-03 9.99980045e-01 -5.90465034e-03 -9.47668750e-01] [ 1.32101341e-02 5.93382027e-03 9.99895136e-01 -3.17512881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.671193817 meters Centerline goodness : 0.899852 Centerline is valid? [False, False] Translation: X:33.71, Y:-0.95, Z:-3.18 [[ 9.99892204e-01 5.10384139e-04 -1.46738070e-02 3.37144774e+01] [-5.61627106e-04 9.99993758e-01 -3.48822980e-03 -9.46902568e-01] [ 1.46719351e-02 3.49609499e-03 9.99886249e-01 -3.17635879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters Centerline goodness : 0.899409 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99887264e-01 2.08064124e-04 -1.50138567e-02 3.37153027e+01] [-2.71136673e-04 9.99991147e-01 -4.19904262e-03 -9.44229161e-01] [ 1.50128501e-02 4.20264005e-03 9.99878469e-01 -3.17675351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.731193817 meters Centerline goodness : 0.903282 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99868202e-01 3.42203455e-03 -1.58703303e-02 3.37175132e+01] [-3.41724225e-03 9.99994107e-01 3.29074702e-04 -9.44842734e-01] [ 1.58713628e-02 -2.74798568e-04 9.99874004e-01 -3.17532757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters Centerline goodness : 0.901943 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99848437e-01 5.04709424e-03 -1.66622583e-02 3.37204761e+01] [-5.04809080e-03 9.99987258e-01 -1.77501809e-05 -9.40290969e-01] [ 1.66619564e-02 1.01860083e-04 9.99861175e-01 -3.17781979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.791193817 meters Centerline goodness : 0.901639 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99848493e-01 4.95037654e-03 -1.66878549e-02 3.37203705e+01] [-4.95545046e-03 9.99987687e-01 -2.62711454e-04 -9.38652248e-01] [ 1.66863489e-02 3.45367490e-04 9.99860714e-01 -3.17757525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters Centerline goodness : 0.901638 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99867401e-01 4.15251015e-03 -1.57460307e-02 3.37186199e+01] [-4.14758905e-03 9.99991339e-01 3.45172648e-04 -9.36774870e-01] [ 1.57473277e-02 -2.79818813e-04 9.99875964e-01 -3.17695866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.851193817 meters Centerline goodness : 0.901111 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.94, Z:-3.18 [[ 9.99866489e-01 3.85586964e-03 -1.58788214e-02 3.37191737e+01] [-3.85453020e-03 9.99992565e-01 1.14957705e-04 -9.35765996e-01] [ 1.58791466e-02 -5.37369605e-05 9.99873917e-01 -3.17711240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters Centerline goodness : 0.904559 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.93, Z:-3.18 [[ 9.99865908e-01 3.66289821e-03 -1.59608357e-02 3.37193491e+01] [-3.66456265e-03 9.99993283e-01 -7.50368459e-05 -9.34221380e-01] [ 1.59604537e-02 1.33516267e-04 9.99872615e-01 -3.17691026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.911193817 meters Centerline goodness : 0.905023 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.93, Z:-3.18 [[ 9.99863672e-01 3.75980744e-03 -1.60779539e-02 3.37191445e+01] [-3.75801430e-03 9.99992929e-01 1.41738768e-04 -9.33967584e-01] [ 1.60783732e-02 -8.12982644e-05 9.99870731e-01 -3.17610756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters Centerline goodness : 0.904590 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.93, Z:-3.18 [[ 9.99862067e-01 3.93360147e-03 -1.61361237e-02 3.37186221e+01] [-3.92827916e-03 9.99992219e-01 3.61521060e-04 -9.33625568e-01] [ 1.61374203e-02 -2.98083995e-04 9.99869739e-01 -3.17512390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.971193817 meters Centerline goodness : 0.908889 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.93, Z:-3.17 [[ 9.99861169e-01 4.11866901e-03 -1.61455617e-02 3.37179966e+01] [-4.10779854e-03 9.99991313e-01 7.06384912e-04 -9.33560875e-01] [ 1.61483308e-02 -6.39964129e-04 9.99869402e-01 -3.17400049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.001193817 meters Centerline goodness : 0.909937 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.93, Z:-3.17 [[ 9.99862815e-01 4.41141457e-03 -1.59652684e-02 3.37167905e+01] [-4.39250492e-03 9.99989610e-01 1.21929672e-03 -9.33608814e-01] [ 1.59704813e-02 -1.14900193e-03 9.99871804e-01 -3.17253560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03119381700003 meters Centerline goodness : 0.913607 Centerline is valid? [False, False] Translation: X:33.71, Y:-0.93, Z:-3.17 [[ 9.99870287e-01 4.98812609e-03 -1.53143277e-02 3.37140382e+01] [-4.95496899e-03 9.99985299e-01 2.20228376e-03 -9.33117928e-01] [ 1.53250878e-02 -2.12611608e-03 9.99880303e-01 -3.16968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.061193817 meters Centerline goodness : 0.913607 Centerline is valid? [False, False] Translation: X:33.71, Y:-0.93, Z:-3.17 [[ 9.99870287e-01 4.98812609e-03 -1.53143277e-02 3.37140382e+01] [-4.95496899e-03 9.99985299e-01 2.20228376e-03 -9.33117928e-01] [ 1.53250878e-02 -2.12611608e-03 9.99880303e-01 -3.16968888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09119381700003 meters Centerline goodness : 0.915622 Centerline is valid? [False, False] Translation: X:33.71, Y:-0.93, Z:-3.17 [[ 9.99872949e-01 5.07166189e-03 -1.51117076e-02 3.37133886e+01] [-5.03819129e-03 9.99984772e-01 2.25212677e-03 -9.32661532e-01] [ 1.51228995e-02 -2.17570496e-03 9.99883275e-01 -3.16932945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.121193817 meters Centerline goodness : 0.916949 Centerline is valid? [False, False] Translation: X:33.71, Y:-0.93, Z:-3.17 [[ 9.99874345e-01 4.99344362e-03 -1.50452311e-02 3.37132270e+01] [-4.96227144e-03 9.99985465e-01 2.10851732e-03 -9.31831684e-01] [ 1.50555412e-02 -2.03359385e-03 9.99884591e-01 -3.16925693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.151193817 meters Centerline goodness : 0.923105 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.93, Z:-3.16 [[ 9.99905252e-01 6.87144268e-03 -1.19276900e-02 3.37027330e+01] [-6.83524108e-03 9.99971917e-01 3.07320680e-03 -9.27304750e-01] [ 1.19484724e-02 -2.99138698e-03 9.99924140e-01 -3.16217860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.181193817 meters Centerline goodness : 0.923024 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.92, Z:-3.16 [[ 9.99887114e-01 1.05356804e-02 -1.07125862e-02 3.36944843e+01] [-1.04832085e-02 9.99932834e-01 4.94256905e-03 -9.22197128e-01] [ 1.07639400e-02 -4.82970883e-03 9.99930403e-01 -3.15588032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.211193817 meters Centerline goodness : 0.921047 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.91, Z:-3.15 [[ 9.99831055e-01 1.51391603e-02 -1.04243277e-02 3.36899395e+01] [-1.50601905e-02 9.99857608e-01 7.61280405e-03 -9.13515513e-01] [ 1.05380948e-02 -7.45452555e-03 9.99916686e-01 -3.15186864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.241193817 meters Centerline goodness : 0.922637 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.90, Z:-3.15 [[ 9.99682698e-01 2.27629335e-02 -1.07866557e-02 3.36882393e+01] [-2.26156381e-02 9.99651916e-01 1.35860376e-02 -9.04091833e-01] [ 1.10921591e-02 -1.33377796e-02 9.99849522e-01 -3.14921315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.271193817 meters Centerline goodness : 0.924227 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.87, Z:-3.16 [[ 9.99076354e-01 4.22758615e-02 -7.69354085e-03 3.36818895e+01] [-4.21495236e-02 9.98984745e-01 1.59027373e-02 -8.74885243e-01] [ 8.35803186e-03 -1.55637697e-02 9.99843944e-01 -3.15655100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.301193817 meters Centerline goodness : 0.924042 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.86, Z:-3.16 [[ 9.98513922e-01 5.39591117e-02 -7.63942799e-03 3.36814668e+01] [-5.37582584e-02 9.98255207e-01 2.44252231e-02 -8.60698246e-01] [ 8.94406211e-03 -2.39782429e-02 9.99672470e-01 -3.15632727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.331193817 meters Centerline goodness : 0.923077 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.84, Z:-3.16 [[ 9.97796588e-01 6.59266424e-02 -7.45967524e-03 3.36808571e+01] [-6.56509315e-02 9.97310532e-01 3.25831035e-02 -8.44861181e-01] [ 9.58770729e-03 -3.20215749e-02 9.99441191e-01 -3.15611942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.361193817 meters Centerline goodness : 0.928981 Centerline is valid? [False, False] Translation: X:33.68, Y:-0.83, Z:-3.16 [[ 9.96859229e-01 7.89964659e-02 -5.58894868e-03 3.36774063e+01] [-7.87277914e-02 9.96166607e-01 3.81316798e-02 -8.25655632e-01] [ 8.57979199e-03 -3.75719113e-02 9.99257093e-01 -3.15674191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.391193817 meters Centerline goodness : 0.933426 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.80, Z:-3.16 [[ 9.95245888e-01 9.71936765e-02 -6.24591627e-03 3.36480204e+01] [-9.69815863e-02 9.94886511e-01 2.82028698e-02 -7.99486697e-01] [ 8.95511846e-03 -2.74630514e-02 9.99582706e-01 -3.16312872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.421193817 meters Centerline goodness : 0.947410 Centerline is valid? [False, False] Translation: X:33.63, Y:-0.74, Z:-3.13 [[ 9.90867142e-01 1.33233994e-01 -2.07607627e-02 3.36276677e+01] [-1.32113949e-01 9.90058611e-01 4.82685383e-02 -7.42018569e-01] [ 2.69853820e-02 -4.50849222e-02 9.98618615e-01 -3.12956048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.451193817 meters Centerline goodness : 0.957714 Centerline is valid? [False, True] Translation: X:33.62, Y:-0.71, Z:-3.12 [[ 9.87574476e-01 1.54643170e-01 -2.79668385e-02 3.36193438e+01] [-1.52840758e-01 9.86548786e-01 5.79758191e-02 -7.10561566e-01] [ 3.65562150e-02 -5.29809664e-02 9.97926180e-01 -3.11773012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.481193817 meters Centerline goodness : 0.963733 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.66, Z:-3.14 [[ 9.83979349e-01 1.75262300e-01 -3.26767101e-02 3.36564799e+01] [-1.75266528e-01 9.84517162e-01 2.75723214e-03 -6.61109301e-01] [ 3.26540207e-02 3.01407405e-03 9.99462171e-01 -3.14414864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.511193817 meters Centerline goodness : 0.967288 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.63, Z:-3.14 [[ 9.80684328e-01 1.92848473e-01 -3.26759226e-02 3.36915782e+01] [-1.92862022e-01 9.81221986e-01 2.76653281e-03 -6.32532563e-01] [ 3.25958553e-02 3.58884914e-03 9.99462171e-01 -3.13953317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.541193817 meters Centerline goodness : 0.961305 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.58, Z:-3.14 [[ 9.77168746e-01 2.09937085e-01 -3.26750954e-02 3.37290123e+01] [-2.09959697e-01 9.77706100e-01 2.77626831e-03 -5.84983605e-01] [ 3.25294818e-02 4.14757050e-03 9.99462171e-01 -3.14222275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.571193817 meters Centerline goodness : 0.959246 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.57, Z:-3.14 [[ 9.78733287e-01 2.02518014e-01 -3.26742560e-02 3.37620846e+01] [-2.02536225e-01 9.79270808e-01 2.78611298e-03 -5.68119689e-01] [ 3.25611831e-02 3.89085895e-03 9.99462171e-01 -3.14307779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.601193817 meters Centerline goodness : 0.956335 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.56, Z:-3.15 [[ 9.82873377e-01 1.81362534e-01 -3.26734726e-02 3.37958148e+01] [-1.81368846e-01 9.83411169e-01 2.79526934e-03 -5.55589967e-01] [ 3.26384151e-02 3.17855422e-03 9.99462171e-01 -3.14587286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.631193817 meters Centerline goodness : 0.956688 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.55, Z:-3.15 [[ 9.88595478e-01 1.47008310e-01 -3.26732043e-02 3.38288185e+01] [-1.46995778e-01 9.89133161e-01 2.79840220e-03 -5.47548269e-01] [ 3.27295382e-02 2.03633533e-03 9.99462171e-01 -3.15073273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.661193817 meters Centerline goodness : 0.956295 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.55, Z:-3.16 [[ 9.98093758e-01 5.23580158e-02 -3.26724474e-02 3.38606931e+01] [-5.22941359e-02 9.98627780e-01 2.80721230e-03 -5.45647151e-01] [ 3.27745936e-02 -1.09328368e-03 9.99462171e-01 -3.16408629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.691193817 meters Centerline goodness : 0.949941 Centerline is valid? [True, False] Translation: X:33.86, Y:-0.55, Z:-3.17 [[ 9.99582025e-01 9.31934471e-03 -2.73664966e-02 3.38570299e+01] [-9.09072540e-03 9.99922835e-01 8.46655228e-03 -5.49979146e-01] [ 2.74432876e-02 -8.21423217e-03 9.99589612e-01 -3.16591517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.721193817 meters Centerline goodness : 0.945517 Centerline is valid? [False, False] Translation: X:33.84, Y:-0.56, Z:-3.17 [[ 9.99512569e-01 -2.31124692e-02 -2.09866126e-02 3.38432229e+01] [ 2.32153242e-02 9.99719578e-01 4.67061404e-03 -5.56140521e-01] [ 2.08727781e-02 -5.15554846e-03 9.99768847e-01 -3.16824879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.751193817 meters Centerline goodness : 0.943282 Centerline is valid? [False, False] Translation: X:33.84, Y:-0.56, Z:-3.17 [[ 9.98816119e-01 -4.66009694e-02 -1.39538869e-02 3.38444428e+01] [ 4.65969980e-02 9.98913584e-01 -6.09774792e-04 -5.63570243e-01] [ 1.39671433e-02 -4.11563482e-05 9.99902454e-01 -3.16892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17237.98 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%| | 0/9390 [00:00