+ python -m lidar_slam --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.15 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters Centerline goodness : 0.944244 Centerline is valid? [0, False] SLAMing on 0.032401008 meters Centerline goodness : 0.943321 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99998723e-01 1.51429959e-03 -5.10311054e-04 -1.10063795e-04] [-1.51411414e-03 9.99998788e-01 3.63587646e-04 9.25389260e-04] [ 5.10861016e-04 -3.62814513e-04 9.99999804e-01 9.95380387e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06240100800000001 meters Centerline goodness : 0.943689 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99939946e-01 1.09303059e-02 -7.95271581e-04 -5.48340879e-04] [-1.09227433e-02 9.99900180e-01 8.96238160e-03 1.32633877e-03] [ 8.93153770e-04 -8.95315682e-03 9.99959521e-01 2.26467157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092401008 meters Centerline goodness : 0.928040 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99766160e-01 2.16106085e-02 -7.78666626e-04 -1.85172428e-03] [-2.15927615e-02 9.99599532e-01 1.82901316e-02 2.12493678e-03] [ 1.17361567e-03 -1.82690411e-02 9.99832418e-01 3.77179105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122401008 meters Centerline goodness : 0.928555 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99876559 0.04956511 -0.00325432 0.00795137] [-0.0495071 0.99864593 0.01597956 -0.00132287] [ 0.00404195 -0.01579872 0.99986702 0.00286211] [ 0. 0. 0. 1. ]] SLAMing on 0.15240100800000003 meters Centerline goodness : 0.934936 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 0.99865703 0.05169139 -0.00348407 0.0076821 ] [-0.05162358 0.99851601 0.01734285 -0.00307457] [ 0.00437538 -0.0171397 0.99984353 0.00313385] [ 0. 0. 0. 1. ]] SLAMing on 0.18240100800000003 meters Centerline goodness : 0.932365 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.99859158 0.05293611 -0.00355452 0.00761453] [-0.05286002 0.99842357 0.01887291 -0.00726271] [ 0.00454798 -0.01865844 0.99981557 0.00312827] [ 0. 0. 0. 1. ]] SLAMing on 0.21240100800000003 meters Centerline goodness : 0.934640 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 0.99867715 0.05129043 -0.00364021 0.00860636] [-0.05121461 0.99851581 0.0185268 -0.01889051] [ 0.00458505 -0.01831586 0.99982174 0.00115667] [ 0. 0. 0. 1. ]] SLAMing on 0.24240100800000003 meters Centerline goodness : 0.935218 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.00 [[ 0.99883095 0.04820527 -0.00360309 0.00802651] [-0.04813996 0.99870553 0.0164259 -0.02470496] [ 0.00439024 -0.01623325 0.99985859 0.00126555] [ 0. 0. 0. 1. ]] SLAMing on 0.272401008 meters Centerline goodness : 0.934692 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.00 [[ 0.99897383 0.04515031 -0.00356928 0.00737041] [-0.04509406 0.99887721 0.01452035 -0.03147348] [ 0.00422087 -0.0143445 0.9998882 0.00159656] [ 0. 0. 0. 1. ]] SLAMing on 0.302401008 meters Centerline goodness : 0.936060 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.00 [[ 0.99910698 0.04210144 -0.0035659 0.00652261] [-0.04205339 0.99903564 0.01262189 -0.03792847] [ 0.00409387 -0.01246066 0.99991398 0.00231453] [ 0. 0. 0. 1. ]] SLAMing on 0.332401008 meters Centerline goodness : 0.932317 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:0.00 [[ 0.99930509 0.0371228 -0.00335267 0.00519975] [-0.03709207 0.99927307 0.00880405 -0.04988525] [ 0.00367706 -0.00867357 0.99995562 0.0022718 ] [ 0. 0. 0. 1. ]] SLAMing on 0.362401008 meters Centerline goodness : 0.927328 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 0.99942109 0.03381424 -0.00375385 0.00603002] [-0.03379028 0.99940926 0.00627228 -0.05566609] [ 0.00396373 -0.0061418 0.99997328 0.00164318] [ 0. 0. 0. 1. ]] SLAMing on 0.392401008 meters Centerline goodness : 0.922707 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.00 [[ 9.99530367e-01 3.03609149e-02 -4.15453877e-03 7.11592703e-03] [-3.03451666e-02 9.99532246e-01 3.80258072e-03 -6.26229064e-02] [ 4.26804530e-03 -3.67472473e-03 9.99984140e-01 7.51290554e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422401008 meters Centerline goodness : 0.917564 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.08, Z:-0.00 [[ 9.99653114e-01 2.47406060e-02 -9.03068997e-03 2.54911960e-02] [-2.47785457e-02 9.99684501e-01 -4.11374604e-03 -8.42669717e-02] [ 8.92606423e-03 4.33608641e-03 9.99950761e-01 -8.18610724e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.452401008 meters Centerline goodness : 0.917558 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.00 [[ 0.99979163 0.01811687 -0.00940633 0.02703117] [-0.01820293 0.99979249 -0.00914525 -0.09337885] [ 0.0092387 0.00931457 0.99991394 -0.00145707] [ 0. 0. 0. 1. ]] SLAMing on 0.482401008 meters Centerline goodness : 0.912331 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.10, Z:-0.00 [[ 0.99986276 0.01337482 -0.00977596 0.02822699] [-0.01348616 0.99984392 -0.01141349 -0.10367026] [ 0.00962178 0.01154377 0.99988707 -0.00154699] [ 0. 0. 0. 1. ]] SLAMing on 0.512401008 meters Centerline goodness : 0.914990 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.11, Z:-0.00 [[ 0.99991346 0.00867962 -0.00988576 0.02933618] [-0.00881531 0.99986639 -0.01376557 -0.11261232] [ 0.00976496 0.01385153 0.99985638 -0.00204632] [ 0. 0. 0. 1. ]] SLAMing on 0.542401008 meters Centerline goodness : 0.911175 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.00 [[ 0.99994341 0.00390856 -0.00989421 0.030265 ] [-0.00407077 0.99985677 -0.01642796 -0.12017604] [ 0.00982858 0.01646731 0.9998161 -0.002542 ] [ 0. 0. 0. 1. ]] SLAMing on 0.572401008 meters Centerline goodness : 0.911863 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99949307e-01 -5.20555985e-04 -1.00554542e-02 3.11754923e-02] [ 3.28450740e-04 9.99817586e-01 -1.90967941e-02 -1.26555153e-01] [ 1.00635609e-02 1.90925233e-02 9.99767073e-01 -2.77872819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6024010080000001 meters Centerline goodness : 0.915475 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 0.99992903 -0.0054172 -0.01061085 0.03317192] [ 0.00518073 0.9997404 -0.02218781 -0.13239143] [ 0.01072829 0.02213126 0.99969751 -0.0030848 ] [ 0. 0. 0. 1. ]] SLAMing on 0.632401008 meters Centerline goodness : 0.777872 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 0.99993883 -0.00156232 -0.01094965 0.03347239] [ 0.00136944 0.99984415 -0.0176009 -0.13348477] [ 0.01097544 0.01758483 0.99978513 -0.00190968] [ 0. 0. 0. 1. ]] SLAMing on 0.662401008 meters Centerline goodness : 0.947261 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99932727e-01 2.34373775e-03 -1.13599303e-02 3.38638551e-02] [-2.50174860e-03 9.99900048e-01 -1.39152975e-02 -1.30998524e-01] [ 1.13261810e-02 1.39427810e-02 9.99838645e-01 -9.63565487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692401008 meters Centerline goodness : 0.760960 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.00 [[ 9.99911691e-01 6.64177757e-03 -1.15106914e-02 3.37227204e-02] [-6.76282253e-03 9.99921909e-01 -1.05090485e-02 -1.25848966e-01] [ 1.14399938e-02 1.05859652e-02 9.99878525e-01 -1.52790902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7224010080000001 meters Centerline goodness : 0.742856 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:0.00 [[ 0.9997241 0.01880215 -0.01407827 0.04003644] [-0.01878148 0.99982233 0.00159861 -0.1111205 ] [ 0.01410583 -0.00133376 0.99989962 0.00173267] [ 0. 0. 0. 1. ]] SLAMing on 0.7524010080000001 meters Centerline goodness : 0.917039 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:0.00 [[ 0.99957062 0.02507553 -0.01515882 0.04330362] [-0.02496975 0.99966279 0.00712807 -0.10209602] [ 0.01533245 -0.0067465 0.99985969 0.00169785] [ 0. 0. 0. 1. ]] SLAMing on 0.782401008 meters Centerline goodness : 0.914543 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:0.00 [[ 0.99939105 0.03074629 -0.01649859 0.04770217] [-0.03054463 0.99945725 0.01233844 -0.09289698] [ 0.016869 -0.01182698 0.99978776 0.00126827] [ 0. 0. 0. 1. ]] SLAMing on 0.812401008 meters Centerline goodness : 0.911143 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.08, Z:0.00 [[ 9.99016412e-01 3.88622017e-02 -2.13526953e-02 6.51468338e-02] [-3.83613915e-02 9.98990296e-01 2.33835899e-02 -7.57880325e-02] [ 2.22398731e-02 -2.25414709e-02 9.99498509e-01 1.96217412e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8424010080000001 meters Centerline goodness : 0.911716 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.00 [[ 0.99891726 0.04055492 -0.02279507 0.07086211] [-0.03999831 0.99890263 0.02436554 -0.06747128] [ 0.0237582 -0.0234274 0.9994432 -0.00237192] [ 0. 0. 0. 1. ]] SLAMing on 0.8724010080000001 meters Centerline goodness : 0.803529 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.13 [[ 0.99862004 0.02558747 0.04586173 0.15858106] [-0.02416648 0.99921861 -0.03127545 -0.01988659] [-0.04662615 0.03012397 0.99845809 -0.12897427] [ 0. 0. 0. 1. ]] SLAMing on 0.902401008 meters Centerline goodness : 0.184368 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.13 [[ 0.99869842 0.01956894 0.04710122 0.17340402] [-0.01835788 0.99949314 -0.02600858 -0.02275299] [-0.0475863 0.02511005 0.99855147 -0.12981596] [ 0. 0. 0. 1. ]] SLAMing on 0.932401008 meters Centerline goodness : 0.243830 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.13 [[ 0.99872573 0.01062846 0.04933514 0.20163256] [-0.00968722 0.99976722 -0.01927869 -0.02898749] [-0.04952856 0.01877621 0.9985962 -0.13448328] [ 0. 0. 0. 1. ]] SLAMing on 0.9624010080000001 meters Centerline goodness : 0.218272 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.14 [[ 0.99884045 0.0086354 0.04736236 0.21278547] [-0.00790803 0.99984823 -0.0155234 -0.03111569] [-0.04748923 0.01513086 0.99875714 -0.13562102] [ 0. 0. 0. 1. ]] SLAMing on 0.9924010080000001 meters Centerline goodness : 0.218272 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.14 [[ 0.99884045 0.0086354 0.04736236 0.21278547] [-0.00790803 0.99984823 -0.0155234 -0.03111569] [-0.04748923 0.01513086 0.99875714 -0.13562102] [ 0. 0. 0. 1. ]] SLAMing on 1.0224010080000001 meters Centerline goodness : 0.391441 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.14 [[ 0.99894722 0.00815283 0.04514412 0.22289469] [-0.0076848 0.99991501 -0.01053142 -0.03224186] [-0.04522614 0.01017341 0.99892497 -0.13507119] [ 0. 0. 0. 1. ]] SLAMing on 1.0524010080000001 meters Centerline goodness : 0.408746 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.14 [[ 0.99885771 0.01361674 0.04580244 0.25346158] [-0.01344768 0.99990159 -0.0039972 -0.03259924] [-0.04585236 0.0033767 0.99894252 -0.13641415] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters Centerline goodness : 0.427841 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.14 [[ 9.98922745e-01 1.47241713e-02 4.40062309e-02 2.61007638e-01] [-1.47563792e-02 9.99891036e-01 4.07123561e-04 -3.09013679e-02] [-4.39954412e-02 -1.05605762e-03 9.99031174e-01 -1.35614378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1124010080000002 meters Centerline goodness : 0.458649 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.14 [[ 0.9985629 0.02285557 0.0484743 0.2805606 ] [-0.02295647 0.9997353 0.00152573 -0.02771763] [-0.0484266 -0.00263634 0.99882326 -0.1391018 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1424010080000002 meters Centerline goodness : 0.498076 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.14 [[ 0.99850728 0.02567106 0.04821012 0.28387837] [-0.0259282 0.99965268 0.00471591 -0.02541802] [-0.04807231 -0.00595887 0.99882608 -0.1402219 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1724010080000002 meters Centerline goodness : 0.521134 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.14 [[ 0.99851389 0.02752259 0.0470375 0.28946605] [-0.02794775 0.99957405 0.008405 -0.02298297] [-0.04678614 -0.00970711 0.99885776 -0.14044803] [ 0. 0. 0. 1. ]] SLAMing on 1.2024010080000003 meters Centerline goodness : 0.521134 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.14 [[ 0.99851389 0.02752259 0.0470375 0.28946605] [-0.02794775 0.99957405 0.008405 -0.02298297] [-0.04678614 -0.00970711 0.99885776 -0.14044803] [ 0. 0. 0. 1. ]] SLAMing on 1.2324010080000003 meters Centerline goodness : 0.489057 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.14 [[ 0.99864683 0.03294411 0.04023914 0.30436319] [-0.03330846 0.99940967 0.00841795 -0.0219378 ] [-0.03993806 -0.00974687 0.99915462 -0.13717414] [ 0. 0. 0. 1. ]] SLAMing on 1.262401008 meters Centerline goodness : 0.474377 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.02, Z:-0.14 [[ 0.99866938 0.03257572 0.03997852 0.30725296] [-0.03291719 0.99942676 0.00791271 -0.01880556] [-0.03969784 -0.00921816 0.99916921 -0.13841707] [ 0. 0. 0. 1. ]] SLAMing on 1.2924010080000001 meters Centerline goodness : 0.560235 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.14 [[ 0.99882392 0.02946053 0.03850785 0.32272425] [-0.02998857 0.99946298 0.01320751 -0.01631914] [-0.03809807 -0.01434677 0.99917101 -0.13826568] [ 0. 0. 0. 1. ]] SLAMing on 1.3224010080000002 meters Centerline goodness : 0.153134 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.14 [[ 0.9988759 0.02799515 0.03825194 0.32621859] [-0.02848092 0.99951971 0.01221385 -0.01501563] [-0.03789164 -0.01328957 0.99919348 -0.14021275] [ 0. 0. 0. 1. ]] SLAMing on 1.3524010080000002 meters Centerline goodness : 0.820395 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.14 [[ 0.9990155 0.02524869 0.03647645 0.33332091] [-0.02569294 0.99960069 0.01176191 -0.01347184] [-0.03616492 -0.01268751 0.99926529 -0.14121215] [ 0. 0. 0. 1. ]] SLAMing on 1.3824010080000002 meters Centerline goodness : 0.815104 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.14 [[ 0.99908419 0.02351231 0.03574854 0.33793231] [-0.02389868 0.99966009 0.01041946 -0.0123257 ] [-0.0354914 -0.01126426 0.9993065 -0.14414369] [ 0. 0. 0. 1. ]] SLAMing on 1.4124010080000002 meters Centerline goodness : 0.834551 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.01, Z:-0.15 [[ 0.99929751 0.01593358 0.03392062 0.35268797] [-0.01627934 0.99981806 0.00994142 -0.01212504] [-0.03375604 -0.01048664 0.99937508 -0.1462785 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4424010080000003 meters Centerline goodness : 0.237933 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:-0.15 [[ 0.9994233 0.01229266 0.03165357 0.36133195] [-0.01257374 0.99988313 0.00869624 -0.01174304] [-0.03154297 -0.00908923 0.99946107 -0.14848167] [ 0. 0. 0. 1. ]] SLAMing on 1.4724010080000003 meters Centerline goodness : 0.236424 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.01, Z:-0.15 [[ 0.999473 0.01040861 0.03074707 0.36618053] [-0.01063665 0.99991706 0.00726252 -0.01122195] [-0.03066892 -0.00758574 0.99950081 -0.15157741] [ 0. 0. 0. 1. ]] SLAMing on 1.5024010080000003 meters Centerline goodness : 0.241598 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.01, Z:-0.15 [[ 0.99958621 0.00279873 0.02862834 0.38210036] [-0.00303511 0.99996164 0.00821673 -0.00914588] [-0.02860424 -0.00830022 0.99955635 -0.15230471] [ 0. 0. 0. 1. ]] SLAMing on 1.5324010080000001 meters Centerline goodness : 0.237216 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.15 [[ 9.99656228e-01 -6.48087808e-04 2.62108121e-02 3.90876318e-01] [ 4.62142039e-04 9.99974690e-01 7.09967461e-03 -7.59998232e-03] [-2.62147500e-02 -7.08512082e-03 9.99631226e-01 -1.54301260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5624010080000001 meters Centerline goodness : 0.224656 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.01, Z:-0.16 [[ 0.99971345 -0.00406807 0.02358975 0.40008285] [ 0.00391804 0.99997183 0.00640264 -0.0063077 ] [-0.02361513 -0.00630838 0.99970122 -0.1558461 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5924010080000002 meters Centerline goodness : 0.770906 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.16 [[ 0.99975056 -0.00761406 0.02099613 0.40948295] [ 0.00749173 0.99995454 0.0058988 -0.00532352] [-0.02104008 -0.00574003 0.99976216 -0.15706546] [ 0. 0. 0. 1. ]] SLAMing on 1.6224010080000002 meters Centerline goodness : 0.265203 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.16 [[ 0.99972988 -0.01398789 0.01856079 0.44801425] [ 0.01387609 0.99988488 0.00613833 -0.00821766] [-0.01864452 -0.00587912 0.99980889 -0.15919389] [ 0. 0. 0. 1. ]] SLAMing on 1.6524010080000002 meters Centerline goodness : 0.688915 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.16 [[ 0.99965806 -0.02050013 0.01623283 0.45935299] [ 0.02042622 0.99978029 0.00470571 -0.0103332 ] [-0.01632573 -0.00437253 0.99985717 -0.16051637] [ 0. 0. 0. 1. ]] SLAMing on 1.6824010080000003 meters Centerline goodness : 0.212991 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.02, Z:-0.16 [[ 9.99691183e-01 -2.19575029e-02 1.16364584e-02 4.83270777e-01] [ 2.19637599e-02 9.99758683e-01 -4.10164901e-04 -1.53880536e-02] [-1.16246442e-02 6.65618614e-04 9.99932210e-01 -1.61616738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7124010080000003 meters Centerline goodness : 0.251535 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.16 [[ 0.99951569 -0.02962726 0.00951949 0.49560253] [ 0.02964205 0.99955957 -0.00141709 -0.01985056] [-0.00947331 0.00169858 0.99995368 -0.16234838] [ 0. 0. 0. 1. ]] SLAMing on 1.7424010080000003 meters Centerline goodness : 0.237429 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:-0.16 [[ 0.99902329 -0.04362868 0.00700019 0.5407626 ] [ 0.04364005 0.99904622 -0.00147914 -0.03138738] [-0.00692898 0.00178318 0.9999744 -0.16343242] [ 0. 0. 0. 1. ]] SLAMing on 1.7724010080000003 meters Centerline goodness : 0.170682 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.16 [[ 0.99865163 -0.05157478 0.00591336 0.55210758] [ 0.05158987 0.9986654 -0.00242874 -0.03585603] [-0.00578021 0.00273054 0.99997957 -0.16369281] [ 0. 0. 0. 1. ]] SLAMing on 1.8024010080000001 meters Centerline goodness : 0.142087 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.16 [[ 0.99858739 -0.05307457 -0.00251316 0.57237681] [ 0.05305942 0.99857477 -0.00575553 -0.0418016 ] [ 0.00281505 0.00561405 0.99998028 -0.16049334] [ 0. 0. 0. 1. ]] SLAMing on 1.8324010080000002 meters Centerline goodness : 0.218364 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.05, Z:-0.16 [[ 0.99789432 -0.06482573 -0.00213099 0.61457066] [ 0.064817 0.9978894 -0.00393769 -0.05390314] [ 0.00238176 0.00379127 0.99998998 -0.15968414] [ 0. 0. 0. 1. ]] SLAMing on 1.8624010080000002 meters Centerline goodness : 0.225440 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:-0.16 [[ 0.99781792 -0.06566809 -0.00686306 0.64182789] [ 0.06563138 0.99782909 -0.00544393 -0.06110574] [ 0.00720565 0.00498162 0.99996163 -0.15925148] [ 0. 0. 0. 1. ]] SLAMing on 1.8924010080000002 meters Centerline goodness : 0.123844 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.99772294 -0.06634746 -0.01212245 0.66902985] [ 0.06625699 0.99777274 -0.00771863 -0.0682243 ] [ 0.01260757 0.00689785 0.99989673 -0.15981704] [ 0. 0. 0. 1. ]] SLAMing on 1.9224010080000002 meters Centerline goodness : 0.852240 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.08, Z:-0.16 [[ 0.99710209 -0.07501493 -0.01265636 0.71170288] [ 0.07496389 0.99717627 -0.00446144 -0.08302794] [ 0.01295529 0.00349974 0.99990995 -0.16030754] [ 0. 0. 0. 1. ]] SLAMing on 1.9524010080000003 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 1.9824010080000003 meters Centerline goodness : 0.857759 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.16 [[ 0.99698659 -0.07623641 -0.0143442 0.75981023] [ 0.07612213 0.99706353 -0.0083513 -0.09863027] [ 0.01493875 0.00723422 0.99986224 -0.16093127] [ 0. 0. 0. 1. ]] SLAMing on 2.0124010080000003 meters Centerline goodness : 0.858841 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:-0.16 [[ 0.99713031 -0.07302664 -0.0199563 0.787195 ] [ 0.07289903 0.99731441 -0.00704988 -0.10771332] [ 0.02041754 0.00557485 0.999776 -0.16004634] [ 0. 0. 0. 1. ]] SLAMing on 2.042401008 meters Centerline goodness : 0.879758 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:-0.18 [[ 0.99750842 -0.06927975 -0.01331406 0.82596863] [ 0.06905678 0.99747569 -0.01653521 -0.12231546] [ 0.01442601 0.01557459 0.99977464 -0.17559938] [ 0. 0. 0. 1. ]] SLAMing on 2.0724010080000004 meters Centerline goodness : 0.815713 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:-0.19 [[ 0.99776259 -0.06684028 -0.00148286 0.83316909] [ 0.06679352 0.99753835 -0.02135091 -0.1297542 ] [ 0.00290631 0.0212041 0.99977094 -0.18632516] [ 0. 0. 0. 1. ]] SLAMing on 2.102401008 meters Centerline goodness : 0.184963 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:-0.20 [[ 0.99788821 -0.06416211 0.01011638 0.84005648] [ 0.06441127 0.99756879 -0.02660266 -0.13739404] [-0.0083849 0.02719809 0.9995949 -0.19687958] [ 0. 0. 0. 1. ]] SLAMing on 2.1324010080000004 meters Centerline goodness : 0.809594 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.15, Z:-0.20 [[ 0.99799396 -0.06279761 0.00803258 0.86128695] [ 0.06301963 0.99752223 -0.03127198 -0.14509371] [-0.00604888 0.03171546 0.99947863 -0.20236043] [ 0. 0. 0. 1. ]] SLAMing on 2.1624010080000002 meters Centerline goodness : 0.779262 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.16, Z:-0.22 [[ 0.99795424 -0.06192063 0.01591158 0.89148041] [ 0.0625226 0.99721635 -0.04062613 -0.15799837] [-0.0133517 0.04153786 0.99904772 -0.21523888] [ 0. 0. 0. 1. ]] SLAMing on 2.1924010080000005 meters Centerline goodness : 0.833860 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.16, Z:-0.22 [[ 0.99802641 -0.06123496 0.01391301 0.91174148] [ 0.06181342 0.99703334 -0.04586519 -0.16499155] [-0.01106318 0.04663468 0.99885075 -0.2199917 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2224010080000003 meters Centerline goodness : 0.835709 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.17, Z:-0.23 [[ 0.99809247 -0.06041716 0.01269615 0.9311402 ] [ 0.06099512 0.9968055 -0.05155949 -0.17246379] [-0.00954052 0.05223555 0.99858922 -0.2262868 ] [ 0. 0. 0. 1. ]] SLAMing on 2.252401008 meters Centerline goodness : 0.837856 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.19, Z:-0.22 [[ 0.99794611 -0.06292322 0.0120092 0.96998181] [ 0.06336537 0.99715182 -0.04090337 -0.18583707] [-0.00940122 0.04158033 0.99909093 -0.21933222] [ 0. 0. 0. 1. ]] SLAMing on 2.2824010080000003 meters Centerline goodness : 0.885459 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.21 [[ 0.99794548 -0.06278585 0.01275735 0.98132334] [ 0.0631145 0.99763449 -0.02723936 -0.19332301] [-0.01101693 0.02798857 0.99954753 -0.21137994] [ 0. 0. 0. 1. ]] SLAMing on 2.312401008 meters Centerline goodness : 0.508258 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.21 [[ 0.99815091 -0.05983036 0.01072803 0.98609009] [ 0.06005818 0.99794471 -0.02234671 -0.19773856] [-0.00936897 0.0229497 0.99969272 -0.21082874] [ 0. 0. 0. 1. ]] SLAMing on 2.3424010080000004 meters Centerline goodness : 0.879120 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.20, Z:-0.21 [[ 0.99835088 -0.05672996 0.0087885 0.99042998] [ 0.056876 0.99823017 -0.0173683 -0.2024036 ] [-0.00778765 0.01783951 0.99981053 -0.20997032] [ 0. 0. 0. 1. ]] SLAMing on 2.372401008 meters Centerline goodness : 0.883417 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.21, Z:-0.21 [[ 0.9985524 -0.05335895 0.00677748 0.99438728] [ 0.05343617 0.99850183 -0.01177582 -0.20773167] [-0.00613898 0.01212093 0.99990769 -0.20794079] [ 0. 0. 0. 1. ]] SLAMing on 2.4024010080000004 meters Centerline goodness : 0.915735 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.20 [[ 0.99869215 -0.05082178 0.00558016 0.99930483] [ 0.05084089 0.99870119 -0.00333833 -0.21506693] [-0.00540325 0.00361766 0.99997886 -0.20181274] [ 0. 0. 0. 1. ]] SLAMing on 2.4324010080000003 meters Centerline goodness : 0.872647 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.20 [[ 0.99883645 -0.04808051 0.00374254 1.00363483] [ 0.04807546 0.99884269 0.0014267 -0.21856022] [-0.00380681 -0.00124512 0.99999198 -0.20047804] [ 0. 0. 0. 1. ]] SLAMing on 2.4624010080000005 meters Centerline goodness : 0.900794 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.20 [[ 0.99899213 -0.04483351 0.00216348 1.00677504] [ 0.04481866 0.9989741 0.00648357 -0.22309473] [-0.00245195 -0.00638007 0.99997664 -0.1987357 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4924010080000003 meters Centerline goodness : 0.909325 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.23, Z:-0.19 [[ 0.99912947 -0.04109512 -0.00717646 1.0198859 ] [ 0.04113128 0.99914141 0.00496588 -0.23016706] [ 0.00696623 -0.00525673 0.99996192 -0.1908282 ] [ 0. 0. 0. 1. ]] SLAMing on 2.522401008 meters Centerline goodness : 0.914388 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.23, Z:-0.19 [[ 0.99911534 -0.04127974 -0.00803222 1.02161625] [ 0.0413247 0.99913055 0.00551455 -0.23210782] [ 0.00779759 -0.0058416 0.99995254 -0.1899653 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5524010080000004 meters Centerline goodness : 0.917574 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.24, Z:-0.19 [[ 0.99922832 -0.03814355 -0.00937166 1.02474962] [ 0.03823634 0.99921939 0.00992976 -0.23526692] [ 0.00898559 -0.01028044 0.99990678 -0.18925522] [ 0. 0. 0. 1. ]] SLAMing on 2.582401008 meters Centerline goodness : 0.917171 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.24, Z:-0.19 [[ 0.99933327 -0.035048 -0.01023048 1.02790813] [ 0.03518993 0.99928203 0.01403873 -0.23513765] [ 0.0097311 -0.01438938 0.99984911 -0.18931327] [ 0. 0. 0. 1. ]] SLAMing on 2.6124010080000004 meters Centerline goodness : 0.917609 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.19 [[ 0.99930384 -0.03566744 -0.01093957 1.03024701] [ 0.03581239 0.99926932 0.0133532 -0.23385563] [ 0.01045531 -0.01373568 0.999851 -0.19037894] [ 0. 0. 0. 1. ]] SLAMing on 2.642401008 meters Centerline goodness : 0.922040 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.23, Z:-0.19 [[ 0.99926641 -0.03644876 -0.0117528 1.03291548] [ 0.03659607 0.99925105 0.01257267 -0.23312987] [ 0.01128574 -0.01299356 0.99985189 -0.19158144] [ 0. 0. 0. 1. ]] SLAMing on 2.6724010080000005 meters Centerline goodness : 0.915078 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.19 [[ 0.99921769 -0.03742624 -0.01277791 1.03623313] [ 0.03757771 0.99922372 0.01182704 -0.23254565] [ 0.01232534 -0.01229795 0.99984841 -0.19274759] [ 0. 0. 0. 1. ]] SLAMing on 2.7024010080000003 meters Centerline goodness : 0.912748 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.19 [[ 0.9990786 -0.04015722 -0.015144 1.04421137] [ 0.0403166 0.99913314 0.01036994 -0.23120039] [ 0.01471444 -0.01097094 0.99983155 -0.19477027] [ 0. 0. 0. 1. ]] SLAMing on 2.7324010080000005 meters Centerline goodness : 0.904919 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.23, Z:-0.20 [[ 0.99901352 -0.04135927 -0.01616765 1.0478896 ] [ 0.04151476 0.99909365 0.00940259 -0.22995473] [ 0.01576411 -0.01006451 0.99982508 -0.19631036] [ 0. 0. 0. 1. ]] SLAMing on 2.7624010080000003 meters Centerline goodness : 0.904085 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.23, Z:-0.20 [[ 0.99893336 -0.04281521 -0.01729144 1.05202657] [ 0.04296145 0.99904328 0.00817591 -0.22796558] [ 0.01692484 -0.00891005 0.99981706 -0.19811405] [ 0. 0. 0. 1. ]] SLAMing on 2.792401008 meters Centerline goodness : 0.906387 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.23, Z:-0.20 [[ 0.99898493 -0.04100873 -0.01863839 1.05676965] [ 0.04122504 0.99908515 0.01137324 -0.22820319] [ 0.01815494 -0.01213007 0.9997616 -0.1990396 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8224010080000004 meters Centerline goodness : 0.900885 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.22, Z:-0.20 [[ 0.99884078 -0.04357352 -0.020456 1.06319548] [ 0.04377022 0.99899863 0.00926822 -0.22320177] [ 0.02003166 -0.01015284 0.99974779 -0.20131048] [ 0. 0. 0. 1. ]] SLAMing on 2.852401008 meters Centerline goodness : 0.903096 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99877701 -0.04455816 -0.0214257 1.06570904] [ 0.04474875 0.99896212 0.0084994 -0.22122518] [ 0.02102474 -0.00944778 0.99973431 -0.20143812] [ 0. 0. 0. 1. ]] SLAMing on 2.8824010080000004 meters Centerline goodness : 0.901441 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99873852 -0.04507177 -0.02213364 1.06704535] [ 0.04525878 0.99894309 0.00802162 -0.21940879] [ 0.0217487 -0.00901325 0.99972284 -0.20099264] [ 0. 0. 0. 1. ]] SLAMing on 2.9124010080000002 meters Centerline goodness : 0.905201 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99870382 -0.04556083 -0.02269111 1.06807001] [ 0.04573584 0.99892723 0.00725418 -0.21658418] [ 0.02233626 -0.00828258 0.9997162 -0.20086693] [ 0. 0. 0. 1. ]] SLAMing on 2.9424010080000005 meters Centerline goodness : 0.901607 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.20 [[ 0.99880625 -0.04256523 -0.02396402 1.07068964] [ 0.04283756 0.99902185 0.01096772 -0.21589581] [ 0.02347373 -0.01198119 0.99965266 -0.20008456] [ 0. 0. 0. 1. ]] SLAMing on 2.9724010080000003 meters Centerline goodness : 0.901516 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.21, Z:-0.20 [[ 0.99888444 -0.03979653 -0.02541855 1.07353852] [ 0.04015455 0.9990991 0.0137334 -0.21153983] [ 0.0248491 -0.01473875 0.99958256 -0.19966029] [ 0. 0. 0. 1. ]] SLAMing on 3.0024010080000005 meters Centerline goodness : 0.903801 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.21, Z:-0.20 [[ 0.99884752 -0.04033602 -0.02601212 1.07490202] [ 0.04067771 0.99909106 0.01274296 -0.20847924] [ 0.02547448 -0.01378639 0.99958041 -0.20001573] [ 0. 0. 0. 1. ]] SLAMing on 3.0324010080000003 meters Centerline goodness : 0.903309 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.21, Z:-0.20 [[ 0.99881116 -0.04089449 -0.02653116 1.0761848 ] [ 0.04122095 0.99907947 0.01187655 -0.20594072] [ 0.02602105 -0.01295607 0.99957743 -0.20032885] [ 0. 0. 0. 1. ]] SLAMing on 3.062401008 meters Centerline goodness : 0.901607 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.99888872 -0.03805695 -0.02780259 1.07948853] [ 0.03847125 0.99915419 0.01452139 -0.20249096] [ 0.02722644 -0.01557485 0.99950795 -0.20128113] [ 0. 0. 0. 1. ]] SLAMing on 3.0924010080000004 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.9988541 -0.03856166 -0.02834591 1.08131114] [ 0.03895071 0.99915257 0.01330356 -0.19909576] [ 0.02780888 -0.01439241 0.99950964 -0.20263865] [ 0. 0. 0. 1. ]] SLAMing on 3.122401008 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.9988541 -0.03856166 -0.02834591 1.08131114] [ 0.03895071 0.99915257 0.01330356 -0.19909576] [ 0.02780888 -0.01439241 0.99950964 -0.20263865] [ 0. 0. 0. 1. ]] SLAMing on 3.1524010080000004 meters Centerline goodness : 0.898174 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.20 [[ 0.99882162 -0.03896684 -0.02893008 1.08316662] [ 0.03933172 0.99915231 0.01215218 -0.19581779] [ 0.02843202 -0.01327573 0.99950757 -0.20396522] [ 0. 0. 0. 1. ]] SLAMing on 3.1824010080000003 meters Centerline goodness : 0.895030 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.19, Z:-0.21 [[ 0.99878923 -0.03938504 -0.02947698 1.08495945] [ 0.03972347 0.99915033 0.01098504 -0.19270105] [ 0.02901929 -0.01214267 0.9995051 -0.20531141] [ 0. 0. 0. 1. ]] SLAMing on 3.2124010080000005 meters Centerline goodness : 0.895085 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99876455 -0.03931787 -0.03038863 1.08638799] [ 0.03963706 0.99916437 0.00997341 -0.18849339] [ 0.02997111 -0.01116561 0.9994884 -0.20571469] [ 0. 0. 0. 1. ]] SLAMing on 3.2424010080000003 meters Centerline goodness : 0.891861 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99872734 -0.03981777 -0.03095552 1.08790974] [ 0.04012078 0.99915221 0.00922948 -0.18654542] [ 0.03056178 -0.01045969 0.99947815 -0.20620672] [ 0. 0. 0. 1. ]] SLAMing on 3.2724010080000006 meters Centerline goodness : 0.893225 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.21 [[ 0.99868245 -0.04044575 -0.03158337 1.08966461] [ 0.04073425 0.99913348 0.00854493 -0.18506974] [ 0.0312104 -0.00982019 0.99946459 -0.20663838] [ 0. 0. 0. 1. ]] SLAMing on 3.3024010080000004 meters Centerline goodness : 0.893371 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.21 [[ 9.98808891e-01 -3.98946917e-02 -2.80929276e-02 1.10485833e+00] [ 3.98501832e-02 9.99203369e-01 -2.14263941e-03 -1.82048518e-01] [ 2.81560278e-02 1.02057898e-03 9.99603019e-01 -2.11990484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332401008 meters Centerline goodness : 0.892992 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.9987872 -0.03878236 -0.03033253 1.11073126] [ 0.03892459 0.99923369 0.00411251 -0.18456462] [ 0.0301498 -0.0052882 0.9995314 -0.2065746 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3624010080000004 meters Centerline goodness : 0.902873 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.99878799 -0.03864322 -0.03048355 1.11050648] [ 0.03879734 0.99923705 0.00448049 -0.18487463] [ 0.03028715 -0.00565774 0.99952523 -0.20570843] [ 0. 0. 0. 1. ]] SLAMing on 3.392401008 meters Centerline goodness : 0.902078 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.18, Z:-0.21 [[ 0.99875917 -0.0390314 -0.03093023 1.11155564] [ 0.03918226 0.99922289 0.00428627 -0.18475141] [ 0.03073889 -0.00549287 0.99951236 -0.20560183] [ 0. 0. 0. 1. ]] SLAMing on 3.4224010080000005 meters Centerline goodness : 0.898409 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.9987157 -0.03954343 -0.03167443 1.11366766] [ 0.03969307 0.99920347 0.00410946 -0.18542877] [ 0.0314867 -0.00536144 0.99948979 -0.20605151] [ 0. 0. 0. 1. ]] SLAMing on 3.4524010080000003 meters Centerline goodness : 0.898708 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.998701 -0.03963483 -0.03202174 1.11458434] [ 0.03979145 0.99919889 0.00426818 -0.18624021] [ 0.03182692 -0.00553683 0.99947806 -0.20611963] [ 0. 0. 0. 1. ]] SLAMing on 3.4824010080000005 meters Centerline goodness : 0.897149 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.21 [[ 0.99869601 -0.03953521 -0.03229937 1.11498456] [ 0.03970827 0.9992001 0.00473388 -0.18767039] [ 0.03208638 -0.00601026 0.99946703 -0.2056249 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5124010080000003 meters Centerline goodness : 0.894876 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.21 [[ 0.99881638 -0.03849157 -0.02973618 1.13153141] [ 0.03837011 0.9992528 -0.00464465 -0.18695601] [ 0.02989274 0.00349817 0.99954699 -0.21035326] [ 0. 0. 0. 1. ]] SLAMing on 3.5424010080000006 meters Centerline goodness : 0.893471 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.21 [[ 0.99876562 -0.03917016 -0.0305441 1.13366056] [ 0.03906532 0.99922857 -0.00402186 -0.19016076] [ 0.03067808 0.00282368 0.99952533 -0.20975838] [ 0. 0. 0. 1. ]] SLAMing on 3.5724010080000004 meters Centerline goodness : 0.892945 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.21 [[ 0.99872883 -0.03968284 -0.03108059 1.13537484] [ 0.03957961 0.99920869 -0.00392999 -0.19109137] [ 0.03121195 0.00269484 0.99950916 -0.20998888] [ 0. 0. 0. 1. ]] SLAMing on 3.602401008 meters Centerline goodness : 0.893018 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:-0.21 [[ 9.98817616e-01 -3.69902302e-02 -3.15451047e-02 1.13711513e+00] [ 3.70257105e-02 9.99314167e-01 5.41156603e-04 -1.94688702e-01] [ 3.15034525e-02 -1.70849666e-03 9.99502183e-01 -2.09240245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6324010080000004 meters Centerline goodness : 0.894702 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.21 [[ 0.99881482 -0.03695347 -0.03167636 1.13684213] [ 0.03700915 0.99931424 0.00117322 -0.19589988] [ 0.03161128 -0.00234415 0.99949749 -0.20798805] [ 0. 0. 0. 1. ]] SLAMing on 3.6624010080000002 meters Centerline goodness : 0.900304 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.21 [[ 0.99896837 -0.03758387 -0.02548803 1.14850259] [ 0.03739289 0.99926919 -0.00792858 -0.1964879 ] [ 0.02576739 0.00696733 0.99964369 -0.20919544] [ 0. 0. 0. 1. ]] SLAMing on 3.6924010080000005 meters Centerline goodness : 0.900814 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.21 [[ 0.99908993 -0.03388466 -0.02590641 1.14832298] [ 0.03384329 0.99942508 -0.00203387 -0.20145272] [ 0.02596043 0.00115526 0.9996623 -0.2056403 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7224010080000003 meters Centerline goodness : 0.900680 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.20 [[ 9.99092567e-01 -3.37139479e-02 -2.60271546e-02 1.14804974e+00] [ 3.36870575e-02 9.99431347e-01 -1.47106396e-03 -2.02401537e-01] [ 2.60619496e-02 5.92950818e-04 9.99660154e-01 -2.04623004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7524010080000005 meters Centerline goodness : 0.903987 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.20, Z:-0.20 [[ 0.99915735 -0.03086147 -0.02705853 1.15095342] [ 0.03094299 0.99951777 0.0025993 -0.20466182] [ 0.02696526 -0.00343438 0.99963047 -0.2044924 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7824010080000003 meters Centerline goodness : 0.900977 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99918052 -0.02864474 -0.02859648 1.15577965] [ 0.02884544 0.99956189 0.00663077 -0.20550584] [ 0.02839402 -0.00745021 0.99956904 -0.20421768] [ 0. 0. 0. 1. ]] SLAMing on 3.8124010080000006 meters Centerline goodness : 0.903232 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99923293 -0.025473 -0.02974339 1.15852785] [ 0.02581444 0.99960454 0.01115246 -0.20790222] [ 0.02944754 -0.01191171 0.99949535 -0.2033155 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8424010080000004 meters Centerline goodness : 0.900566 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99929281 -0.02183346 -0.03061348 1.16028098] [ 0.02233286 0.99962147 0.01606706 -0.20959 ] [ 0.03025109 -0.01673938 0.99940215 -0.20161112] [ 0. 0. 0. 1. ]] SLAMing on 3.872401008 meters Centerline goodness : 0.897530 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.21, Z:-0.20 [[ 0.99934666 -0.01777536 -0.03146902 1.161557 ] [ 0.01844654 0.99960575 0.02116775 -0.21151701] [ 0.03108035 -0.02173442 0.99928055 -0.1998101 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9024010080000004 meters Centerline goodness : 0.896232 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99939949 -0.01098441 -0.03286331 1.16587597] [ 0.01207242 0.99937934 0.03309378 -0.21495418] [ 0.03247939 -0.03347064 0.99891181 -0.19336061] [ 0. 0. 0. 1. ]] SLAMing on 3.9324010080000003 meters Centerline goodness : 0.893527 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.19 [[ 0.99939828 -0.00765693 -0.03382969 1.16875902] [ 0.00891106 0.99927264 0.0370781 -0.21582997] [ 0.03352117 -0.03735725 0.99873959 -0.19343401] [ 0. 0. 0. 1. ]] SLAMing on 3.9624010080000005 meters Centerline goodness : 0.896853 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99939984 -0.00768882 -0.03377639 1.16902235] [ 0.00891479 0.99930127 0.03629748 -0.2140544 ] [ 0.03347371 -0.0365768 0.99877007 -0.19457859] [ 0. 0. 0. 1. ]] SLAMing on 3.9924010080000003 meters Centerline goodness : 0.899094 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.21, Z:-0.20 [[ 0.99960393 -0.00367308 -0.02790137 1.18156578] [ 0.00456982 0.99947279 0.03214421 -0.21437243] [ 0.02776859 -0.03225898 0.99909372 -0.19546052] [ 0. 0. 0. 1. ]] SLAMing on 4.022401008 meters Centerline goodness : 0.900904 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 0.99963901 -0.00266585 -0.02673476 1.17865529] [ 0.00357298 0.99941746 0.03394076 -0.21506798] [ 0.02662871 -0.03402403 0.9990662 -0.19250844] [ 0. 0. 0. 1. ]] SLAMing on 4.052401008 meters Centerline goodness : 0.902736 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 9.99625121e-01 1.46397624e-03 -2.73399890e-02 1.17913645e+00] [-3.59386289e-04 9.99185006e-01 4.03632769e-02 -2.18829573e-01] [ 2.73767980e-02 -4.03383199e-02 9.98810959e-01 -1.88323882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082401008 meters Centerline goodness : 0.900991 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.19 [[ 9.99651055e-01 -9.11379502e-04 -2.63995911e-02 1.17605017e+00] [ 1.87024664e-03 9.99338483e-01 3.63194042e-02 -2.16423658e-01] [ 2.63490266e-02 -3.63561044e-02 9.98991473e-01 -1.88554867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112401008 meters Centerline goodness : 0.903917 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.19 [[ 9.99672013e-01 -1.49466871e-04 -2.56094559e-02 1.17406645e+00] [ 1.09862736e-03 9.99312704e-01 3.70528325e-02 -2.17477299e-01] [ 2.55863164e-02 -3.70688149e-02 9.98985107e-01 -1.87547131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142401008 meters Centerline goodness : 0.905144 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.22, Z:-0.20 [[ 0.99991226 -0.00233123 -0.01303981 1.17961939] [ 0.00275532 0.99946469 0.03259965 -0.21590585] [ 0.01295683 -0.03263272 0.99938342 -0.19600971] [ 0. 0. 0. 1. ]] SLAMing on 4.172401008 meters Centerline goodness : 0.905475 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 9.99964225e-01 1.52962495e-05 -8.45866012e-03 1.19351838e+00] [ 2.11042665e-04 9.99641953e-01 2.67567067e-02 -2.16969719e-01] [ 8.45604080e-03 -2.67575346e-02 9.99606187e-01 -1.97649967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202401008 meters Centerline goodness : 0.905688 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.19 [[ 9.99972287e-01 3.63202352e-05 -7.44469548e-03 1.19297107e+00] [ 1.86434321e-04 9.99552328e-01 2.99183668e-02 -2.22731904e-01] [ 7.44244935e-03 -2.99189256e-02 9.99524621e-01 -1.94341957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232401008 meters Centerline goodness : 0.904647 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 0.9999674 -0.0038439 -0.00710138 1.19282325] [ 0.00402215 0.99967284 0.02525939 -0.2220465 ] [ 0.00700196 -0.02528713 0.99965571 -0.19600277] [ 0. 0. 0. 1. ]] SLAMing on 4.262401008 meters Centerline goodness : 0.907260 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.20 [[ 0.99996777 -0.00397071 -0.00697789 1.19335273] [ 0.00415201 0.99964909 0.02616198 -0.22403639] [ 0.00687156 -0.02619011 0.99963336 -0.19522692] [ 0. 0. 0. 1. ]] SLAMing on 4.292401008 meters Centerline goodness : 0.908373 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.23, Z:-0.19 [[ 0.99996613 -0.00406378 -0.00715737 1.19386982] [ 0.00425531 0.99962768 0.02695154 -0.22615095] [ 0.00704518 -0.02698108 0.99961112 -0.19446544] [ 0. 0. 0. 1. ]] SLAMing on 4.322401008 meters Centerline goodness : 0.911089 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.23, Z:-0.19 [[ 0.9999055 -0.01274965 -0.00514254 1.16219665] [ 0.01294063 0.99915564 0.03899429 -0.22916557] [ 0.00464104 -0.03905715 0.9992262 -0.19043605] [ 0. 0. 0. 1. ]] SLAMing on 4.352401008 meters Centerline goodness : 0.909889 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.20 [[ 0.99977793 -0.02063748 -0.00426499 1.16178738] [ 0.02074479 0.99942367 0.0268697 -0.22417148] [ 0.00370801 -0.02695221 0.99962985 -0.19776797] [ 0. 0. 0. 1. ]] SLAMing on 4.382401008 meters Centerline goodness : 0.908158 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.22, Z:-0.20 [[ 0.99970046 -0.02343047 -0.00707066 1.13558236] [ 0.02360955 0.99937244 0.02640688 -0.22479097] [ 0.0064475 -0.02656591 0.99962627 -0.19698607] [ 0. 0. 0. 1. ]] SLAMing on 4.412401008 meters Centerline goodness : 0.905753 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.20 [[ 0.99943639 -0.0318288 -0.01066915 1.11847171] [ 0.03209035 0.99916438 0.02531302 -0.22519238] [ 0.00985455 -0.02564113 0.99962264 -0.19638894] [ 0. 0. 0. 1. ]] SLAMing on 4.442401008 meters Centerline goodness : 0.905389 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.22, Z:-0.20 [[ 0.99928911 -0.03627102 -0.01027999 1.11890604] [ 0.03647234 0.99913202 0.02012387 -0.22323464] [ 0.00954115 -0.0204845 0.99974464 -0.19846893] [ 0. 0. 0. 1. ]] SLAMing on 4.472401008 meters Centerline goodness : 0.905772 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.21 [[ 0.99949009 -0.03158543 0.00468172 1.11524305] [ 0.03148106 0.99928578 0.02090137 -0.22655425] [-0.00533856 -0.02074332 0.99977058 -0.2058455 ] [ 0. 0. 0. 1. ]] SLAMing on 4.502401008 meters Centerline goodness : 0.907634 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.21 [[ 0.9993671 -0.03517687 0.00528946 1.11391117] [ 0.03508831 0.99925621 0.0159949 -0.22240569] [-0.00584817 -0.01579918 0.99985808 -0.20660838] [ 0. 0. 0. 1. ]] SLAMing on 4.532401008 meters Centerline goodness : 0.911232 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.20 [[ 0.99937775 -0.03482017 0.00562765 1.11190227] [ 0.03472798 0.99927308 0.01572496 -0.21910697] [-0.0061711 -0.01551973 0.99986052 -0.20492262] [ 0. 0. 0. 1. ]] SLAMing on 4.562401008 meters Centerline goodness : 0.911397 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.20 [[ 0.99938053 -0.03474493 0.00559946 1.11141392] [ 0.03465654 0.99928404 0.01517696 -0.21665928] [-0.00612277 -0.0149735 0.99986914 -0.20454337] [ 0. 0. 0. 1. ]] SLAMing on 4.592401008 meters Centerline goodness : 0.910340 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.21, Z:-0.20 [[ 0.99938492 -0.0345841 0.00580683 1.1105472 ] [ 0.03449703 0.9992999 0.01447964 -0.21335699] [-0.00630353 -0.01427041 0.9998783 -0.20453966] [ 0. 0. 0. 1. ]] SLAMing on 4.622401008 meters Centerline goodness : 0.910501 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.21, Z:-0.20 [[ 0.99939181 -0.03434235 0.00605068 1.10942967] [ 0.03425642 0.99931815 0.0137744 -0.20924515] [-0.0065196 -0.01355875 0.99988682 -0.20427005] [ 0. 0. 0. 1. ]] SLAMing on 4.652401008 meters Centerline goodness : 0.910480 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.20, Z:-0.20 [[ 0.99950993 -0.03071808 0.00602514 1.10870699] [ 0.03061533 0.99939566 0.01646262 -0.2020276 ] [-0.0065272 -0.01627009 0.99984633 -0.2038135 ] [ 0. 0. 0. 1. ]] SLAMing on 4.682401008 meters Centerline goodness : 0.912654 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.20, Z:-0.20 [[ 0.99951636 -0.03043166 0.00640071 1.10746675] [ 0.03032848 0.99941758 0.01564207 -0.19740506] [-0.006873 -0.01544038 0.99985717 -0.20385171] [ 0. 0. 0. 1. ]] SLAMing on 4.712401008 meters Centerline goodness : 0.913534 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.19, Z:-0.20 [[ 0.9995214 -0.03018993 0.00674832 1.10608991] [ 0.03008672 0.99943614 0.01490592 -0.19354863] [-0.00719452 -0.01469575 0.99986613 -0.20353608] [ 0. 0. 0. 1. ]] SLAMing on 4.742401008 meters Centerline goodness : 0.916281 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.20 [[ 0.99954841 -0.02924295 0.00691522 1.10383888] [ 0.02914338 0.99947599 0.01408567 -0.18689579] [-0.00732351 -0.01387778 0.99987688 -0.20229475] [ 0. 0. 0. 1. ]] SLAMing on 4.772401008 meters Centerline goodness : 0.913442 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.99955266 -0.02903582 0.00717 1.10312561] [ 0.02894083 0.9994964 0.01301475 -0.18238931] [-0.00754429 -0.01280142 0.9998896 -0.20292904] [ 0. 0. 0. 1. ]] SLAMing on 4.802401008 meters Centerline goodness : 0.912168 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.99963208 -0.02614248 0.00723081 1.10243937] [ 0.02602957 0.99954421 0.0152913 -0.17947115] [-0.00762726 -0.01509746 0.99985694 -0.20204749] [ 0. 0. 0. 1. ]] SLAMing on 4.832401008 meters Centerline goodness : 0.914521 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99972934 -0.02165284 0.00850875 1.10040719] [ 0.02147947 0.99956994 0.01996439 -0.17444018] [-0.00893738 -0.01977622 0.99976448 -0.20243628] [ 0. 0. 0. 1. ]] SLAMing on 4.862401008 meters Centerline goodness : 0.914948 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.999754 -0.02041768 0.00866408 1.1006669 ] [ 0.02023751 0.99958712 0.02039694 -0.17225749] [-0.00907697 -0.02021658 0.99975442 -0.20299835] [ 0. 0. 0. 1. ]] SLAMing on 4.892401008 meters Centerline goodness : 0.912168 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99975743 -0.02028203 0.00858612 1.10183511] [ 0.02010996 0.9996042 0.01967303 -0.170533 ] [-0.00898173 -0.01949559 0.9997696 -0.20418579] [ 0. 0. 0. 1. ]] SLAMing on 4.9224010080000005 meters Centerline goodness : 0.913269 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99968055 -0.02359251 0.00906612 1.10052664] [ 0.02345571 0.99961369 0.01490957 -0.16649256] [-0.00941437 -0.01469215 0.99984774 -0.20470902] [ 0. 0. 0. 1. ]] SLAMing on 4.952401008 meters Centerline goodness : 0.894991 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99969572 -0.02298842 0.00894459 1.10069142] [ 0.02286187 0.99964058 0.01400138 -0.16507562] [-0.00926325 -0.01379263 0.99986197 -0.20420074] [ 0. 0. 0. 1. ]] SLAMing on 4.982401008 meters Centerline goodness : 0.895227 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.999708 -0.02265845 0.00839745 1.10255088] [ 0.02254368 0.99965445 0.01351905 -0.16455194] [-0.00870087 -0.0133258 0.99987335 -0.20525227] [ 0. 0. 0. 1. ]] SLAMing on 5.012401008 meters Centerline goodness : 0.895227 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.999708 -0.02265845 0.00839745 1.10255088] [ 0.02254368 0.99965445 0.01351905 -0.16455194] [-0.00870087 -0.0133258 0.99987335 -0.20525227] [ 0. 0. 0. 1. ]] SLAMing on 5.042401008 meters Centerline goodness : 0.893123 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.21 [[ 0.99972413 -0.02196755 0.00831238 1.10323403] [ 0.02185026 0.99966395 0.0139481 -0.16430583] [-0.00861599 -0.01376263 0.99986817 -0.20591003] [ 0. 0. 0. 1. ]] SLAMing on 5.072401008 meters Centerline goodness : 0.892635 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99977505 -0.01997953 0.00711745 1.10599879] [ 0.01988165 0.99971028 0.0135671 -0.16411371] [-0.00738645 -0.01342255 0.99988263 -0.20642581] [ 0. 0. 0. 1. ]] SLAMing on 5.102401008 meters Centerline goodness : 0.897231 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99979918 -0.01905865 0.00619409 1.10863956] [ 0.01897931 0.99974016 0.01262501 -0.16375573] [-0.0064331 -0.01250492 0.99990112 -0.20737784] [ 0. 0. 0. 1. ]] SLAMing on 5.132401008 meters Centerline goodness : 0.897237 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99980812 -0.01847759 0.00650407 1.10755253] [ 0.01839287 0.99974823 0.01285237 -0.16328135] [-0.00673991 -0.01273027 0.99989625 -0.20701131] [ 0. 0. 0. 1. ]] SLAMing on 5.162401008 meters Centerline goodness : 0.898864 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99984621 -0.01664376 0.00552611 1.10950202] [ 0.01657582 0.99978915 0.01212053 -0.16324119] [-0.00572668 -0.01202707 0.99991127 -0.20669482] [ 0. 0. 0. 1. ]] SLAMing on 5.192401008 meters Centerline goodness : 0.895762 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.9999203 -0.011987 0.00396234 1.11285292] [ 0.01193857 0.99985637 0.0120292 -0.16188425] [-0.00410596 -0.01198094 0.9999198 -0.20664665] [ 0. 0. 0. 1. ]] SLAMing on 5.222401008 meters Centerline goodness : 0.899145 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.21 [[ 0.99993115 -0.01083986 0.00449475 1.11065177] [ 0.01078346 0.99986513 0.01238695 -0.16031377] [-0.00462841 -0.01233763 0.99991318 -0.20573809] [ 0. 0. 0. 1. ]] SLAMing on 5.252401008 meters Centerline goodness : 0.895874 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.20 [[ 0.99994067 -0.0096512 0.00505132 1.10823899] [ 0.00958498 0.99986988 0.01297486 -0.15988582] [-0.00517589 -0.01292567 0.99990306 -0.20453061] [ 0. 0. 0. 1. ]] SLAMing on 5.282401008 meters Centerline goodness : 0.898074 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.20 [[ 0.99994724 -0.00878856 0.00531706 1.1066616 ] [ 0.00871602 0.99987066 0.01351633 -0.16057933] [-0.00543516 -0.01346928 0.99989451 -0.20342061] [ 0. 0. 0. 1. ]] SLAMing on 5.312401008 meters Centerline goodness : 0.901375 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.20 [[ 0.99992389 -0.01084646 0.00587904 1.10401458] [ 0.01078622 0.99988998 0.01018259 -0.15983736] [-0.00598884 -0.0101184 0.99993087 -0.20272688] [ 0. 0. 0. 1. ]] SLAMing on 5.342401008 meters Centerline goodness : 0.899275 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.16, Z:-0.20 [[ 0.99992997 -0.01000126 0.00632746 1.10337123] [ 0.00993078 0.99988938 0.01107316 -0.16286954] [-0.00643751 -0.01100954 0.99991867 -0.20337678] [ 0. 0. 0. 1. ]] SLAMing on 5.372401008 meters Centerline goodness : 0.897439 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.17, Z:-0.20 [[ 0.99996092 -0.0063873 0.00611202 1.10475511] [ 0.00628693 0.99984734 0.0163026 -0.16675987] [-0.00621522 -0.01626354 0.99984842 -0.20288176] [ 0. 0. 0. 1. ]] SLAMing on 5.402401008 meters Centerline goodness : 0.898923 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.17, Z:-0.20 [[ 0.99997733 -0.0024078 0.00628815 1.10505188] [ 0.00226653 0.999747 0.02237851 -0.17143451] [-0.00634044 -0.02236375 0.99972979 -0.20116874] [ 0. 0. 0. 1. ]] SLAMing on 5.432401008 meters Centerline goodness : 0.897917 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.20 [[ 0.9999611 0.00156255 0.00868066 1.10303139] [-0.00183668 0.99949694 0.03166205 -0.18149053] [-0.00862682 -0.03167676 0.99946094 -0.1962256 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4624010080000005 meters Centerline goodness : 0.895947 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.20 [[ 0.99996342 0.00169217 0.00838414 1.10415202] [-0.00196134 0.99947949 0.03220102 -0.18531839] [-0.00832528 -0.03221628 0.99944625 -0.19674791] [ 0. 0. 0. 1. ]] SLAMing on 5.492401008 meters Centerline goodness : 0.896809 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.18 [[ 0.99995049 0.00708662 0.00698605 1.12293838] [-0.00739244 0.99897007 0.0447677 -0.19721784] [-0.0066616 -0.04481713 0.998973 -0.1820849 ] [ 0. 0. 0. 1. ]] SLAMing on 5.522401008 meters Centerline goodness : 0.898045 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.20, Z:-0.19 [[ 0.99991597 0.00652395 0.01120254 1.13525545] [-0.0068675 0.99949865 0.03090786 -0.20194331] [-0.01099528 -0.03098219 0.99945946 -0.18993078] [ 0. 0. 0. 1. ]] SLAMing on 5.552401008 meters Centerline goodness : 0.897997 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.21, Z:-0.19 [[ 0.99988649 0.00957942 0.01162952 1.1542993 ] [-0.00991384 0.99952886 0.02904779 -0.20785111] [-0.01134578 -0.02915979 0.99951037 -0.18875917] [ 0. 0. 0. 1. ]] SLAMing on 5.582401008 meters Centerline goodness : 0.896972 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.19 [[ 0.99982455 0.01133541 0.01491227 1.16871349] [-0.0116296 0.99973649 0.01979162 -0.21069948] [-0.01468399 -0.01996157 0.99969291 -0.19413274] [ 0. 0. 0. 1. ]] SLAMing on 5.612401008 meters Centerline goodness : 0.900762 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.22, Z:-0.19 [[ 0.99982838 0.01260874 0.01357311 1.19732484] [-0.01296166 0.99957176 0.02623547 -0.22390559] [-0.0132365 -0.0264069 0.99956364 -0.1884141 ] [ 0. 0. 0. 1. ]] SLAMing on 5.642401008 meters Centerline goodness : 0.900726 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.23, Z:-0.19 [[ 0.99983204 0.012607 0.01330214 1.19803499] [-0.0129735 0.99952834 0.02783512 -0.22974486] [-0.01294495 -0.02800302 0.99952402 -0.18697082] [ 0. 0. 0. 1. ]] SLAMing on 5.6724010080000005 meters Centerline goodness : 0.901805 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.24, Z:-0.19 [[ 0.99988277 0.00599806 0.0140881 1.19552756] [-0.00629859 0.99975148 0.02138489 -0.23617971] [-0.01395633 -0.02147112 0.99967205 -0.18630457] [ 0. 0. 0. 1. ]] SLAMing on 5.702401008 meters Centerline goodness : 0.902602 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.24, Z:-0.18 [[ 0.99991393 0.00661947 0.01132741 1.22561882] [-0.00691671 0.99962738 0.02640564 -0.24492757] [-0.0111484 -0.02648171 0.99958713 -0.18004791] [ 0. 0. 0. 1. ]] SLAMing on 5.732401008 meters Centerline goodness : 0.903630 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 0.99992966 0.00269409 0.01155065 1.22560181] [-0.00295198 0.99974543 0.02236896 -0.24650451] [-0.01148745 -0.02240148 0.99968306 -0.18099327] [ 0. 0. 0. 1. ]] SLAMing on 5.762401008 meters Centerline goodness : 0.908733 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.25, Z:-0.18 [[ 9.99929740e-01 -1.21019083e-03 1.17919804e-02 1.22560601e+00] [ 9.92283143e-04 9.99828966e-01 1.84676715e-02 -2.48392279e-01] [-1.18123130e-02 -1.84546730e-02 9.99759918e-01 -1.81855316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792401008 meters Centerline goodness : 0.909072 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.26, Z:-0.17 [[ 9.99958406e-01 1.41161364e-04 9.11960748e-03 1.25409262e+00] [-3.74272579e-04 9.99673095e-01 2.55648936e-02 -2.57627276e-01] [-9.11301746e-03 -2.55672434e-02 9.99631567e-01 -1.72602662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822401008 meters Centerline goodness : 0.915400 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.27, Z:-0.17 [[ 9.99974949e-01 -1.01586645e-03 7.00495088e-03 1.28036113e+00] [ 8.10559646e-04 9.99571810e-01 2.92496168e-02 -2.69876227e-01] [-7.03166514e-03 -2.92432062e-02 9.99547593e-01 -1.65002289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852401008 meters Centerline goodness : 0.914709 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.16 [[ 9.99991135e-01 3.39568103e-04 4.19694083e-03 1.30646652e+00] [-4.73028691e-04 9.99492882e-01 3.18395235e-02 -2.76755050e-01] [-4.18400080e-03 -3.18412265e-02 9.99484182e-01 -1.59439085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882401008 meters Centerline goodness : 0.918183 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.27, Z:-0.17 [[ 0.9999678 -0.00564262 0.00570568 1.30278302] [ 0.00551998 0.99975819 0.02128577 -0.27394933] [-0.0058244 -0.02125359 0.99975715 -0.16539164] [ 0. 0. 0. 1. ]] SLAMing on 5.912401008 meters Centerline goodness : 0.915420 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99995886 -0.00888795 0.00181084 1.28909228] [ 0.00882632 0.99946181 0.03159412 -0.28139154] [-0.00209067 -0.03157684 0.99949914 -0.15809447] [ 0. 0. 0. 1. ]] SLAMing on 5.942401008 meters Centerline goodness : 0.915815 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99992016 -0.01239748 0.00244489 1.28835852] [ 0.01232942 0.99958262 0.02612594 -0.27901467] [-0.00276777 -0.02609371 0.99965567 -0.16122324] [ 0. 0. 0. 1. ]] SLAMing on 5.972401008 meters Centerline goodness : 0.916865 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99992031 -0.01239794 0.00237811 1.28897767] [ 0.01233317 0.99959744 0.02555093 -0.27874133] [-0.00269393 -0.02551956 0.99967069 -0.1626172 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0024010080000005 meters Centerline goodness : 0.914197 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 0.99996548 -0.0081225 0.00175056 1.29023048] [ 0.0080673 0.99953159 0.02952163 -0.27965943] [-0.00198953 -0.02950649 0.99956261 -0.16315243] [ 0. 0. 0. 1. ]] SLAMing on 6.032401008 meters Centerline goodness : 0.913262 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.16 [[ 9.99991146e-01 -4.05632705e-03 1.12023547e-03 1.29141668e+00] [ 4.01614879e-03 9.99420563e-01 3.37995294e-02 -2.80487386e-01] [-1.25668831e-03 -3.37947311e-02 9.99428005e-01 -1.62799097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062401008 meters Centerline goodness : 0.911955 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 9.99989315e-01 2.27729945e-04 4.61714062e-03 1.30293809e+00] [-3.29073966e-04 9.99758782e-01 2.19606561e-02 -2.77000641e-01] [-4.61102578e-03 -2.19619409e-02 9.99748174e-01 -1.72582552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092401008 meters Centerline goodness : 0.909555 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 0.99998071 0.00446153 0.00432072 1.30307141] [-0.00457464 0.99963753 0.02653079 -0.27793798] [-0.00420078 -0.02655004 0.99963866 -0.17148483] [ 0. 0. 0. 1. ]] SLAMing on 6.122401008 meters Centerline goodness : 0.911293 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.28, Z:-0.17 [[ 0.99997576 0.00519056 0.00464066 1.3018571 ] [-0.00530971 0.99964672 0.02604303 -0.27617066] [-0.00450384 -0.02606704 0.99965005 -0.17218907] [ 0. 0. 0. 1. ]] SLAMing on 6.152401008 meters Centerline goodness : 0.913748 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.18 [[ 0.99992684 0.00808635 0.00899627 1.31328993] [-0.00821099 0.9998696 0.0139053 -0.27305264] [-0.00888265 -0.01397815 0.99986285 -0.18092406] [ 0. 0. 0. 1. ]] SLAMing on 6.182401008 meters Centerline goodness : 0.917256 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.18 [[ 0.99992809 0.00810894 0.0088348 1.31329883] [-0.00823571 0.99986226 0.01440927 -0.27460648] [-0.00871674 -0.01448099 0.99985715 -0.17995697] [ 0. 0. 0. 1. ]] SLAMing on 6.2124010080000005 meters Centerline goodness : 0.916452 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.18 [[ 0.99993308 0.00795639 0.00839805 1.31403476] [-0.00808301 0.99985251 0.01515351 -0.27716059] [-0.00827625 -0.01522037 0.99984991 -0.17880673] [ 0. 0. 0. 1. ]] SLAMing on 6.242401008 meters Centerline goodness : 0.915844 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:-0.18 [[ 0.99994652 0.00707389 0.00754468 1.31662271] [-0.00718998 0.99985444 0.01547243 -0.27989066] [-0.00743413 -0.01552585 0.99985183 -0.17867754] [ 0. 0. 0. 1. ]] SLAMing on 6.272401008 meters Centerline goodness : 0.916205 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:-0.15 [[ 0.99991622 -0.00272842 0.01265341 1.34620837] [ 0.00203447 0.99850977 0.05453531 -0.29383025] [-0.01278335 -0.054505 0.99843167 -0.15368965] [ 0. 0. 0. 1. ]] SLAMing on 6.302401008 meters Centerline goodness : 0.913777 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:-0.16 [[ 0.99989045 -0.00795967 0.01247934 1.34915942] [ 0.00734374 0.99878897 0.04864839 -0.29345174] [-0.01285145 -0.04855142 0.998738 -0.1577276 ] [ 0. 0. 0. 1. ]] SLAMing on 6.332401008 meters Centerline goodness : 0.911546 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.15 [[ 0.99979329 -0.01568232 0.01294012 1.30841956] [ 0.01491008 0.99821926 0.05775811 -0.2961376 ] [-0.01382286 -0.05755323 0.99824674 -0.15106034] [ 0. 0. 0. 1. ]] SLAMing on 6.362401008 meters Centerline goodness : 0.911504 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.30, Z:-0.15 [[ 0.99980771 -0.0170599 0.00967017 1.27111305] [ 0.01654767 0.9985727 0.05078125 -0.29592793] [-0.01052269 -0.05061147 0.99866298 -0.15275486] [ 0. 0. 0. 1. ]] SLAMing on 6.392401008 meters Centerline goodness : 0.911826 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.9997325 -0.02063104 0.01045401 1.26938516] [ 0.02014843 0.99881334 0.0443391 -0.29165174] [-0.01135636 -0.04411661 0.99896184 -0.15583975] [ 0. 0. 0. 1. ]] SLAMing on 6.4224010080000005 meters Centerline goodness : 0.912023 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.99972433 -0.02135022 0.0097689 1.27195578] [ 0.0209127 0.99886101 0.04288745 -0.29055707] [-0.01067343 -0.04267133 0.99903215 -0.15792731] [ 0. 0. 0. 1. ]] SLAMing on 6.452401008 meters Centerline goodness : 0.914112 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.29, Z:-0.16 [[ 0.999638 -0.02471443 0.01063334 1.27052541] [ 0.0243056 0.99901973 0.03699753 -0.28555893] [-0.01153729 -0.03672568 0.99925878 -0.16101631] [ 0. 0. 0. 1. ]] SLAMing on 6.482401008 meters Centerline goodness : 0.915302 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.16 [[ 0.99964598 -0.02460659 0.01012077 1.27253331] [ 0.02422561 0.99905145 0.0361846 -0.2836987 ] [-0.01100155 -0.03592661 0.99929387 -0.16264666] [ 0. 0. 0. 1. ]] SLAMing on 6.512401008 meters Centerline goodness : 0.916059 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.16 [[ 0.99965891 -0.02374587 0.01087149 1.26938225] [ 0.02334765 0.99910054 0.0353978 -0.27811281] [-0.01170227 -0.03513191 0.99931417 -0.16210159] [ 0. 0. 0. 1. ]] SLAMing on 6.542401008000001 meters Centerline goodness : 0.915941 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.16 [[ 0.9996587 -0.02375909 0.0108623 1.26872569] [ 0.02336926 0.99912429 0.03470641 -0.27488806] [-0.01167738 -0.03444072 0.99933852 -0.16174685] [ 0. 0. 0. 1. ]] SLAMing on 6.572401008 meters Centerline goodness : 0.917089 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.16 [[ 0.99968488 -0.02245169 0.01122781 1.26519145] [ 0.02205768 0.9991762 0.03406427 -0.26857115] [-0.01198336 -0.03380588 0.99935657 -0.1601029 ] [ 0. 0. 0. 1. ]] SLAMing on 6.602401008 meters Centerline goodness : 0.917530 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99968475 -0.02236391 0.01141332 1.26424977] [ 0.02197773 0.9992167 0.03290837 -0.26429447] [-0.01214034 -0.03264716 0.9993932 -0.16052342] [ 0. 0. 0. 1. ]] SLAMing on 6.632401008 meters Centerline goodness : 0.919778 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99968514 -0.02234333 0.01141953 1.26379389] [ 0.02196963 0.9992507 0.03186486 -0.25980503] [-0.01212294 -0.03160394 0.99942695 -0.16089919] [ 0. 0. 0. 1. ]] SLAMing on 6.662401008 meters Centerline goodness : 0.917513 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.26, Z:-0.16 [[ 0.99967441 -0.02286161 0.01133266 1.26428854] [ 0.0225074 0.99928268 0.03045551 -0.25552655] [-0.0120208 -0.03019053 0.99947188 -0.16208023] [ 0. 0. 0. 1. ]] SLAMing on 6.692401008 meters Centerline goodness : 0.915921 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.25, Z:-0.16 [[ 0.99966523 -0.02320901 0.01143563 1.26424262] [ 0.0228624 0.9993015 0.02956066 -0.25191364] [-0.01211372 -0.02928931 0.99949757 -0.16260425] [ 0. 0. 0. 1. ]] SLAMing on 6.722401008 meters Centerline goodness : 0.914836 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.24, Z:-0.17 [[ 0.99953756 -0.02791318 0.01206303 1.26447645] [ 0.02764318 0.99937578 0.02199762 -0.24324988] [-0.01266952 -0.02165399 0.99968524 -0.16751464] [ 0. 0. 0. 1. ]] SLAMing on 6.7524010080000005 meters Centerline goodness : 0.911268 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.24, Z:-0.17 [[ 0.99940411 -0.03213887 0.01259027 1.26459128] [ 0.0319408 0.99936755 0.01562959 -0.23755305] [-0.01308463 -0.01521813 0.99979858 -0.17107513] [ 0. 0. 0. 1. ]] SLAMing on 6.782401008 meters Centerline goodness : 0.913431 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.24, Z:-0.17 [[ 0.99945884 -0.03177077 0.00852297 1.24061497] [ 0.03158483 0.99927772 0.02112917 -0.23727252] [-0.00918811 -0.02084854 0.99974042 -0.16581023] [ 0. 0. 0. 1. ]] SLAMing on 6.812401008 meters Centerline goodness : 0.912380 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.23, Z:-0.17 [[ 0.9995157 -0.03004082 0.00811873 1.2422013 ] [ 0.02986252 0.99932796 0.0212568 -0.2327988 ] [-0.00875185 -0.02100406 0.99974108 -0.16694469] [ 0. 0. 0. 1. ]] SLAMing on 6.842401008 meters Centerline goodness : 0.914130 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.23, Z:-0.17 [[ 0.99950951 -0.03022342 0.00820287 1.24222725] [ 0.03005568 0.999351 0.01985553 -0.22885357] [-0.00879765 -0.01959924 0.99976921 -0.16822715] [ 0. 0. 0. 1. ]] SLAMing on 6.872401008 meters Centerline goodness : 0.912424 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:-0.16 [[ 0.99959171 -0.02815 0.00489807 1.22239362] [ 0.02798093 0.99910539 0.03170951 -0.22949519] [-0.00578631 -0.03155951 0.99948513 -0.1597835 ] [ 0. 0. 0. 1. ]] SLAMing on 6.902401008 meters Centerline goodness : 0.912424 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.23, Z:-0.16 [[ 0.99959216 -0.02812554 0.00494608 1.22230388] [ 0.02795525 0.99910769 0.03165948 -0.22938009] [-0.00583211 -0.0315083 0.99948647 -0.1598304 ] [ 0. 0. 0. 1. ]] SLAMing on 6.932401008 meters Centerline goodness : 0.909760 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.99970311 -0.02384487 0.00501063 1.22100763] [ 0.02365674 0.99911626 0.03474267 -0.22440061] [-0.00583464 -0.03461382 0.99938373 -0.15962167] [ 0. 0. 0. 1. ]] SLAMing on 6.9624010080000005 meters Centerline goodness : 0.912473 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.9997167 -0.02312518 0.00563347 1.21895804] [ 0.02292319 0.99917212 0.0336095 -0.21940129] [-0.00640604 -0.03347084 0.99941916 -0.16044934] [ 0. 0. 0. 1. ]] SLAMing on 6.992401008 meters Centerline goodness : 0.913727 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.16 [[ 0.9998011 -0.01925844 0.00518368 1.21913077] [ 0.01905137 0.99911861 0.03740396 -0.21736428] [-0.00589945 -0.03729776 0.99928678 -0.15949905] [ 0. 0. 0. 1. ]] SLAMing on 7.022401008 meters Centerline goodness : 0.912287 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99983898 -0.01513297 0.00964451 1.22890718] [ 0.01488105 0.9995595 0.02567806 -0.21216571] [-0.01002884 -0.0255304 0.99962374 -0.16801476] [ 0. 0. 0. 1. ]] SLAMing on 7.052401008 meters Centerline goodness : 0.913078 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99989145 -0.01161471 0.00906604 1.2300226 ] [ 0.01134199 0.99949823 0.02957437 -0.21138433] [-0.00940499 -0.02946833 0.99952147 -0.16740133] [ 0. 0. 0. 1. ]] SLAMing on 7.082401008000001 meters Centerline goodness : 0.913927 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99988967 -0.01172668 0.00911741 1.23012263] [ 0.01146254 0.99952799 0.02850282 -0.20806983] [-0.00944735 -0.02839516 0.99955213 -0.16849656] [ 0. 0. 0. 1. ]] SLAMing on 7.112401008 meters Centerline goodness : 0.912838 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.17 [[ 0.99988641 -0.01209729 0.0089907 1.23070912] [ 0.01183973 0.99953308 0.02816815 -0.20789615] [-0.00932726 -0.0280585 0.99956277 -0.16878853] [ 0. 0. 0. 1. ]] SLAMing on 7.142401008 meters Centerline goodness : 0.913484 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99990675 -0.01101196 0.00807689 1.23651756] [ 0.01070163 0.999239 0.03750861 -0.21087638] [-0.00848379 -0.03741867 0.99926366 -0.15960945] [ 0. 0. 0. 1. ]] SLAMing on 7.1724010080000005 meters Centerline goodness : 0.913980 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99989636 -0.01239542 0.00732217 1.23981105] [ 0.01212361 0.99927584 0.03606679 -0.20952622] [-0.00776393 -0.03597429 0.99932256 -0.16191471] [ 0. 0. 0. 1. ]] SLAMing on 7.202401008 meters Centerline goodness : 0.913666 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99989087 -0.01308322 0.00686177 1.24171722] [ 0.01283033 0.99928065 0.03568694 -0.20864439] [-0.00732374 -0.03559501 0.99933946 -0.16239009] [ 0. 0. 0. 1. ]] SLAMing on 7.232401008 meters Centerline goodness : 0.915286 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.21, Z:-0.16 [[ 0.99988432 -0.01378107 0.00643664 1.24334695] [ 0.01354704 0.99929244 0.03508697 -0.20819167] [-0.00691562 -0.03499572 0.99936353 -0.16321515] [ 0. 0. 0. 1. ]] SLAMing on 7.262401008 meters Centerline goodness : 0.917176 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.16 [[ 0.99986588 -0.01528018 0.00589349 1.24577983] [ 0.01506851 0.99929363 0.03442649 -0.20843791] [-0.00641537 -0.03433306 0.99938986 -0.16384121] [ 0. 0. 0. 1. ]] SLAMing on 7.292401008000001 meters Centerline goodness : 0.918118 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.21, Z:-0.16 [[ 0.9998977 -0.01354073 0.0046087 1.27132249] [ 0.01334689 0.99911969 0.03977058 -0.21169257] [-0.00514316 -0.039705 0.99919821 -0.15512966] [ 0. 0. 0. 1. ]] SLAMing on 7.322401008 meters Centerline goodness : 0.918462 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.21, Z:-0.15 [[ 0.99990538 -0.0133463 0.00333402 1.27739078] [ 0.01317619 0.9988229 0.04668189 -0.21478077] [-0.00395313 -0.04663354 0.99890424 -0.14955322] [ 0. 0. 0. 1. ]] SLAMing on 7.352401008 meters Centerline goodness : 0.920877 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.22, Z:-0.14 [[ 9.99844880e-01 -1.75721246e-02 1.19861601e-03 1.27110345e+00] [ 1.74601697e-02 9.97817993e-01 6.36741312e-02 -2.18263270e-01] [-2.31489038e-03 -6.36433261e-02 9.97970024e-01 -1.38434033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382401008 meters Centerline goodness : 0.922508 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.22, Z:-0.14 [[ 9.99631030e-01 -2.71066811e-02 -1.74100380e-03 1.25506297e+00] [ 2.71625092e-02 9.97661278e-01 6.27229892e-02 -2.15015795e-01] [ 3.67200123e-05 -6.27471363e-02 9.98029456e-01 -1.36893036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412401008 meters Centerline goodness : 0.921980 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.21, Z:-0.14 [[ 9.99366599e-01 -3.55732621e-02 -9.71038143e-04 1.25531551e+00] [ 3.55757251e-02 9.98019826e-01 5.18728620e-02 -2.09483907e-01] [-8.76171599e-04 -5.18745511e-02 9.98653225e-01 -1.41300826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442401008 meters Centerline goodness : 0.921971 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.14 [[ 9.99213567e-01 -3.96510145e-02 -2.10467505e-04 1.25490381e+00] [ 3.96127271e-02 9.97985697e-01 4.95518053e-02 -2.07903567e-01] [-1.75473579e-03 -4.95211733e-02 9.98771533e-01 -1.42712753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472401008 meters Centerline goodness : 0.923381 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.14 [[ 0.99899595 -0.04475567 0.00200394 1.25116464] [ 0.04460339 0.99779638 0.04912155 -0.20296476] [-0.00419799 -0.04898285 0.9987908 -0.14364043] [ 0. 0. 0. 1. ]] SLAMing on 7.5024010080000005 meters Centerline goodness : 0.922641 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.20, Z:-0.15 [[ 0.99894966 -0.04571084 0.00317825 1.24974116] [ 0.04549227 0.99768609 0.05052647 -0.19958832] [-0.0054805 -0.05032882 0.99871767 -0.14515012] [ 0. 0. 0. 1. ]] SLAMing on 7.532401008 meters Centerline goodness : 0.919856 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.19, Z:-0.15 [[ 0.99899933 -0.0443852 0.00550439 1.24506549] [ 0.04401619 0.99751542 0.05500514 -0.191919 ] [-0.00793212 -0.05470781 0.9984709 -0.14550598] [ 0. 0. 0. 1. ]] SLAMing on 7.562401008 meters Centerline goodness : 0.918625 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.19, Z:-0.14 [[ 0.99908094 -0.04246506 0.00583103 1.24352529] [ 0.04206865 0.99751503 0.05651535 -0.18746769] [-0.00821646 -0.05621811 0.9983847 -0.14446257] [ 0. 0. 0. 1. ]] SLAMing on 7.592401008 meters Centerline goodness : 0.919086 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.18, Z:-0.15 [[ 0.99913575 -0.0412194 0.0053585 1.24521728] [ 0.04086016 0.99762841 0.05538961 -0.18284014] [-0.00762891 -0.05512279 0.99845044 -0.14549146] [ 0. 0. 0. 1. ]] SLAMing on 7.622401008000001 meters Centerline goodness : 0.918195 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.18, Z:-0.14 [[ 0.9992381 -0.03855235 0.00607823 1.24263779] [ 0.03814571 0.9976558 0.05681381 -0.17769232] [-0.00825428 -0.05653867 0.99836629 -0.14377956] [ 0. 0. 0. 1. ]] SLAMing on 7.652401008 meters Centerline goodness : 0.919758 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.17, Z:-0.14 [[ 0.9994042 -0.03368871 0.00750372 1.23919097] [ 0.03317011 0.99759077 0.06092945 -0.16815649] [-0.00953828 -0.06064425 0.99811387 -0.14325006] [ 0. 0. 0. 1. ]] SLAMing on 7.682401008 meters Centerline goodness : 0.918009 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.15 [[ 0.99947371 -0.03081485 0.01013613 1.24687487] [ 0.03033848 0.99856189 0.04420095 -0.15907794] [-0.0114836 -0.04387017 0.99897124 -0.15360756] [ 0. 0. 0. 1. ]] SLAMing on 7.7124010080000005 meters Centerline goodness : 0.920831 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.16 [[ 0.99953839 -0.02763058 0.01263125 1.25372925] [ 0.02726844 0.99923606 0.0279952 -0.15039691] [-0.01339512 -0.02763784 0.99952825 -0.1623332 ] [ 0. 0. 0. 1. ]] SLAMing on 7.742401008 meters Centerline goodness : 0.920367 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.16 [[ 0.9995364 -0.02771476 0.01260449 1.2533218 ] [ 0.02737014 0.9992677 0.02673822 -0.14428996] [-0.01333631 -0.02638084 0.999563 -0.16239935] [ 0. 0. 0. 1. ]] SLAMing on 7.772401008 meters Centerline goodness : 0.925107 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.16 [[ 0.9995424 -0.02754386 0.01250297 1.25265518] [ 0.02721503 0.99929791 0.02574945 -0.13851046] [-0.01320343 -0.02539739 0.99959024 -0.16199822] [ 0. 0. 0. 1. ]] SLAMing on 7.802401008 meters Centerline goodness : 0.925128 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.13, Z:-0.16 [[ 0.99974305 -0.02090453 0.00876574 1.25923872] [ 0.02077729 0.99968095 0.01436307 -0.12617534] [-0.0090632 -0.01417725 0.99985842 -0.16341798] [ 0. 0. 0. 1. ]] SLAMing on 7.832401008000001 meters Centerline goodness : 0.926591 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.12, Z:-0.16 [[ 0.99974017 -0.02117336 0.00844269 1.25963442] [ 0.0210628 0.99969394 0.01297603 -0.11987224] [-0.00871485 -0.01279483 0.99988016 -0.16366553] [ 0. 0. 0. 1. ]] SLAMing on 7.862401008 meters Centerline goodness : 0.929031 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.16 [[ 0.99973383 -0.0215218 0.00831116 1.25988412] [ 0.02142511 0.9997037 0.01155292 -0.11357196] [-0.00855734 -0.01137178 0.99989872 -0.16413158] [ 0. 0. 0. 1. ]] SLAMing on 7.892401008 meters Centerline goodness : 0.928167 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.11, Z:-0.16 [[ 0.99979535 -0.01876649 0.00755465 1.26157145] [ 0.01865768 0.99972473 0.01422503 -0.10965558] [-0.00781953 -0.01408117 0.99987028 -0.16423101] [ 0. 0. 0. 1. ]] SLAMing on 7.9224010080000005 meters Centerline goodness : 0.933907 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.10, Z:-0.16 [[ 0.99983773 -0.01671344 0.00672153 1.2620681 ] [ 0.01660798 0.9997427 0.01545038 -0.09980714] [-0.00697803 -0.01533625 0.99985804 -0.16274568] [ 0. 0. 0. 1. ]] SLAMing on 7.952401008000001 meters Centerline goodness : 0.934319 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:-0.16 [[ 0.99983078 -0.01720884 0.00650082 1.26226897] [ 0.01711599 0.99975439 0.01407833 -0.09482783] [-0.0067415 -0.01396468 0.99987976 -0.16272539] [ 0. 0. 0. 1. ]] SLAMing on 7.982401008 meters Centerline goodness : 0.937576 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.09, Z:-0.16 [[ 0.99982154 -0.01784034 0.00621353 1.26275609] [ 0.01776026 0.99976143 0.01271405 -0.09022049] [-0.00643887 -0.01260143 0.99989987 -0.16279616] [ 0. 0. 0. 1. ]] SLAMing on 8.012401008 meters Centerline goodness : 0.941849 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.08, Z:-0.16 [[ 0.99980216 -0.01910626 0.00553069 1.26396182] [ 0.01904627 0.9997613 0.01070421 -0.082389 ] [-0.00573388 -0.01059675 0.99992741 -0.16258217] [ 0. 0. 0. 1. ]] SLAMing on 8.042401008 meters Centerline goodness : 0.944710 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.08, Z:-0.16 [[ 0.9997878 -0.01995227 0.00512427 1.26540541] [ 0.01990311 0.99975704 0.00947194 -0.07929507] [-0.00531201 -0.00936794 0.99994201 -0.16354945] [ 0. 0. 0. 1. ]] SLAMing on 8.072401008 meters Centerline goodness : 0.945485 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.08, Z:-0.16 [[ 0.99977347 -0.02071815 0.00487493 1.26639892] [ 0.02067701 0.99975139 0.00834342 -0.07633002] [-0.00504657 -0.00824073 0.99995331 -0.16428506] [ 0. 0. 0. 1. ]] SLAMing on 8.102401008000001 meters Centerline goodness : 0.947802 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.07, Z:-0.16 [[ 0.99976178 -0.02132233 0.00466363 1.26709184] [ 0.02128777 0.99974645 0.00733892 -0.07331602] [-0.00481893 -0.0072379 0.99996219 -0.16473997] [ 0. 0. 0. 1. ]] SLAMing on 8.132401008 meters Centerline goodness : 0.953067 Centerline is valid? [False, True] Translation: X:1.27, Y:-0.07, Z:-0.16 [[ 0.99981786 -0.01863966 0.00410103 1.26830723] [ 0.01859771 0.99977662 0.01004182 -0.07024558] [-0.00428729 -0.00996372 0.99994117 -0.16465938] [ 0. 0. 0. 1. ]] SLAMing on 8.162401008 meters Centerline goodness : 0.952508 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.07, Z:-0.17 [[ 9.99801542e-01 -1.95865378e-02 3.63913045e-03 1.29750860e+00] [ 1.95872667e-02 9.99808138e-01 -1.64755337e-04 -6.53590976e-02] [-3.63520525e-03 2.36003259e-04 9.99993365e-01 -1.70426294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192401008000001 meters Centerline goodness : 0.954158 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.06, Z:-0.17 [[ 9.99769627e-01 -2.11530080e-02 3.63916936e-03 1.32680124e+00] [ 2.11537440e-02 9.99776221e-01 -1.63891371e-04 -6.45933438e-02] [-3.63488820e-03 2.40835672e-04 9.99993365e-01 -1.71233562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222401008 meters Centerline goodness : 0.952958 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.06, Z:-0.17 [[ 9.99659977e-01 -2.58202667e-02 3.63920806e-03 1.35560804e+00] [ 2.58210304e-02 9.99666568e-01 -1.63027581e-04 -6.00404992e-02] [-3.63378521e-03 2.56940250e-04 9.99993365e-01 -1.73149315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252401008 meters Centerline goodness : 0.953811 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.06, Z:-0.18 [[ 9.99577685e-01 -2.88306867e-02 3.63924690e-03 1.38491607e+00] [ 2.88314671e-02 9.99584274e-01 -1.62155835e-04 -5.83195755e-02] [-3.63305891e-03 2.67012181e-04 9.99993365e-01 -1.75048295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282401008 meters Centerline goodness : 0.954456 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.06, Z:-0.18 [[ 9.99459279e-01 -3.26788219e-02 3.63928584e-03 1.41241966e+00] [ 3.26796245e-02 9.99465865e-01 -1.61277232e-04 -5.67335656e-02] [-3.63207162e-03 2.80120520e-04 9.99993365e-01 -1.77504684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312401008 meters Centerline goodness : 0.958011 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.05, Z:-0.18 [[ 9.99207148e-01 -3.96463190e-02 3.63929959e-03 1.44070539e+00] [ 3.96471664e-02 9.99213729e-01 -1.60966296e-04 -5.25590494e-02] [-3.63005639e-03 3.05126590e-04 9.99993365e-01 -1.78147043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342401008 meters Centerline goodness : 0.960498 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.05, Z:-0.18 [[ 9.99062195e-01 -4.31449320e-02 3.63931304e-03 1.47019575e+00] [ 4.31458013e-02 9.99068773e-01 -1.60661480e-04 -5.11956632e-02] [-3.62899229e-03 3.17531889e-04 9.99993365e-01 -1.75216803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372401008 meters Centerline goodness : 0.962076 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:-0.17 [[ 9.98908363e-01 -4.65707879e-02 3.63935112e-03 1.49789812e+00] [ 4.65716767e-02 9.98914938e-01 -1.59794287e-04 -4.91264532e-02] [-3.62796045e-03 3.29110533e-04 9.99993365e-01 -1.74394749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402401008 meters Centerline goodness : 0.963480 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.05, Z:-0.17 [[ 9.98779781e-01 -4.92514382e-02 3.63936457e-03 1.52737807e+00] [ 4.92523435e-02 9.98786354e-01 -1.59487382e-04 -4.63433011e-02] [-3.62709269e-03 3.38540006e-04 9.99993365e-01 -1.72280395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432401008000001 meters Centerline goodness : 0.965978 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.04, Z:-0.17 [[ 9.98640447e-01 -5.20001143e-02 3.63940281e-03 1.55591595e+00] [ 5.20010345e-02 9.98647018e-01 -1.58609907e-04 -3.57033138e-02] [-3.62623103e-03 3.47646979e-04 9.99993365e-01 -1.74162802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462401008 meters Centerline goodness : 0.966145 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.03, Z:-0.17 [[ 9.98620894e-01 -5.23742763e-02 3.63941630e-03 1.58418646e+00] [ 5.23751978e-02 9.98627465e-01 -1.58299771e-04 -3.01962626e-02] [-3.62613024e-03 3.48696607e-04 9.99993365e-01 -1.74203462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492401008 meters Centerline goodness : 0.963825 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.02, Z:-0.17 [[ 9.98633460e-01 -5.21341191e-02 3.63942922e-03 1.61373620e+00] [ 5.21350380e-02 9.98640032e-01 -1.58002182e-04 -2.40819566e-02] [-3.62624241e-03 3.47528046e-04 9.99993365e-01 -1.70961618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522401008000001 meters Centerline goodness : 0.962858 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.02, Z:-0.17 [[ 9.98641326e-01 -5.19832256e-02 3.63946728e-03 1.64239888e+00] [ 5.19841403e-02 9.98647898e-01 -1.57120635e-04 -1.83052463e-02] [-3.62637871e-03 3.46101737e-04 9.99993365e-01 -1.68650167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552401008 meters Centerline goodness : 0.966637 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.01, Z:-0.17 [[ 9.98644594e-01 -5.19204142e-02 3.63951158e-03 1.67071160e+00] [ 5.19213247e-02 9.98651166e-01 -1.56087748e-04 -7.08544150e-03] [-3.62649834e-03 3.44844448e-04 9.99993365e-01 -1.67599743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582401008 meters Centerline goodness : 0.964971 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.00, Z:-0.17 [[ 9.98667892e-01 -5.14703309e-02 3.63952533e-03 1.69958631e+00] [ 5.14712374e-02 9.98674465e-01 -1.55766334e-04 -3.32739238e-03] [-3.62668367e-03 3.42889709e-04 9.99993365e-01 -1.65690113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612401008 meters Centerline goodness : 0.964458 Centerline is valid? [True, True] Translation: X:1.73, Y:0.00, Z:-0.16 [[ 9.98656296e-01 -5.16948453e-02 3.63956251e-03 1.72884337e+00] [ 5.16957500e-02 9.98662869e-01 -1.54892846e-04 1.08136387e-03] [-3.62668877e-03 3.42834629e-04 9.99993365e-01 -1.64233181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642401008 meters Centerline goodness : 0.963164 Centerline is valid? [True, True] Translation: X:1.76, Y:0.01, Z:-0.17 [[ 9.98670947e-01 -5.14110156e-02 3.63960065e-03 1.75685805e+00] [ 5.14119152e-02 9.98677521e-01 -1.53991204e-04 1.30577944e-02] [-3.62687052e-03 3.40905382e-04 9.99993365e-01 -1.68260652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672401008 meters Centerline goodness : 0.965368 Centerline is valid? [True, True] Translation: X:1.78, Y:0.02, Z:-0.17 [[ 9.98678382e-01 -5.12663894e-02 3.63961412e-03 1.78459955e+00] [ 5.12672870e-02 9.98684956e-01 -1.53672200e-04 1.77262644e-02] [-3.62694965e-03 3.40062246e-04 9.99993365e-01 -1.70163050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702401008 meters Centerline goodness : 0.964363 Centerline is valid? [True, True] Translation: X:1.81, Y:0.02, Z:-0.17 [[ 9.98663079e-01 -5.15636374e-02 3.63962740e-03 1.81324904e+00] [ 5.15645357e-02 9.98669653e-01 -1.53357154e-04 2.12668879e-02] [-3.62687778e-03 3.40827825e-04 9.99993365e-01 -1.70971205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732401008 meters Centerline goodness : 0.964419 Centerline is valid? [True, True] Translation: X:1.84, Y:0.02, Z:-0.17 [[ 9.98642853e-01 -5.19538723e-02 3.63966411e-03 1.84181787e+00] [ 5.19547700e-02 9.98649427e-01 -1.52480769e-04 2.42591129e-02] [-3.62682652e-03 3.41371742e-04 9.99993365e-01 -1.71242276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762401008000001 meters Centerline goodness : 0.964688 Centerline is valid? [True, True] Translation: X:1.87, Y:0.03, Z:-0.17 [[ 9.98705207e-01 -5.07411321e-02 3.63970608e-03 1.87046611e+00] [ 5.07420183e-02 9.98711783e-01 -1.51472422e-04 3.00155595e-02] [-3.62733146e-03 3.35962329e-04 9.99993365e-01 -1.71846190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792401008 meters Centerline goodness : 0.962981 Centerline is valid? [True, True] Translation: X:1.90, Y:0.03, Z:-0.17 [[ 9.98810266e-01 -4.86292670e-02 3.63974224e-03 1.89914533e+00] [ 4.86301361e-02 9.98816844e-01 -1.50598315e-04 3.17456813e-02] [-3.62811237e-03 3.27420304e-04 9.99993365e-01 -1.72973624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822401008 meters Centerline goodness : 0.962981 Centerline is valid? [True, True] Translation: X:1.93, Y:0.03, Z:-0.17 [[ 9.98797025e-01 -4.89004648e-02 3.63977777e-03 1.92769994e+00] [ 4.89013325e-02 9.98803603e-01 -1.49734768e-04 3.06613109e-02] [-3.62810105e-03 3.27544623e-04 9.99993365e-01 -1.73077385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852401008000001 meters Centerline goodness : 0.958058 Centerline is valid? [True, True] Translation: X:1.96, Y:0.03, Z:-0.17 [[ 9.98925478e-01 -4.62021759e-02 3.63981816e-03 1.95633173e+00] [ 4.62030223e-02 9.98932059e-01 -1.48746479e-04 3.17018717e-02] [-3.62905864e-03 3.16757248e-04 9.99993365e-01 -1.72950588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882401008 meters Centerline goodness : 0.958878 Centerline is valid? [True, True] Translation: X:1.98, Y:0.03, Z:-0.17 [[ 9.99054840e-01 -4.33148777e-02 3.63985408e-03 1.98432970e+00] [ 4.33157018e-02 9.99061424e-01 -1.47862308e-04 3.23277893e-02] [-3.63003316e-03 3.05385388e-04 9.99993365e-01 -1.74020056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912401008 meters Centerline goodness : 0.959384 Centerline is valid? [True, True] Translation: X:2.01, Y:0.04, Z:-0.17 [[ 9.99294334e-01 -3.73842836e-02 3.63986679e-03 2.01349233e+00] [ 3.73850675e-02 9.99300923e-01 -1.47548614e-04 3.59167109e-02] [-3.63180625e-03 2.83521160e-04 9.99993365e-01 -1.74210965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942401008000001 meters Centerline goodness : 0.960670 Centerline is valid? [True, True] Translation: X:2.04, Y:0.04, Z:-0.18 [[ 9.99395010e-01 -3.45884971e-02 3.63990287e-03 2.04286364e+00] [ 3.45892594e-02 9.99401602e-01 -1.46653150e-04 3.80469375e-02] [-3.63265225e-03 2.72465971e-04 9.99993365e-01 -1.75960495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972401008 meters Centerline goodness : 0.960393 Centerline is valid? [True, True] Translation: X:2.07, Y:0.04, Z:-0.18 [[ 9.99500216e-01 -3.14017497e-02 3.63993906e-03 2.07048442e+00] [ 3.14024876e-02 9.99506810e-01 -1.45749385e-04 3.85906933e-02] [-3.63356709e-03 2.59979683e-04 9.99993365e-01 -1.78472086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002401008 meters Centerline goodness : 0.960127 Centerline is valid? [True, True] Translation: X:2.10, Y:0.04, Z:-0.18 [[ 9.99681167e-01 -2.49862834e-02 3.63997985e-03 2.09869087e+00] [ 2.49869753e-02 9.99687766e-01 -1.44723318e-04 3.58722875e-02] [-3.63522723e-03 2.35629262e-04 9.99993365e-01 -1.77439805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032401008 meters Centerline goodness : 0.964352 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:-0.18 [[ 9.99760332e-01 -2.15877017e-02 3.64002090e-03 2.12625646e+00] [ 2.15883674e-02 9.99766934e-01 -1.43683499e-04 3.25126490e-02] [-3.63607074e-03 2.22231171e-04 9.99993365e-01 -1.78696399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062401008 meters Centerline goodness : 0.963918 Centerline is valid? [True, True] Translation: X:2.15, Y:0.03, Z:-0.17 [[ 9.99804631e-01 -1.94280538e-02 3.64003360e-03 2.15497073e+00] [ 1.94287040e-02 9.99811235e-01 -1.43361003e-04 3.04199694e-02] [-3.63656126e-03 2.14054130e-04 9.99993365e-01 -1.74665186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092401008 meters Centerline goodness : 0.966393 Centerline is valid? [True, True] Translation: X:2.18, Y:0.03, Z:-0.18 [[ 9.99900292e-01 -1.36439041e-02 3.64006870e-03 2.18233505e+00] [ 1.36445129e-02 9.99906899e-01 -1.42464095e-04 2.87821327e-02] [-3.63778604e-03 1.92116855e-04 9.99993365e-01 -1.76642302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122401008 meters Centerline goodness : 0.965056 Centerline is valid? [True, True] Translation: X:2.21, Y:0.03, Z:-0.18 [[ 9.99938128e-01 -1.05114083e-02 3.64009036e-03 2.21008963e+00] [ 1.05119944e-02 9.99944737e-01 -1.41908708e-04 2.71169589e-02] [-3.63839753e-03 1.80164537e-04 9.99993365e-01 -1.78924407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152401008 meters Centerline goodness : 0.965016 Centerline is valid? [True, True] Translation: X:2.24, Y:0.02, Z:-0.18 [[ 9.99956280e-01 -8.61323139e-03 3.64010240e-03 2.23886346e+00] [ 8.61380379e-03 9.99962890e-01 -1.41599195e-04 2.46015378e-02] [-3.63874769e-03 1.72948132e-04 9.99993365e-01 -1.80130328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182401008000001 meters Centerline goodness : 0.965104 Centerline is valid? [True, True] Translation: X:2.27, Y:0.02, Z:-0.18 [[ 9.99963674e-01 -7.70719048e-03 3.64013569e-03 2.26790672e+00] [ 7.70775376e-03 9.99970285e-01 -1.40738161e-04 2.14793324e-02] [-3.63894282e-03 1.68790318e-04 9.99993365e-01 -1.80552231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212401008 meters Centerline goodness : 0.964664 Centerline is valid? [True, True] Translation: X:2.30, Y:0.02, Z:-0.18 [[ 9.99974830e-01 -6.09009148e-03 3.64016860e-03 2.29702060e+00] [ 6.09064095e-03 9.99981442e-01 -1.39881542e-04 1.67469662e-02] [-3.63924916e-03 1.62048981e-04 9.99993365e-01 -1.79667597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242401008 meters Centerline goodness : 0.968082 Centerline is valid? [True, True] Translation: X:2.33, Y:0.01, Z:-0.18 [[ 9.99987125e-01 -3.53529353e-03 3.64020149e-03 2.32677913e+00] [ 3.53582298e-03 9.99993739e-01 -1.39020309e-04 8.52615145e-03] [-3.63968723e-03 1.51889627e-04 9.99993365e-01 -1.77692019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272401008000001 meters Centerline goodness : 0.969574 Centerline is valid? [True, True] Translation: X:2.36, Y:0.00, Z:-0.18 [[ 9.99992531e-01 -1.29902895e-03 3.64020383e-03 2.35708188e+00] [ 1.29954339e-03 9.99999146e-01 -1.38959019e-04 3.39879561e-03] [-3.64002021e-03 1.43688583e-04 9.99993365e-01 -1.77530165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302401008 meters Centerline goodness : 0.968422 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.00, Z:-0.18 [[ 9.99992277e-01 1.48163546e-03 3.64020151e-03 2.38779588e+00] [-1.48113920e-03 9.99998893e-01 -1.39019859e-04 -1.89491991e-03] [-3.64040346e-03 1.33627140e-04 9.99993365e-01 -1.77477800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332401008 meters Centerline goodness : 0.971411 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.01, Z:-0.18 [[ 9.99968801e-01 7.01044124e-03 3.64019684e-03 2.41976125e+00] [-7.00998113e-03 9.99975420e-01 -1.39141976e-04 -1.07180997e-02] [-3.64108281e-03 1.13619924e-04 9.99993365e-01 -1.79648744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362401008 meters Centerline goodness : 0.972258 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.02, Z:-0.18 [[ 9.99945276e-01 9.80789092e-03 3.64018749e-03 2.45082142e+00] [-9.80744844e-03 9.99951896e-01 -1.39386137e-04 -1.57719553e-02] [-3.64137947e-03 1.03677558e-04 9.99993365e-01 -1.81311145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392401008 meters Centerline goodness : 0.972102 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.02, Z:-0.18 [[ 9.99903128e-01 1.34344054e-02 3.64018051e-03 2.48335004e+00] [-1.34339863e-02 9.99909750e-01 -1.39568175e-04 -2.23279059e-02] [-3.64172700e-03 9.06525199e-05 9.99993365e-01 -1.82546529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422401008 meters Centerline goodness : 0.969529 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.04, Z:-0.18 [[ 9.99817950e-01 1.87300814e-02 3.64014397e-03 2.51453363e+00] [-1.87296939e-02 9.99824574e-01 -1.40514870e-04 -3.72290709e-02] [-3.64213725e-03 7.23105070e-05 9.99993365e-01 -1.82337243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452401008 meters Centerline goodness : 0.970181 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.05, Z:-0.19 [[ 9.99773393e-01 2.09740680e-02 3.64013413e-03 2.54591845e+00] [-2.09736944e-02 9.99780018e-01 -1.40769229e-04 -4.57536969e-02] [-3.64228587e-03 6.43902686e-05 9.99993365e-01 -1.86169338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482401008 meters Centerline goodness : 0.969541 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.05, Z:-0.19 [[ 9.99748977e-01 2.21073021e-02 3.64009733e-03 2.57789777e+00] [-2.21069326e-02 9.99755602e-01 -1.41714607e-04 -5.45988289e-02] [-3.64234062e-03 6.12076468e-05 9.99993365e-01 -1.89816374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512401008000001 meters Centerline goodness : 0.967153 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.06, Z:-0.19 [[ 9.99749634e-01 2.20775711e-02 3.64006110e-03 2.60926892e+00] [-2.20771980e-02 9.99756259e-01 -1.42639184e-04 -6.42060582e-02] [-3.64232299e-03 6.22411227e-05 9.99993365e-01 -1.90918505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401008 meters Centerline goodness : 0.963481 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.08, Z:-0.20 [[ 9.99778216e-01 2.07429338e-02 3.64002667e-03 2.63953227e+00] [-2.07425487e-02 9.99784840e-01 -1.43512515e-04 -8.33158691e-02] [-3.64222035e-03 6.79772557e-05 9.99993365e-01 -1.96419314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572401008 meters Centerline goodness : 0.956336 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.09, Z:-0.20 [[ 9.99795321e-01 1.99014338e-02 3.64000700e-03 2.67118408e+00] [-1.99010414e-02 9.99801944e-01 -1.44009574e-04 -9.42678266e-02] [-3.64215207e-03 7.15401682e-05 9.99993365e-01 -1.95405058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008000001 meters Centerline goodness : 0.953855 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:-0.20 [[ 9.99797841e-01 1.97744341e-02 3.63997201e-03 2.70309978e+00] [-1.97740377e-02 9.99804464e-01 -1.44888646e-04 -1.05321245e-01] [-3.64212535e-03 7.28824120e-05 9.99993365e-01 -1.96352490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632401008 meters Centerline goodness : 0.955758 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.12, Z:-0.20 [[ 9.99798352e-01 1.97485608e-02 3.63993454e-03 2.73387586e+00] [-1.97481608e-02 9.99804975e-01 -1.45823869e-04 -1.16293238e-01] [-3.64210448e-03 7.39124512e-05 9.99993365e-01 -1.95560403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662401008 meters Centerline goodness : 0.949723 Centerline is valid? [True, False] Translation: X:2.73, Y:-0.13, Z:-0.20 [[ 9.99817663e-01 1.85187924e-02 4.65785365e-03 2.73109657e+00] [-1.85195929e-02 9.99828489e-01 1.28765356e-04 -1.30831991e-01] [-4.65467020e-03 -2.15003431e-04 9.99989144e-01 -1.95046968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692401008000001 meters Centerline goodness : 0.947333 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:-0.20 [[ 9.99863331e-01 1.57316754e-02 5.08277075e-03 2.73010379e+00] [-1.57200010e-02 9.99873721e-01 -2.32870436e-03 -1.35894556e-01] [-5.11876332e-03 2.24848494e-03 9.99984371e-01 -1.95297394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722401008 meters Centerline goodness : 0.943954 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:-0.20 [[ 9.99857802e-01 1.61647509e-02 4.80391184e-03 2.73077369e+00] [-1.61609182e-02 9.99869055e-01 -8.35562773e-04 -1.43578793e-01] [-4.81678945e-03 7.57808330e-04 9.99988112e-01 -1.95426708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752401008 meters Centerline goodness : 0.936177 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:-0.20 [[ 0.99989701 0.01338736 0.00517144 2.7301274 ] [-0.01336931 0.99990447 -0.00350873 -0.14844233] [-0.00521792 0.00343923 0.99998047 -0.19613012] [ 0. 0. 0. 1. ]] SLAMing on 9.782401008 meters Centerline goodness : 0.936453 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.16, Z:-0.20 [[ 0.99989254 0.01351738 0.00567357 2.74774191] [-0.01345555 0.99985116 -0.01079817 -0.16260495] [-0.00581869 0.01072067 0.9999256 -0.19980132] [ 0. 0. 0. 1. ]] SLAMing on 9.812401008 meters Centerline goodness : 0.933048 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.17, Z:-0.20 [[ 0.99989373 0.0136167 0.0052071 2.74913832] [-0.01356699 0.99986315 -0.00946686 -0.17002672] [-0.0053353 0.00939521 0.99994163 -0.20028041] [ 0. 0. 0. 1. ]] SLAMing on 9.842401008000001 meters Centerline goodness : 0.930243 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.18, Z:-0.20 [[ 0.99988691 0.01472344 0.00306547 2.77047399] [-0.01467974 0.99979673 -0.01382073 -0.17699236] [-0.00326834 0.01377417 0.99989979 -0.20278222] [ 0. 0. 0. 1. ]] SLAMing on 9.872401008 meters Centerline goodness : 0.930569 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.19, Z:-0.21 [[ 0.99992736 0.01171524 0.00283192 2.77349921] [-0.01167161 0.99981994 -0.01496211 -0.18803847] [-0.00300669 0.01492797 0.99988405 -0.20601577] [ 0. 0. 0. 1. ]] SLAMing on 9.902401008 meters Centerline goodness : 0.926419 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.19, Z:-0.21 [[ 9.99961102e-01 8.69887610e-03 1.45756990e-03 2.77702963e+00] [-8.67210906e-03 9.99809932e-01 -1.74612506e-02 -1.94346845e-01] [-1.60918612e-03 1.74479312e-02 9.99846478e-01 -2.07914317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932401008000001 meters Centerline goodness : 0.923642 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.21, Z:-0.20 [[ 9.99983032e-01 5.37970370e-03 -2.23503474e-03 2.76525357e+00] [-5.38712864e-03 9.99979947e-01 -3.32943558e-03 -2.05306697e-01] [ 2.21707854e-03 3.34141950e-03 9.99991960e-01 -1.97087482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962401008 meters Centerline goodness : 0.926165 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.22, Z:-0.19 [[ 9.99983805e-01 2.30411930e-03 -5.20395583e-03 2.75009233e+00] [-2.26257686e-03 9.99965642e-01 7.97468649e-03 -2.15209891e-01] [ 5.22215166e-03 -7.96278299e-03 9.99954661e-01 -1.88689569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992401008 meters Centerline goodness : 0.922120 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.23, Z:-0.18 [[ 0.99995191 -0.00366405 -0.00909736 2.73644735] [ 0.00381366 0.99985687 0.01648298 -0.2289204 ] [ 0.00903566 -0.01651688 0.99982276 -0.18221166] [ 0. 0. 0. 1. ]] SLAMing on 10.022401008000001 meters Centerline goodness : 0.921546 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.24, Z:-0.17 [[ 0.99989258 -0.00594991 -0.01339526 2.72310703] [ 0.00632444 0.9995853 0.02809313 -0.23694151] [ 0.01322256 -0.02817483 0.99951555 -0.17452116] [ 0. 0. 0. 1. ]] SLAMing on 10.052401008 meters Centerline goodness : 0.928231 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.25, Z:-0.11 [[ 0.99942879 0.00439375 0.03350794 2.67076376] [-0.00769737 0.99504669 0.09911026 -0.25417382] [-0.0329065 -0.09931157 0.99451213 -0.10865145] [ 0. 0. 0. 1. ]] SLAMing on 10.082401008 meters Centerline goodness : 0.921186 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.24, Z:-0.19 [[ 0.99894726 -0.03292735 -0.03193991 2.75654469] [ 0.03162116 0.99867611 -0.04057262 -0.23892178] [ 0.03323358 0.03951993 0.99866596 -0.19483793] [ 0. 0. 0. 1. ]] SLAMing on 10.112401008 meters Centerline goodness : 0.923450 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.25, Z:-0.20 [[ 0.99944188 -0.02819998 -0.01790802 2.75505255] [ 0.0274141 0.99871135 -0.04270955 -0.24761712] [ 0.01908935 0.04219478 0.99892702 -0.20286887] [ 0. 0. 0. 1. ]] SLAMing on 10.142401008 meters Centerline goodness : 0.925585 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.19 [[ 0.99932448 -0.02965327 -0.02170857 2.74533349] [ 0.02912952 0.9992861 -0.02405764 -0.25830101] [ 0.02240646 0.02340902 0.99947485 -0.18870212] [ 0. 0. 0. 1. ]] SLAMing on 10.172401008 meters Centerline goodness : 0.924008 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.27, Z:-0.18 [[ 0.99920207 -0.03094607 -0.02524998 2.7360538 ] [ 0.03081131 0.99950891 -0.00570912 -0.2670465 ] [ 0.02541426 0.00492658 0.99966487 -0.17554991] [ 0. 0. 0. 1. ]] SLAMing on 10.202401008 meters Centerline goodness : 0.925841 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.16 [[ 0.99915359 -0.03279934 -0.02482535 2.73316142] [ 0.0332737 0.99926675 0.01894239 -0.2774065 ] [ 0.02418585 -0.01975239 0.99951233 -0.16220635] [ 0. 0. 0. 1. ]] SLAMing on 10.232401008 meters Centerline goodness : 0.924202 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.16 [[ 0.99915557 -0.03267171 -0.02491415 2.73354042] [ 0.03316317 0.99925824 0.01957506 -0.27910963] [ 0.02425612 -0.02038477 0.99949792 -0.16186045] [ 0. 0. 0. 1. ]] SLAMing on 10.262401008000001 meters Centerline goodness : 0.925839 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.28, Z:-0.16 [[ 0.99917189 -0.0321703 -0.02491199 2.7329597 ] [ 0.03269279 0.99924778 0.02085818 -0.28182412] [ 0.02422223 -0.02165535 0.99947203 -0.16030464] [ 0. 0. 0. 1. ]] SLAMing on 10.292401008 meters Centerline goodness : 0.925197 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.29, Z:-0.16 [[ 0.99929348 -0.02903215 -0.02386766 2.75288579] [ 0.02951471 0.99936181 0.02012077 -0.28533171] [ 0.02326828 -0.02081101 0.99951263 -0.15788616] [ 0. 0. 0. 1. ]] SLAMing on 10.322401008 meters Centerline goodness : 0.924398 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.29, Z:-0.16 [[ 0.99928549 -0.02924438 -0.02394317 2.75334782] [ 0.02972311 0.99936028 0.0198889 -0.28516801] [ 0.02334621 -0.02058635 0.99951546 -0.15826862] [ 0. 0. 0. 1. ]] SLAMing on 10.352401008000001 meters Centerline goodness : 0.928446 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.16 [[ 0.99928622 -0.02927365 -0.02387683 2.75315134] [ 0.02974324 0.99936626 0.01955531 -0.28320773] [ 0.02328924 -0.02025152 0.99952363 -0.15838136] [ 0. 0. 0. 1. ]] SLAMing on 10.382401008 meters Centerline goodness : 0.926905 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.16 [[ 0.99929258 -0.02914475 -0.02376818 2.75251301] [ 0.02960639 0.99937515 0.01930749 -0.28121259] [ 0.02319062 -0.01999752 0.99953104 -0.1581154 ] [ 0. 0. 0. 1. ]] SLAMing on 10.412401008 meters Centerline goodness : 0.929793 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.16 [[ 0.9993881 -0.02520445 -0.02425209 2.75246232] [ 0.02579671 0.99936875 0.02442606 -0.28250804] [ 0.02362114 -0.02503673 0.99940743 -0.15539423] [ 0. 0. 0. 1. ]] SLAMing on 10.442401008000001 meters Centerline goodness : 0.925930 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.16 [[ 0.9993809 -0.0254272 -0.02431601 2.75250024] [ 0.02600597 0.99937868 0.02378942 -0.28051369] [ 0.023696 -0.02440705 0.99942123 -0.15552876] [ 0. 0. 0. 1. ]] SLAMing on 10.472401008 meters Centerline goodness : 0.930465 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.28, Z:-0.15 [[ 0.9994282 -0.02268608 -0.02507228 2.75424435] [ 0.02336881 0.9993546 0.02728166 -0.27908576] [ 0.02443719 -0.02785197 0.99931331 -0.15472215] [ 0. 0. 0. 1. ]] SLAMing on 10.502401008 meters Centerline goodness : 0.930514 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.28, Z:-0.16 [[ 0.999399 -0.02352875 -0.02545661 2.7561393 ] [ 0.02418649 0.99937331 0.02584588 -0.27570458] [ 0.02483254 -0.02644605 0.99934176 -0.15657231] [ 0. 0. 0. 1. ]] SLAMing on 10.532401008 meters Centerline goodness : 0.927355 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.27, Z:-0.16 [[ 0.99942846 -0.02082419 -0.02662899 2.75959426] [ 0.02159761 0.99934332 0.02909425 -0.27443508] [ 0.02600563 -0.02965275 0.99922191 -0.1573303 ] [ 0. 0. 0. 1. ]] SLAMing on 10.562401008 meters Centerline goodness : 0.921516 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.27, Z:-0.16 [[ 0.99920839 -0.02210418 -0.03307569 2.74908316] [ 0.02325375 0.99912427 0.03478441 -0.2669472 ] [ 0.03227784 -0.035526 0.99884736 -0.15828954] [ 0. 0. 0. 1. ]] SLAMing on 10.592401008000001 meters Centerline goodness : 0.919050 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.16 [[ 0.99910382 -0.02649101 -0.03301199 2.75007771] [ 0.02741719 0.99923392 0.02792632 -0.26004648] [ 0.0322469 -0.02880639 0.99906473 -0.16233291] [ 0. 0. 0. 1. ]] SLAMing on 10.622401008 meters Centerline goodness : 0.914668 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.16 [[ 0.99957679 -0.01929902 -0.02176671 2.74952015] [ 0.02005562 0.99918274 0.03509445 -0.25953121] [ 0.02107163 -0.03551614 0.99914693 -0.16033401] [ 0. 0. 0. 1. ]] SLAMing on 10.652401008 meters Centerline goodness : 0.915872 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.16 [[ 0.99955177 -0.02014697 -0.02214389 2.75119139] [ 0.02088211 0.99922106 0.03348447 -0.25553577] [ 0.02145203 -0.03393187 0.99919389 -0.16200333] [ 0. 0. 0. 1. ]] SLAMing on 10.682401008000001 meters Centerline goodness : 0.916102 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.26, Z:-0.17 [[ 0.99990609 -0.01172153 -0.00709981 2.74675744] [ 0.01198879 0.9991731 0.03885078 -0.25732328] [ 0.00663855 -0.03893225 0.9992198 -0.16755061] [ 0. 0. 0. 1. ]] SLAMing on 10.712401008 meters Centerline goodness : 0.912094 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.25, Z:-0.17 [[ 0.9998952 -0.01229599 -0.00764211 2.74839508] [ 0.01256473 0.99926652 0.03617394 -0.24845021] [ 0.00719171 -0.03626617 0.99931629 -0.17029767] [ 0. 0. 0. 1. ]] SLAMing on 10.742401008 meters Centerline goodness : 0.912094 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.25, Z:-0.17 [[ 0.9998952 -0.01229599 -0.00764211 2.74839508] [ 0.01256473 0.99926652 0.03617394 -0.24845021] [ 0.00719171 -0.03626617 0.99931629 -0.17029767] [ 0. 0. 0. 1. ]] SLAMing on 10.772401008000001 meters Centerline goodness : 0.911109 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.25, Z:-0.17 [[ 0.9999049 -0.011162 -0.0080994 2.75001994] [ 0.01144114 0.99931204 0.03527817 -0.24630845] [ 0.00770006 -0.03536749 0.99934471 -0.17097979] [ 0. 0. 0. 1. ]] SLAMing on 10.802401008 meters Centerline goodness : 0.914111 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.24, Z:-0.17 [[ 0.99990271 -0.0113553 -0.00810148 2.74974965] [ 0.01162815 0.99933816 0.03446777 -0.24323242] [ 0.00770472 -0.03455862 0.99937297 -0.17090113] [ 0. 0. 0. 1. ]] SLAMing on 10.832401008 meters Centerline goodness : 0.916792 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.24, Z:-0.17 [[ 0.99991558 -0.01073939 -0.00731404 2.74663832] [ 0.01097823 0.99938051 0.03343765 -0.2361889 ] [ 0.00695041 -0.03351512 0.99941404 -0.16814587] [ 0. 0. 0. 1. ]] SLAMing on 10.862401008 meters Centerline goodness : 0.922068 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.23, Z:-0.18 [[ 9.99956180e-01 -8.94147274e-03 -2.77285491e-03 2.75385896e+00] [ 8.98907647e-03 9.99803662e-01 1.76588288e-02 -2.29366057e-01] [ 2.61441455e-03 -1.76829804e-02 9.99840226e-01 -1.76612823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892401008 meters Centerline goodness : 0.923036 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.23, Z:-0.18 [[ 9.99968472e-01 -7.44227807e-03 -2.76912092e-03 2.75380685e+00] [ 7.48783533e-03 9.99830457e-01 1.68222933e-02 -2.25786467e-01] [ 2.64345525e-03 -1.68424976e-02 9.99854661e-01 -1.75970368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922401008000001 meters Centerline goodness : 0.922894 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.22, Z:-0.18 [[ 9.99977962e-01 -6.08277504e-03 -2.65979261e-03 2.75394555e+00] [ 6.12662935e-03 9.99840051e-01 1.68029034e-02 -2.22371852e-01] [ 2.55715889e-03 -1.68188287e-02 9.99855283e-01 -1.76105172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952401008 meters Centerline goodness : 0.924749 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.22, Z:-0.17 [[ 9.99994210e-01 -3.02639871e-03 -1.55560271e-03 2.75108770e+00] [ 3.05480675e-03 9.99822415e-01 1.85958781e-02 -2.16267010e-01] [ 1.49904792e-03 -1.86005225e-02 9.99825872e-01 -1.74397644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982401008 meters Centerline goodness : 0.928340 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.21, Z:-0.18 [[ 9.99994208e-01 -1.22735431e-03 3.17436957e-03 2.75874606e+00] [ 1.21573064e-03 9.99992559e-01 3.66106656e-03 -2.09907575e-01] [-3.17883938e-03 -3.65718618e-03 9.99988260e-01 -1.81976079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012401008000001 meters Centerline goodness : 0.930403 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.21, Z:-0.18 [[ 9.99994142e-01 -1.25018452e-03 3.18622920e-03 2.75820118e+00] [ 1.24047550e-03 9.99994587e-01 3.04733919e-03 -2.06993645e-01] [-3.19002169e-03 -3.04336890e-03 9.99990281e-01 -1.81472651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042401008 meters Centerline goodness : 0.932911 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.20, Z:-0.19 [[ 9.99976138e-01 6.91486926e-04 6.87346782e-03 2.77198714e+00] [-6.48022698e-04 9.99979795e-01 -6.32369581e-03 -2.03435006e-01] [-6.87770169e-03 6.31909075e-03 9.99956382e-01 -1.86180117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072401008 meters Centerline goodness : 0.930610 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.19 [[ 9.99982444e-01 2.37802562e-03 5.42734094e-03 2.77650691e+00] [-2.35747958e-03 9.99990043e-01 -3.78891816e-03 -2.01156350e-01] [-5.43629704e-03 3.77605680e-03 9.99978094e-01 -1.87127045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102401008000001 meters Centerline goodness : 0.932874 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.19 [[ 9.99987678e-01 1.29108471e-03 4.79338400e-03 2.77900374e+00] [-1.26678284e-03 9.99986348e-01 -5.06945698e-03 -1.98499562e-01] [-4.79986366e-03 5.06332234e-03 9.99975662e-01 -1.88739323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132401008 meters Centerline goodness : 0.928235 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.20, Z:-0.19 [[ 9.99988166e-01 2.85289396e-03 3.94054302e-03 2.78313452e+00] [-2.84223907e-03 9.99992297e-01 -2.70687283e-03 -1.98486119e-01] [-3.94823509e-03 2.69564083e-03 9.99988572e-01 -1.90976866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162401008 meters Centerline goodness : 0.927762 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.20, Z:-0.19 [[ 9.99984948e-01 4.67632999e-03 2.86984590e-03 2.78734452e+00] [-4.67504139e-03 9.99988968e-01 -4.55560208e-04 -1.96995979e-01] [-2.87194459e-03 4.42136703e-04 9.99995778e-01 -1.92986005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192401008000001 meters Centerline goodness : 0.927325 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99987032e-01 4.38984740e-03 2.58161261e-03 2.78817250e+00] [-4.38632940e-03 9.99989446e-01 -1.36680306e-03 -1.94721363e-01] [-2.58758542e-03 1.35546153e-03 9.99995734e-01 -1.93605859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222401008 meters Centerline goodness : 0.926190 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99987454e-01 4.40019040e-03 2.39375922e-03 2.78855205e+00] [-4.39481317e-03 9.99987818e-01 -2.24699473e-03 -1.91866658e-01] [-2.40361726e-03 2.23644641e-03 9.99994610e-01 -1.94078151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252401008 meters Centerline goodness : 0.929411 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99964735e-01 8.15370762e-03 2.01152564e-03 2.78936877e+00] [-8.15674499e-03 9.99965598e-01 1.50642956e-03 -1.91166712e-01] [-1.99917345e-03 -1.52278394e-03 9.99996842e-01 -1.93913425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282401008 meters Centerline goodness : 0.929577 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99916637e-01 1.27596539e-02 1.97731834e-03 2.78908419e+00] [-1.27697060e-02 9.99905164e-01 5.15732471e-03 -1.88319187e-01] [-1.91132514e-03 -5.18214456e-03 9.99984746e-01 -1.93929247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312401008 meters Centerline goodness : 0.931030 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99911503e-01 1.31565234e-02 1.97269855e-03 2.78894320e+00] [-1.31662982e-02 9.99900685e-01 5.02678973e-03 -1.87437317e-01] [-1.90636756e-03 -5.05231802e-03 9.99985420e-01 -1.94057907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342401008000001 meters Centerline goodness : 0.929583 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.19, Z:-0.19 [[ 9.99905294e-01 1.36208865e-02 1.96852802e-03 2.78851497e+00] [-1.36309929e-02 9.99893493e-01 5.21518899e-03 -1.87852907e-01] [-1.89728286e-03 -5.24152807e-03 9.99984463e-01 -1.93726615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372401008 meters Centerline goodness : 0.930358 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.19, Z:-0.20 [[ 0.9998695 0.01514471 0.00562401 2.80259541] [-0.01511689 0.99987345 -0.00495575 -0.1870128 ] [-0.00569835 0.00487009 0.99997191 -0.19947776] [ 0. 0. 0. 1. ]] SLAMing on 11.402401008 meters Centerline goodness : 0.932446 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.19, Z:-0.20 [[ 0.99977575 0.01929928 0.00871761 2.81918816] [-0.01920522 0.9997578 -0.0107476 -0.18807028] [-0.00892292 0.01057777 0.99990424 -0.20497051] [ 0. 0. 0. 1. ]] SLAMing on 11.432401008000001 meters Centerline goodness : 0.930132 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.19, Z:-0.21 [[ 0.99968221 0.02300062 0.01031752 2.83754288] [-0.02283715 0.99961605 -0.015691 -0.18906538] [-0.01067447 0.01545039 0.99982366 -0.20928324] [ 0. 0. 0. 1. ]] SLAMing on 11.462401008 meters Centerline goodness : 0.929627 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.19, Z:-0.20 [[ 0.99978513 0.01969172 -0.00647521 2.84538371] [-0.01982293 0.99958579 -0.02086388 -0.18894072] [ 0.00606168 0.02098775 0.99976136 -0.2040433 ] [ 0. 0. 0. 1. ]] SLAMing on 11.492401008 meters Centerline goodness : 0.932146 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.19, Z:-0.21 [[ 9.99757400e-01 2.18090673e-02 -3.08316595e-03 2.86141801e+00] [-2.18833652e-02 9.99407472e-01 -2.65673203e-02 -1.91732363e-01] [ 2.50193061e-03 2.66283451e-02 9.99642272e-01 -2.06342669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522401008000001 meters Centerline goodness : 0.931565 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.19, Z:-0.21 [[ 0.99975281 0.02158783 -0.00531898 2.86588819] [-0.02174026 0.99929843 -0.03049617 -0.1943586 ] [ 0.0046569 0.03060427 0.99952073 -0.20627847] [ 0. 0. 0. 1. ]] SLAMing on 11.552401008 meters Centerline goodness : 0.931024 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.20, Z:-0.21 [[ 0.99976144 0.02063067 -0.00717143 2.87018138] [-0.02086243 0.99920733 -0.03390382 -0.19728514] [ 0.00646629 0.03404535 0.99939937 -0.20739561] [ 0. 0. 0. 1. ]] SLAMing on 11.582401008 meters Centerline goodness : 0.931882 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.21, Z:-0.20 [[ 0.99976989 0.01901326 -0.00993336 2.86403098] [-0.01916424 0.99969879 -0.01533188 -0.20796874] [ 0.00963886 0.01551872 0.99983312 -0.19915885] [ 0. 0. 0. 1. ]] SLAMing on 11.612401008 meters Centerline goodness : 0.931001 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.21, Z:-0.20 [[ 0.9997145 0.02176965 -0.00984897 2.86556274] [-0.02187077 0.99970797 -0.01027853 -0.21359468] [ 0.00962233 0.010491 0.99989867 -0.19881644] [ 0. 0. 0. 1. ]] SLAMing on 11.642401008 meters Centerline goodness : 0.931741 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.22, Z:-0.19 [[ 9.99808880e-01 1.95049237e-02 -1.32704183e-03 2.87228453e+00] [-1.94801531e-02 9.99671667e-01 1.66457516e-02 -2.23926209e-01] [ 1.65128023e-03 -1.66167193e-02 9.99860569e-01 -1.86665148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672401008000001 meters Centerline goodness : 0.930856 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.23, Z:-0.18 [[ 9.99799002e-01 2.00034815e-02 -1.34734823e-03 2.87206057e+00] [-1.99749862e-02 9.99627481e-01 1.85983785e-02 -2.28835201e-01] [ 1.71887864e-03 -1.85677271e-02 9.99826127e-01 -1.84893508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702401008 meters Centerline goodness : 0.933575 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.23, Z:-0.18 [[ 9.99785825e-01 2.06474840e-02 -1.40896726e-03 2.87149837e+00] [-2.06135107e-02 9.99568559e-01 2.09231818e-02 -2.34569134e-01] [ 1.84037044e-03 -2.08896569e-02 9.99780093e-01 -1.82416826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732401008 meters Centerline goodness : 0.932596 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.24, Z:-0.18 [[ 9.99848989e-01 1.73462590e-02 -1.05189362e-03 2.87050530e+00] [-1.73252608e-02 9.99697443e-01 1.74601629e-02 -2.37389779e-01] [ 1.35444387e-03 -1.74393019e-02 9.99847006e-01 -1.82730239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762401008000001 meters Centerline goodness : 0.930915 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.25, Z:-0.18 [[ 9.99890805e-01 1.47664803e-02 -5.72871299e-04 2.86987100e+00] [-1.47552063e-02 9.99758710e-01 1.62728804e-02 -2.46467479e-01] [ 8.13026239e-04 -1.62626506e-02 9.99867424e-01 -1.82353746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792401008 meters Centerline goodness : 0.934357 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.25, Z:-0.18 [[ 9.99895114e-01 1.44357400e-02 -1.17055247e-03 2.87213597e+00] [-1.44134407e-02 9.99747661e-01 1.72298460e-02 -2.51363950e-01] [ 1.41898268e-03 -1.72111672e-02 9.99850870e-01 -1.82675446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822401008 meters Centerline goodness : 0.934347 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.26, Z:-0.18 [[ 0.99987576 0.01545334 -0.00310887 2.90073049] [-0.01538124 0.9996393 0.02201552 -0.25937546] [ 0.00344796 -0.02196497 0.9997528 -0.1773292 ] [ 0. 0. 0. 1. ]] SLAMing on 11.852401008000001 meters Centerline goodness : 0.931003 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.26, Z:-0.18 [[ 9.99926672e-01 1.18099247e-02 -2.67868117e-03 2.90053974e+00] [-1.17593743e-02 9.99765916e-01 1.81612256e-02 -2.62268562e-01] [ 2.89253684e-03 -1.81283943e-02 9.99831483e-01 -1.78971359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882401008 meters Centerline goodness : 0.934973 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.28, Z:-0.18 [[ 0.99992479 0.01108712 -0.00524233 2.92494873] [-0.01098926 0.99977139 0.01834116 -0.27770634] [ 0.00544448 -0.01828217 0.99981804 -0.17551482] [ 0. 0. 0. 1. ]] SLAMing on 11.912401008 meters Centerline goodness : 0.937467 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.28, Z:-0.18 [[ 9.99941973e-01 1.05912708e-02 -1.96857531e-03 2.94059266e+00] [-1.05761236e-02 9.99915553e-01 7.55194252e-03 -2.81209512e-01] [ 2.04839374e-03 -7.53068441e-03 9.99969546e-01 -1.81644960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942401008000001 meters Centerline goodness : 0.932871 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.29, Z:-0.18 [[ 9.99953992e-01 9.26671331e-03 -2.47829651e-03 2.94949415e+00] [-9.22723108e-03 9.99837377e-01 1.54944250e-02 -2.89231188e-01] [ 2.62147588e-03 -1.54708443e-02 9.99876883e-01 -1.76213098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972401008 meters Centerline goodness : 0.929177 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.30, Z:-0.17 [[ 0.99992754 0.00991827 -0.00682287 2.97561741] [-0.00979267 0.99978638 0.01820165 -0.30238389] [ 0.00700194 -0.01813351 0.99981106 -0.17243964] [ 0. 0. 0. 1. ]] SLAMing on 12.002401008000001 meters Centerline goodness : 0.929782 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.31, Z:-0.17 [[ 0.99992402 0.00990542 -0.00733738 2.97720733] [-0.00976234 0.99976634 0.01928618 -0.30845327] [ 0.00752671 -0.01921308 0.99978708 -0.17242512] [ 0. 0. 0. 1. ]] SLAMing on 12.032401008 meters Centerline goodness : 0.929497 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.32, Z:-0.17 [[ 0.99990911 0.01023855 -0.00877229 3.00067036] [-0.0100856 0.99979938 0.01730575 -0.31567341] [ 0.00894772 -0.0172157 0.99981176 -0.17031679] [ 0. 0. 0. 1. ]] SLAMing on 12.062401008 meters Centerline goodness : 0.934657 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.32, Z:-0.17 [[ 0.99990412 0.01033717 -0.00921427 3.00156136] [-0.010157 0.99976039 0.01939071 -0.32287758] [ 0.0094125 -0.01929526 0.99976952 -0.16840682] [ 0. 0. 0. 1. ]] SLAMing on 12.092401008000001 meters Centerline goodness : 0.935544 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.33, Z:-0.17 [[ 0.99993759 0.00661659 -0.009002 3.00201809] [-0.00645659 0.99982271 0.01768793 -0.33115303] [ 0.00911744 -0.01762871 0.99980303 -0.16775819] [ 0. 0. 0. 1. ]] SLAMing on 12.122401008 meters Centerline goodness : 0.936280 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.34, Z:-0.17 [[ 0.9999365 0.00606382 -0.00949828 3.00403034] [-0.00588563 0.99980824 0.01867752 -0.33581257] [ 0.00960972 -0.01862043 0.99978044 -0.16742965] [ 0. 0. 0. 1. ]] SLAMing on 12.152401008 meters Centerline goodness : 0.939008 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.34, Z:-0.16 [[ 0.99993228 0.00598272 -0.00998176 3.00508561] [-0.00577152 0.99976166 0.02105487 -0.34128331] [ 0.01010534 -0.02099584 0.99972849 -0.16431856] [ 0. 0. 0. 1. ]] SLAMing on 12.182401008000001 meters Centerline goodness : 0.940911 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.35, Z:-0.15 [[ 0.99993187 0.00414718 -0.01091132 3.0359817 ] [-0.00382569 0.99956269 0.02932237 -0.35448186] [ 0.01102815 -0.02927863 0.99951045 -0.1508528 ] [ 0. 0. 0. 1. ]] SLAMing on 12.212401008 meters Centerline goodness : 0.943445 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.35, Z:-0.16 [[ 9.99975558e-01 2.23071943e-03 -6.62622937e-03 3.04946575e+00] [-2.14036988e-03 9.99905074e-01 1.36110758e-02 -3.53164866e-01] [ 6.65596286e-03 -1.35965606e-02 9.99885409e-01 -1.60781545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242401008 meters Centerline goodness : 0.943563 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.35, Z:-0.16 [[ 9.99980415e-01 -1.59433219e-03 -6.05206438e-03 3.04905835e+00] [ 1.64471218e-03 9.99963964e-01 8.32860138e-03 -3.52177972e-01] [ 6.03856773e-03 -8.33839217e-03 9.99947002e-01 -1.63839485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272401008000001 meters Centerline goodness : 0.941393 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.16 [[ 9.99974146e-01 1.37549429e-03 -7.05805823e-03 3.05221223e+00] [-1.27666876e-03 9.99901359e-01 1.39872550e-02 -3.56233797e-01] [ 7.07660140e-03 -1.39778826e-02 9.99877263e-01 -1.61522445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302401008 meters Centerline goodness : 0.941802 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.16 [[ 0.99995763 0.00510457 -0.00766 3.05387214] [-0.00494846 0.99978245 0.02026231 -0.36221726] [ 0.00776176 -0.02022354 0.99976535 -0.15873636] [ 0. 0. 0. 1. ]] SLAMing on 12.332401008000001 meters Centerline goodness : 0.941803 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.36, Z:-0.16 [[ 9.99971450e-01 1.83806897e-03 -7.32944099e-03 3.05299792e+00] [-1.72965206e-03 9.99889407e-01 1.47709780e-02 -3.59443174e-01] [ 7.35578048e-03 -1.47578789e-02 9.99864040e-01 -1.61554603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362401008 meters Centerline goodness : 0.940431 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.36, Z:-0.16 [[ 0.99995128 0.00506921 -0.00846977 3.05623525] [-0.00489854 0.99978696 0.02005069 -0.3614212 ] [ 0.00856961 -0.02000822 0.99976309 -0.15924663] [ 0. 0. 0. 1. ]] SLAMing on 12.392401008 meters Centerline goodness : 0.935787 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.36, Z:-0.17 [[ 0.99995026 0.0054167 -0.00837503 3.05684671] [-0.00527473 0.99984358 0.0168816 -0.35731151] [ 0.00846516 -0.01683659 0.99982242 -0.16545185] [ 0. 0. 0. 1. ]] SLAMing on 12.422401008000001 meters Centerline goodness : 0.935848 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.35, Z:-0.17 [[ 9.99962584e-01 2.53596033e-03 -8.27036876e-03 3.05643635e+00] [-2.45224280e-03 9.99945814e-01 1.01170662e-02 -3.52380789e-01] [ 8.29557710e-03 -1.00964067e-02 9.99914619e-01 -1.70912502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452401008 meters Centerline goodness : 0.934544 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.35, Z:-0.18 [[ 0.99996986 0.00531024 -0.00566438 3.07544033] [-0.00529002 0.99997961 0.00357827 -0.35140072] [ 0.00568326 -0.0035482 0.99997756 -0.17584855] [ 0. 0. 0. 1. ]] SLAMing on 12.482401008 meters Centerline goodness : 0.931968 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.35, Z:-0.18 [[ 9.99979937e-01 3.25371534e-03 -5.43502978e-03 3.07375624e+00] [-3.25448142e-03 9.99994695e-01 -1.32113749e-04 -3.48948218e-01] [ 5.43457109e-03 1.49799302e-04 9.99985221e-01 -1.76580691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512401008000001 meters Centerline goodness : 0.934985 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.35, Z:-0.17 [[ 0.99995487 0.00720962 -0.0061868 3.07487663] [-0.00717365 0.99995735 0.00581704 -0.35313827] [ 0.00622847 -0.00577239 0.99996394 -0.17348166] [ 0. 0. 0. 1. ]] SLAMing on 12.542401008 meters Centerline goodness : 0.932475 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.99992078 0.01031686 -0.00721035 3.07752496] [-0.01022862 0.99987362 0.01217016 -0.35729397] [ 0.007335 -0.01209544 0.99989994 -0.1694501 ] [ 0. 0. 0. 1. ]] SLAMing on 12.572401008 meters Centerline goodness : 0.933874 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.99995524 0.00678802 -0.00659051 3.07618683] [-0.00674069 0.99995153 0.00717624 -0.3554124 ] [ 0.0066389 -0.0071315 0.99995253 -0.17133356] [ 0. 0. 0. 1. ]] SLAMing on 12.602401008000001 meters Centerline goodness : 0.935165 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.9999551 0.00651389 -0.00688299 3.07711522] [-0.00646314 0.99995195 0.00737068 -0.35706717] [ 0.00693068 -0.00732587 0.99994915 -0.17131499] [ 0. 0. 0. 1. ]] SLAMing on 12.632401008 meters Centerline goodness : 0.935165 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.9999551 0.00651389 -0.00688299 3.07711522] [-0.00646314 0.99995195 0.00737068 -0.35706717] [ 0.00693068 -0.00732587 0.99994915 -0.17131499] [ 0. 0. 0. 1. ]] SLAMing on 12.662401008 meters Centerline goodness : 0.936179 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.99995554 0.00555042 -0.00762259 3.07969687] [-0.0054845 0.99994761 0.00864235 -0.36148405] [ 0.00767016 -0.00860016 0.9999336 -0.1699922 ] [ 0. 0. 0. 1. ]] SLAMing on 12.692401008000001 meters Centerline goodness : 0.935771 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.36, Z:-0.17 [[ 0.99995363 0.00473656 -0.00838475 3.08226985] [-0.00466146 0.99994904 0.00895435 -0.36404064] [ 0.00842674 -0.00891485 0.99992475 -0.17005217] [ 0. 0. 0. 1. ]] SLAMing on 12.722401008 meters Centerline goodness : 0.933643 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.37, Z:-0.17 [[ 0.99993264 0.0059992 -0.00993589 3.08836629] [-0.00584712 0.99986637 0.01526582 -0.368131 ] [ 0.01002614 -0.01520669 0.9998341 -0.16567845] [ 0. 0. 0. 1. ]] SLAMing on 12.752401008000001 meters Centerline goodness : 0.932186 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.37, Z:-0.17 [[ 0.9999279 0.00582609 -0.01050052 3.08957989] [-0.00566462 0.99986625 0.01534267 -0.36906067] [ 0.01058851 -0.01528209 0.99982716 -0.16545744] [ 0. 0. 0. 1. ]] SLAMing on 12.782401008 meters Centerline goodness : 0.931221 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.37, Z:-0.16 [[ 0.99989204 0.00886601 -0.01171767 3.09285139] [-0.00862648 0.99975598 0.02033652 -0.37121584] [ 0.01189512 -0.02023324 0.99972452 -0.16357879] [ 0. 0. 0. 1. ]] SLAMing on 12.812401008 meters Centerline goodness : 0.929365 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.37, Z:-0.17 [[ 0.99991886 0.01017496 -0.00766381 3.10874997] [-0.01010394 0.99990618 0.00924836 -0.36740795] [ 0.0077572 -0.00917017 0.99992786 -0.17243588] [ 0. 0. 0. 1. ]] SLAMing on 12.842401008000001 meters Centerline goodness : 0.930446 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.99991552 0.01069121 -0.0073924 3.10778747] [-0.01062978 0.99990905 0.00830057 -0.36444932] [ 0.00748047 -0.00822129 0.99993822 -0.1736371 ] [ 0. 0. 0. 1. ]] SLAMing on 12.872401008 meters Centerline goodness : 0.930488 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.999914 0.01074954 -0.00751265 3.10766847] [-0.01068836 0.99990977 0.00813672 -0.36347323] [ 0.00759944 -0.00805572 0.99993868 -0.17332969] [ 0. 0. 0. 1. ]] SLAMing on 12.902401008 meters Centerline goodness : 0.934053 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.99991331 0.01080234 -0.00752925 3.10743895] [-0.01074124 0.99990943 0.00810911 -0.36261896] [ 0.00761617 -0.00802753 0.99993877 -0.17289667] [ 0. 0. 0. 1. ]] SLAMing on 12.932401008000001 meters Centerline goodness : 0.932078 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.99991544 0.01055331 -0.00759869 3.1078017 ] [-0.01049579 0.99991627 0.00756935 -0.36129246] [ 0.00767794 -0.00748896 0.99994248 -0.17337443] [ 0. 0. 0. 1. ]] SLAMing on 12.962401008 meters Centerline goodness : 0.929993 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.99991822 0.01016979 -0.00775476 3.10855862] [-0.01011607 0.99992478 0.00693478 -0.35991555] [ 0.0078247 -0.00685576 0.99994588 -0.17407881] [ 0. 0. 0. 1. ]] SLAMing on 12.992401008 meters Centerline goodness : 0.931196 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.99992268 0.00929548 -0.00825976 3.11038954] [-0.00924465 0.99993822 0.00617154 -0.35846681] [ 0.00831662 -0.0060947 0.99994684 -0.17476197] [ 0. 0. 0. 1. ]] SLAMing on 13.022401008000001 meters Centerline goodness : 0.928865 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.36, Z:-0.17 [[ 0.9999234 0.0087658 -0.00873767 3.11178162] [-0.00871362 0.99994408 0.00599248 -0.35804369] [ 0.00878971 -0.00591588 0.99994387 -0.17470458] [ 0. 0. 0. 1. ]] SLAMing on 13.052401008 meters Centerline goodness : 0.926894 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.35, Z:-0.18 [[ 9.99952248e-01 4.94773179e-03 -8.42737627e-03 3.11135447e+00] [-4.94159168e-03 9.99987510e-01 7.49257994e-04 -3.54624576e-01] [ 8.43097814e-03 -7.07577563e-04 9.99964208e-01 -1.76712090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082401008000001 meters Centerline goodness : 0.928772 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.36, Z:-0.17 [[ 0.99993123 0.0059651 -0.01009755 3.11802335] [-0.00590655 0.99996563 0.00581846 -0.35643645] [ 0.01013191 -0.00575842 0.99993209 -0.17429761] [ 0. 0. 0. 1. ]] SLAMing on 13.112401008 meters Centerline goodness : 0.924429 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.36, Z:-0.17 [[ 0.99993154 0.00550936 -0.01032322 3.11908667] [-0.00545313 0.99997018 0.00546791 -0.35565979] [ 0.01035303 -0.00541125 0.99993176 -0.17479429] [ 0. 0. 0. 1. ]] SLAMing on 13.142401008 meters Centerline goodness : 0.924506 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.35, Z:-0.18 [[ 0.99993036 0.00512243 -0.01063213 3.12022667] [-0.00506886 0.99997436 0.00505906 -0.35480108] [ 0.01065777 -0.00500481 0.99993068 -0.17533138] [ 0. 0. 0. 1. ]] SLAMing on 13.172401008000001 meters Centerline goodness : 0.923941 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.36, Z:-0.17 [[ 0.99989867 0.00813171 -0.01168436 3.12315496] [-0.00801906 0.99992123 0.00965546 -0.35664864] [ 0.01176196 -0.00956078 0.99988512 -0.1739708 ] [ 0. 0. 0. 1. ]] SLAMing on 13.202401008 meters Centerline goodness : 0.922303 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.36, Z:-0.18 [[ 0.99989941 0.00785638 -0.01180911 3.12391594] [-0.00775123 0.99993014 0.00892397 -0.35524492] [ 0.01187839 -0.00883154 0.99989045 -0.17508863] [ 0. 0. 0. 1. ]] SLAMing on 13.232401008 meters Centerline goodness : 0.923761 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.36, Z:-0.17 [[ 0.99985876 0.01111031 -0.01261073 3.12632669] [-0.01094175 0.99985091 0.01335822 -0.35675262] [ 0.01275727 -0.01321835 0.99983125 -0.17437907] [ 0. 0. 0. 1. ]] SLAMing on 13.262401008000001 meters Centerline goodness : 0.920247 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99989462 0.00789121 -0.01218512 3.12544054] [-0.00779909 0.99994079 0.00758922 -0.35206351] [ 0.01224429 -0.00749339 0.99989696 -0.17779444] [ 0. 0. 0. 1. ]] SLAMing on 13.292401008 meters Centerline goodness : 0.916413 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99989488 0.00763742 -0.0123244 3.12666805] [-0.0075568 0.99994983 0.00657481 -0.35058076] [ 0.01237399 -0.00648099 0.99990244 -0.17998464] [ 0. 0. 0. 1. ]] SLAMing on 13.322401008 meters Centerline goodness : 0.916413 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99989488 0.00763742 -0.0123244 3.12666805] [-0.0075568 0.99994983 0.00657481 -0.35058076] [ 0.01237399 -0.00648099 0.99990244 -0.17998464] [ 0. 0. 0. 1. ]] SLAMing on 13.352401008000001 meters Centerline goodness : 0.917709 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99984694 0.01159471 -0.01310214 3.12797943] [-0.01143585 0.99986097 0.01213509 -0.35438013] [ 0.01324102 -0.0119834 0.99984052 -0.17745899] [ 0. 0. 0. 1. ]] SLAMing on 13.382401008 meters Centerline goodness : 0.920365 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99984518 0.01194844 -0.01291688 3.12721233] [-0.01179388 0.99985873 0.01197593 -0.35390988] [ 0.01305815 -0.01182174 0.99984485 -0.17754377] [ 0. 0. 0. 1. ]] SLAMing on 13.412401008000002 meters Centerline goodness : 0.921511 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99988892 0.0080068 -0.0125715 3.12645486] [-0.00791545 0.99994203 0.0072998 -0.35271485] [ 0.01262922 -0.00719948 0.99989433 -0.17847981] [ 0. 0. 0. 1. ]] SLAMing on 13.442401008000001 meters Centerline goodness : 0.924844 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.36, Z:-0.17 [[ 0.99985842 0.00989446 -0.0136105 3.13054472] [-0.00970875 0.99985979 0.01364361 -0.35724897] [ 0.01374359 -0.01350953 0.99981429 -0.17406014] [ 0. 0. 0. 1. ]] SLAMing on 13.472401008 meters Centerline goodness : 0.926940 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.9998992 0.00610322 -0.01281954 3.12930773] [-0.00599855 0.99994849 0.00818712 -0.35406905] [ 0.01286884 -0.00810939 0.99988431 -0.17664259] [ 0. 0. 0. 1. ]] SLAMing on 13.502401008000001 meters Centerline goodness : 0.931645 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99990029 0.00586119 -0.01284762 3.12967375] [-0.00576139 0.99995305 0.00779163 -0.35297427] [ 0.01289268 -0.00771684 0.99988711 -0.17707041] [ 0. 0. 0. 1. ]] SLAMing on 13.532401008 meters Centerline goodness : 0.934203 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99990101 0.00574041 -0.01284575 3.12964794] [-0.0056454 0.99995653 0.0074205 -0.35179751] [ 0.01288779 -0.00734724 0.99988996 -0.17719978] [ 0. 0. 0. 1. ]] SLAMing on 13.562401008 meters Centerline goodness : 0.937617 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99990428 0.0058972 -0.01251641 3.12853516] [-0.00581128 0.99995938 0.00688968 -0.3494388 ] [ 0.01255654 -0.00681628 0.99989793 -0.17715328] [ 0. 0. 0. 1. ]] SLAMing on 13.592401008000001 meters Centerline goodness : 0.938564 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99990495 0.00573582 -0.0125375 3.12873766] [-0.00565678 0.99996396 0.00633082 -0.34800593] [ 0.01257336 -0.0062593 0.99990136 -0.17765852] [ 0. 0. 0. 1. ]] SLAMing on 13.622401008 meters Centerline goodness : 0.935363 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99990436 0.00545274 -0.01271016 3.12924379] [-0.00538014 0.99996906 0.00573932 -0.34662778] [ 0.01274106 -0.00567039 0.99990275 -0.17804065] [ 0. 0. 0. 1. ]] SLAMing on 13.652401008 meters Centerline goodness : 0.935098 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.35, Z:-0.18 [[ 0.99986512 0.00871923 -0.01391797 3.1318978 ] [-0.00857321 0.99990794 0.01051691 -0.34888612] [ 0.01400839 -0.01039617 0.99984783 -0.17624386] [ 0. 0. 0. 1. ]] SLAMing on 13.682401008000001 meters Centerline goodness : 0.933485 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.34, Z:-0.18 [[ 0.99989463 0.00432038 -0.01385891 3.13286355] [-0.00427373 0.99998511 0.00339359 -0.34373457] [ 0.01387336 -0.00333401 0.9998982 -0.18122019] [ 0. 0. 0. 1. ]] SLAMing on 13.712401008 meters Centerline goodness : 0.931764 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.34, Z:-0.18 [[ 9.99889417e-01 3.52116953e-03 -1.44483538e-02 3.13501795e+00] [-3.47930852e-03 9.99989680e-01 2.92139993e-03 -3.43219037e-01] [ 1.44584915e-02 -2.87080660e-03 9.99891349e-01 -1.81895669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742401008 meters Centerline goodness : 0.930374 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.34, Z:-0.18 [[ 9.99883375e-01 2.77102965e-03 -1.50185870e-02 3.13714343e+00] [-2.73257826e-03 9.99992938e-01 2.58017006e-03 -3.43542071e-01] [ 1.50256307e-02 -2.53882968e-03 9.99883886e-01 -1.82628702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772401008000001 meters Centerline goodness : 0.924748 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.34, Z:-0.18 [[ 9.99855580e-01 -1.20030278e-03 -1.69522406e-02 3.14603507e+00] [ 1.22555822e-03 9.99998155e-01 1.47948941e-03 -3.43521297e-01] [ 1.69504335e-02 -1.50005170e-03 9.99855206e-01 -1.84338444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802401008 meters Centerline goodness : 0.924979 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.34, Z:-0.18 [[ 9.99838348e-01 -2.29615483e-03 -1.78326892e-02 3.14924254e+00] [ 2.32104927e-03 9.99996360e-01 1.37542893e-03 -3.44289114e-01] [ 1.78294661e-02 -1.41659714e-03 9.99840039e-01 -1.84930690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832401008000001 meters Centerline goodness : 0.924788 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.35, Z:-0.18 [[ 9.99810988e-01 -3.56935871e-03 -1.91114771e-02 3.15309829e+00] [ 3.59687927e-03 9.99992543e-01 1.40582164e-03 -3.45447626e-01] [ 1.91063167e-02 -1.47429760e-03 9.99816371e-01 -1.84905150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862401008 meters Centerline goodness : 0.921851 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.17 [[ 0.99977429 -0.00981082 -0.01884444 3.17970758] [ 0.01015346 0.99978328 0.01817397 -0.35051376] [ 0.01866206 -0.0183612 0.99965724 -0.16948995] [ 0. 0. 0. 1. ]] SLAMing on 13.892401008 meters Centerline goodness : 0.927080 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.35, Z:-0.17 [[ 0.99974621 -0.01076349 -0.01979044 3.18237888] [ 0.01112626 0.9997704 0.01831248 -0.35134576] [ 0.01958879 -0.01852803 0.99963643 -0.1688935 ] [ 0. 0. 0. 1. ]] SLAMing on 13.922401008000001 meters Centerline goodness : 0.925582 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.35, Z:-0.16 [[ 0.99971908 -0.01039657 -0.02129974 3.18996768] [ 0.01094579 0.99960634 0.02583321 -0.35391798] [ 0.02102278 -0.0260591 0.99943933 -0.16182414] [ 0. 0. 0. 1. ]] SLAMing on 13.952401008 meters Centerline goodness : 0.925627 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.35, Z:-0.16 [[ 0.99967684 -0.01473592 -0.02071414 3.18961727] [ 0.01514677 0.99968883 0.01981956 -0.34979817] [ 0.02041563 -0.02012691 0.99958897 -0.16478599] [ 0. 0. 0. 1. ]] SLAMing on 13.982401008 meters Centerline goodness : 0.929616 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.35, Z:-0.15 [[ 0.99966374 -0.01632566 -0.02014654 3.20674733] [ 0.01701513 0.99925847 0.03453978 -0.35153467] [ 0.01956772 -0.03487096 0.99920024 -0.15277384] [ 0. 0. 0. 1. ]] SLAMing on 14.012401008000001 meters Centerline goodness : 0.927219 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.35, Z:-0.14 [[ 0.99967767 -0.014631 -0.02074844 3.21665475] [ 0.01558602 0.99879019 0.04663932 -0.35231082] [ 0.02004095 -0.04694767 0.99869629 -0.14337135] [ 0. 0. 0. 1. ]] SLAMing on 14.042401008 meters Centerline goodness : 0.928390 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.35, Z:-0.15 [[ 0.9997638 -0.01403866 -0.01659101 3.22692834] [ 0.0145454 0.99941887 0.03082766 -0.34628611] [ 0.01614859 -0.0310617 0.99938701 -0.15352092] [ 0. 0. 0. 1. ]] SLAMing on 14.072401008 meters Centerline goodness : 0.934109 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.34, Z:-0.16 [[ 0.99984586 -0.01230141 -0.01252762 3.24086696] [ 0.01254562 0.99972908 0.01960522 -0.33976901] [ 0.01228305 -0.01975937 0.99972931 -0.16020326] [ 0. 0. 0. 1. ]] SLAMing on 14.102401008000001 meters Centerline goodness : 0.933209 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.34, Z:-0.16 [[ 0.99983886 -0.0126803 -0.01270715 3.24149434] [ 0.01291322 0.99974697 0.01841858 -0.33595541] [ 0.01247038 -0.0185797 0.99974961 -0.16115889] [ 0. 0. 0. 1. ]] SLAMing on 14.132401008 meters Centerline goodness : 0.930614 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.33, Z:-0.16 [[ 0.99990401 -0.00901433 -0.01052185 3.26063788] [ 0.00915243 0.99987162 0.01315169 -0.33289529] [ 0.01040194 -0.01324673 0.99985815 -0.1649362 ] [ 0. 0. 0. 1. ]] SLAMing on 14.162401008000002 meters Centerline goodness : 0.927247 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.33, Z:-0.16 [[ 0.99992082 -0.00551737 -0.01130983 3.26231064] [ 0.00570955 0.99983865 0.01703153 -0.33133812] [ 0.01121403 -0.01709476 0.99979099 -0.16419509] [ 0. 0. 0. 1. ]] SLAMing on 14.192401008000001 meters Centerline goodness : 0.928685 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.32, Z:-0.17 [[ 9.99928601e-01 -1.79869716e-03 -1.18134305e-02 3.26328519e+00] [ 2.01786661e-03 9.99825584e-01 1.85669268e-02 -3.23665720e-01] [ 1.17779738e-02 -1.85894391e-02 9.99757827e-01 -1.66212681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222401008 meters Centerline goodness : 0.927561 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.32, Z:-0.17 [[ 9.99968458e-01 1.86169388e-03 -7.72117090e-03 3.27812652e+00] [-1.77794771e-03 9.99939675e-01 1.08390231e-02 -3.18432635e-01] [ 7.74088407e-03 -1.08249534e-02 9.99911446e-01 -1.71365486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252401008000001 meters Centerline goodness : 0.931302 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.17 [[ 9.99969289e-01 2.38768042e-03 -7.46464296e-03 3.27660466e+00] [-2.31289873e-03 9.99947216e-01 1.00107529e-02 -3.14137725e-01] [ 7.48815143e-03 -9.99318054e-03 9.99922029e-01 -1.71261004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282401008 meters Centerline goodness : 0.929857 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.31, Z:-0.17 [[ 0.99997241 0.00558957 -0.00489325 3.30270843] [-0.00552242 0.99989186 0.01362997 -0.31376061] [ 0.0049689 -0.01360257 0.99989513 -0.16634199] [ 0. 0. 0. 1. ]] SLAMing on 14.312401008 meters Centerline goodness : 0.930134 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.31, Z:-0.17 [[ 0.99997355 0.00534561 -0.0049316 3.3028948 ] [-0.00528385 0.99990849 0.01245376 -0.31027982] [ 0.00499772 -0.01242738 0.99991029 -0.16719201] [ 0. 0. 0. 1. ]] SLAMing on 14.342401008000001 meters Centerline goodness : 0.925805 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.30, Z:-0.17 [[ 0.99997631 0.00483445 -0.00489896 3.3039252 ] [-0.00478554 0.99993908 0.00994706 -0.30275349] [ 0.00494675 -0.00992338 0.99993853 -0.17051674] [ 0. 0. 0. 1. ]] SLAMing on 14.372401008 meters Centerline goodness : 0.926723 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.30, Z:-0.17 [[ 0.999979 0.00429924 -0.00485031 3.30491861] [-0.00425892 0.99995654 0.00829331 -0.298932 ] [ 0.00488576 -0.00827248 0.99995385 -0.17290938] [ 0. 0. 0. 1. ]] SLAMing on 14.402401008 meters Centerline goodness : 0.929217 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.30, Z:-0.17 [[ 0.99997832 0.00434736 -0.00494498 3.30500476] [-0.00431145 0.99996444 0.00724795 -0.29596108] [ 0.00497631 -0.00722647 0.99996151 -0.17374723] [ 0. 0. 0. 1. ]] SLAMing on 14.432401008000001 meters Centerline goodness : 0.930150 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.29, Z:-0.17 [[ 0.99997796 0.00408732 -0.0052318 3.30558797] [-0.00405175 0.99996872 0.00679222 -0.29488366] [ 0.0052594 -0.00677087 0.99996325 -0.17381747] [ 0. 0. 0. 1. ]] SLAMing on 14.462401008 meters Centerline goodness : 0.931005 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.29, Z:-0.17 [[ 0.99997754 0.00378917 -0.00552912 3.30647289] [-0.00375439 0.99997319 0.00628738 -0.29387877] [ 0.00555279 -0.00626648 0.99996495 -0.17430355] [ 0. 0. 0. 1. ]] SLAMing on 14.492401008000002 meters Centerline goodness : 0.932046 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.29, Z:-0.17 [[ 9.99977125e-01 3.31356320e-03 -5.89663492e-03 3.30776472e+00] [-3.27925738e-03 9.99977698e-01 5.81805405e-03 -2.93030901e-01] [ 5.91578190e-03 -5.79858438e-03 9.99965689e-01 -1.74903567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522401008000001 meters Centerline goodness : 0.932077 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.29, Z:-0.17 [[ 9.99975231e-01 2.60441321e-03 -6.53875478e-03 3.30975215e+00] [-2.56368183e-03 9.99977308e-01 6.22989810e-03 -2.94699387e-01] [ 6.55483163e-03 -6.21298050e-03 9.99959216e-01 -1.74466772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552401008 meters Centerline goodness : 0.932077 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.29, Z:-0.17 [[ 9.99975231e-01 2.60441321e-03 -6.53875478e-03 3.30975215e+00] [-2.56368183e-03 9.99977308e-01 6.22989810e-03 -2.94699387e-01] [ 6.55483163e-03 -6.21298050e-03 9.99959216e-01 -1.74466772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582401008000001 meters Centerline goodness : 0.932069 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.30, Z:-0.17 [[ 9.99972528e-01 2.11604319e-03 -7.10388083e-03 3.31139313e+00] [-2.06948594e-03 9.99976376e-01 6.55474401e-03 -2.96490075e-01] [ 7.11758313e-03 -6.53986255e-03 9.99953284e-01 -1.74234717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612401008 meters Centerline goodness : 0.933354 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.30, Z:-0.17 [[ 9.99968546e-01 1.69629059e-03 -7.74787368e-03 3.31300164e+00] [-1.64306853e-03 9.99975048e-01 6.87045488e-03 -2.98429292e-01] [ 7.75933465e-03 -6.85750849e-03 9.99946382e-01 -1.73929820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642401008 meters Centerline goodness : 0.931179 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.30, Z:-0.17 [[ 9.99965889e-01 1.47112604e-03 -8.12752103e-03 3.31391720e+00] [-1.41160830e-03 9.99972184e-01 7.32387658e-03 -3.00282921e-01] [ 8.13806930e-03 -7.31215388e-03 9.99940150e-01 -1.73443934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672401008000001 meters Centerline goodness : 0.933131 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.30, Z:-0.17 [[ 9.99960418e-01 9.60509258e-04 -8.84533573e-03 3.31622244e+00] [-8.90708748e-04 9.99968463e-01 7.89178343e-03 -3.03282989e-01] [ 8.85263691e-03 -7.88359244e-03 9.99929737e-01 -1.73531883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702401008 meters Centerline goodness : 0.935276 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.30, Z:-0.17 [[ 9.99958862e-01 9.05343054e-04 -9.02526503e-03 3.31665303e+00] [-8.31853888e-04 9.99966499e-01 8.14303586e-03 -3.04651548e-01] [ 9.03233491e-03 -8.13519317e-03 9.99926115e-01 -1.73351982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732401008 meters Centerline goodness : 0.934497 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.31, Z:-0.17 [[ 9.99957569e-01 1.05593638e-03 -9.15121284e-03 3.31653825e+00] [-9.78392409e-04 9.99963617e-01 8.47396594e-03 -3.05616190e-01] [ 9.15982786e-03 -8.46465290e-03 9.99922221e-01 -1.72721564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762401008000001 meters Centerline goodness : 0.936464 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.18 [[ 9.99984499e-01 3.25828174e-03 -4.51504641e-03 3.33095940e+00] [-3.25551940e-03 9.99994509e-01 6.19022528e-04 -3.05006693e-01] [ 4.51703857e-03 -6.04314111e-04 9.99989616e-01 -1.77137262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792401008 meters Centerline goodness : 0.934324 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.18 [[ 9.99984008e-01 3.50118801e-03 -4.44134549e-03 3.33058124e+00] [-3.49742317e-03 9.99993518e-01 8.55164323e-04 -3.05777430e-01] [ 4.44431079e-03 -8.39617383e-04 9.99989772e-01 -1.76916526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822401008 meters Centerline goodness : 0.932823 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.18 [[ 9.99983322e-01 3.45819384e-03 -4.62564753e-03 3.33142155e+00] [-3.45425073e-03 9.99993664e-01 8.60162284e-04 -3.07248415e-01] [ 4.62859283e-03 -8.44169792e-04 9.99988932e-01 -1.77649820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852401008000001 meters Centerline goodness : 0.934095 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.18 [[ 9.99982376e-01 2.98674303e-03 -5.13096075e-03 3.33316585e+00] [-2.98249839e-03 9.99995204e-01 8.34712646e-04 -3.07964805e-01] [ 5.13342921e-03 -8.19394853e-04 9.99986488e-01 -1.78115317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882401008 meters Centerline goodness : 0.933719 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.18 [[ 9.99981651e-01 2.38489962e-03 -5.56859346e-03 3.33499438e+00] [-2.37974217e-03 9.99996734e-01 9.32608430e-04 -3.09248170e-01] [ 5.57079945e-03 -9.19339501e-04 9.99984060e-01 -1.78582270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912401008000002 meters Centerline goodness : 0.935670 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.31, Z:-0.18 [[ 9.99979261e-01 1.61655438e-03 -6.23409562e-03 3.33719477e+00] [-1.60934763e-03 9.99998031e-01 1.16086541e-03 -3.10929744e-01] [ 6.23595995e-03 -1.15080851e-03 9.99979894e-01 -1.78610834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942401008000001 meters Centerline goodness : 0.938076 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.17 [[ 9.99966605e-01 -3.18933459e-03 -7.52440234e-03 3.34554869e+00] [ 3.21370024e-03 9.99989625e-01 3.22835172e-03 -3.15850266e-01] [ 7.51402798e-03 -3.25242508e-03 9.99966480e-01 -1.74907845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972401008 meters Centerline goodness : 0.937722 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.17 [[ 0.99995605 -0.00434683 -0.00830634 3.34835065] [ 0.00437954 0.99998271 0.00392392 -0.31874882] [ 0.00828914 -0.00396012 0.9999578 -0.17419549] [ 0. 0. 0. 1. ]] SLAMing on 15.002401008000001 meters Centerline goodness : 0.937539 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.17 [[ 0.99993837 -0.00589175 -0.00941023 3.35237303] [ 0.00593002 0.99997424 0.0040445 -0.32050694] [ 0.00938616 -0.00410005 0.99994754 -0.17432817] [ 0. 0. 0. 1. ]] SLAMing on 15.032401008 meters Centerline goodness : 0.935574 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.16 [[ 0.99988822 -0.01435908 -0.00416598 3.37498924] [ 0.01446492 0.99954155 0.02659812 -0.32874813] [ 0.00378215 -0.02665541 0.99963753 -0.15955742] [ 0. 0. 0. 1. ]] SLAMing on 15.062401008 meters Centerline goodness : 0.937611 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.33, Z:-0.15 [[ 0.9998111 -0.01780666 -0.00779003 3.36867372] [ 0.01813221 0.9988699 0.04393344 -0.33424921] [ 0.00699891 -0.04406639 0.99900409 -0.14671787] [ 0. 0. 0. 1. ]] SLAMing on 15.092401008000001 meters Centerline goodness : 0.935944 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.34, Z:-0.14 [[ 0.99970429 -0.0232044 -0.00727189 3.3271319 ] [ 0.02356021 0.99829454 0.05341278 -0.33516286] [ 0.00602007 -0.05356831 0.99854604 -0.14169386] [ 0. 0. 0. 1. ]] SLAMing on 15.122401008 meters Centerline goodness : 0.936702 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.33, Z:-0.14 [[ 0.99961268 -0.02588911 -0.01020988 3.29796167] [ 0.02636897 0.99839802 0.05006072 -0.33423384] [ 0.0088975 -0.05031055 0.99869399 -0.1434979 ] [ 0. 0. 0. 1. ]] SLAMing on 15.152401008 meters Centerline goodness : 0.934981 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.33, Z:-0.14 [[ 0.99948333 -0.02891755 -0.01403 3.26895492] [ 0.02954931 0.99845147 0.04713281 -0.33497162] [ 0.01264531 -0.04752303 0.9987901 -0.14314057] [ 0. 0. 0. 1. ]] SLAMing on 15.182401008000001 meters Centerline goodness : 0.933486 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.34, Z:-0.14 [[ 0.99948701 -0.02873716 -0.01413823 3.27022267] [ 0.02936538 0.99848939 0.04643928 -0.33507587] [ 0.01278234 -0.04683063 0.99882106 -0.14439606] [ 0. 0. 0. 1. ]] SLAMing on 15.212401008 meters Centerline goodness : 0.933488 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.33, Z:-0.15 [[ 0.99948219 -0.02892123 -0.01410381 3.27055341] [ 0.02953451 0.99853176 0.04540972 -0.33249838] [ 0.01276979 -0.04580275 0.99886888 -0.14580969] [ 0. 0. 0. 1. ]] SLAMing on 15.242401008000002 meters Centerline goodness : 0.932302 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.33, Z:-0.15 [[ 0.99948794 -0.0288031 -0.01393679 3.27034451] [ 0.02939516 0.99858451 0.04432709 -0.32939313] [ 0.01264031 -0.04471407 0.99891985 -0.14731376] [ 0. 0. 0. 1. ]] SLAMing on 15.272401008000001 meters Centerline goodness : 0.933013 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.33, Z:-0.15 [[ 0.99960516 -0.02343325 -0.01550497 3.27369066] [ 0.0241083 0.99870114 0.04488675 -0.32654674] [ 0.01443299 -0.04524282 0.99887175 -0.14789389] [ 0. 0. 0. 1. ]] SLAMing on 15.302401008 meters Centerline goodness : 0.931039 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.32, Z:-0.15 [[ 0.99961059 -0.0232663 -0.01540632 3.27320846] [ 0.02391848 0.9987629 0.04359557 -0.32243441] [ 0.01437296 -0.04394709 0.99893046 -0.14916057] [ 0. 0. 0. 1. ]] SLAMing on 15.332401008000001 meters Centerline goodness : 0.932945 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.32, Z:-0.15 [[ 0.99961752 -0.02309499 -0.01521326 3.27245893] [ 0.02372242 0.99881729 0.04244133 -0.31843734] [ 0.01421508 -0.04278599 0.99898313 -0.15012524] [ 0. 0. 0. 1. ]] SLAMing on 15.362401008 meters Centerline goodness : 0.933181 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.31, Z:-0.15 [[ 0.9996225 -0.02297762 -0.01506251 3.27171351] [ 0.02358296 0.99886739 0.04132539 -0.31463924] [ 0.01409589 -0.04166501 0.9990322 -0.15066636] [ 0. 0. 0. 1. ]] SLAMing on 15.392401008 meters Centerline goodness : 0.933728 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.31, Z:-0.15 [[ 0.99964751 -0.01884915 -0.01869649 3.27707629] [ 0.01934221 0.99946032 0.02655084 -0.30658503] [ 0.01818594 -0.02690311 0.99947261 -0.15437193] [ 0. 0. 0. 1. ]] SLAMing on 15.422401008000001 meters Centerline goodness : 0.934811 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.15 [[ 0.99963448 -0.01927268 -0.01895996 3.27765648] [ 0.01975582 0.99947617 0.02563391 -0.30334043] [ 0.01845599 -0.02599911 0.99949158 -0.15460209] [ 0. 0. 0. 1. ]] SLAMing on 15.452401008 meters Centerline goodness : 0.935315 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.15 [[ 0.99963198 -0.01945593 -0.0189042 3.27738124] [ 0.01992163 0.99949473 0.02476714 -0.30003931] [ 0.01841278 -0.02513463 0.99951449 -0.15486726] [ 0. 0. 0. 1. ]] SLAMing on 15.482401008 meters Centerline goodness : 0.939239 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.30, Z:-0.16 [[ 0.99962404 -0.01989398 -0.01886821 3.27762644] [ 0.02033779 0.99951391 0.0236286 -0.29646591] [ 0.01838897 -0.02400346 0.99954274 -0.15572676] [ 0. 0. 0. 1. ]] SLAMing on 15.512401008000001 meters Centerline goodness : 0.938155 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.29, Z:-0.16 [[ 0.99960961 -0.02075622 -0.0187033 3.2780872 ] [ 0.0211493 0.99955429 0.02106969 -0.28814642] [ 0.01825763 -0.02145702 0.99960305 -0.15826514] [ 0. 0. 0. 1. ]] SLAMing on 15.542401008 meters Centerline goodness : 0.940538 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.29, Z:-0.16 [[ 0.99967092 -0.01713243 -0.01909255 3.27861689] [ 0.01761278 0.9995252 0.02528153 -0.28678779] [ 0.01865035 -0.02560948 0.99949803 -0.15694077] [ 0. 0. 0. 1. ]] SLAMing on 15.572401008000002 meters Centerline goodness : 0.938481 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.28, Z:-0.16 [[ 0.99968084 -0.01695276 -0.01873022 3.27732248] [ 0.01741161 0.99954543 0.02461229 -0.28258428] [ 0.01830446 -0.02493055 0.99952159 -0.15671472] [ 0. 0. 0. 1. ]] SLAMing on 15.602401008000001 meters Centerline goodness : 0.939064 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.28, Z:-0.16 [[ 0.99971902 -0.01899789 -0.01417641 3.25240999] [ 0.01936618 0.99946621 0.02631074 -0.27744803] [ 0.013669 -0.02657789 0.99955329 -0.15806954] [ 0. 0. 0. 1. ]] SLAMing on 15.632401008 meters Centerline goodness : 0.940648 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.27, Z:-0.16 [[ 0.99969544 -0.01988552 -0.01461457 3.25291986] [ 0.0202392 0.99949581 0.02446439 -0.27143318] [ 0.01412072 -0.02475273 0.99959387 -0.15803911] [ 0. 0. 0. 1. ]] SLAMing on 15.662401008000002 meters Centerline goodness : 0.943361 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.27, Z:-0.16 [[ 0.99968746 -0.0202114 -0.01471365 3.25307154] [ 0.02055622 0.99950838 0.02367355 -0.26808443] [ 0.01422794 -0.02396861 0.99961146 -0.15810491] [ 0. 0. 0. 1. ]] SLAMing on 15.692401008000001 meters Centerline goodness : 0.940301 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.26, Z:-0.16 [[ 0.99965287 -0.02072671 -0.01626498 3.22988336] [ 0.02117764 0.99938188 0.02805987 -0.26480959] [ 0.01567334 -0.02839458 0.99947391 -0.15605748] [ 0. 0. 0. 1. ]] SLAMing on 15.722401008 meters Centerline goodness : 0.938866 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.26, Z:-0.16 [[ 0.99963229 -0.02157767 -0.01642229 3.2311267 ] [ 0.02200367 0.99941407 0.02621733 -0.25994101] [ 0.01584695 -0.02656904 0.99952137 -0.15797476] [ 0. 0. 0. 1. ]] SLAMing on 15.752401008000001 meters Centerline goodness : 0.939282 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.16 [[ 0.99962748 -0.02197615 -0.01618462 3.23142871] [ 0.02235094 0.99947742 0.02335226 -0.24994399] [ 0.01566297 -0.0237053 0.99959628 -0.16112122] [ 0. 0. 0. 1. ]] SLAMing on 15.782401008 meters Centerline goodness : 0.936404 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.25, Z:-0.16 [[ 0.99962063 -0.02224765 -0.01623686 3.23194809] [ 0.02260174 0.99950334 0.02195977 -0.24549736] [ 0.01574024 -0.02231842 0.999627 -0.16243633] [ 0. 0. 0. 1. ]] SLAMing on 15.812401008 meters Centerline goodness : 0.935305 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.24, Z:-0.16 [[ 0.99959651 -0.02303076 -0.01662525 3.23379854] [ 0.02336283 0.99952569 0.0200643 -0.2408505 ] [ 0.01615527 -0.02044462 0.99966045 -0.16470077] [ 0. 0. 0. 1. ]] SLAMing on 15.842401008000001 meters Centerline goodness : 0.932128 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.17 [[ 0.9995821 -0.02350915 -0.01682071 3.23471799] [ 0.02380525 0.99956124 0.01762464 -0.23394366] [ 0.01639899 -0.0180177 0.99970317 -0.16711293] [ 0. 0. 0. 1. ]] SLAMing on 15.872401008 meters Centerline goodness : 0.931832 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.17 [[ 0.99958174 -0.02350835 -0.01684361 3.23432812] [ 0.02379707 0.99956968 0.017151 -0.23125178] [ 0.01643317 -0.01754466 0.99971103 -0.1667256 ] [ 0. 0. 0. 1. ]] SLAMing on 15.902401008000002 meters Centerline goodness : 0.930858 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.17 [[ 0.99956893 -0.02391402 -0.01703143 3.23473584] [ 0.02418891 0.99957741 0.01612131 -0.22795042] [ 0.01663871 -0.01652633 0.99972498 -0.16709638] [ 0. 0. 0. 1. ]] SLAMing on 15.932401008000001 meters Centerline goodness : 0.930862 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.23, Z:-0.17 [[ 0.99957284 -0.02336067 -0.01756169 3.23678644] [ 0.02362034 0.99961252 0.01472742 -0.22560302] [ 0.01721084 -0.01513595 0.99973731 -0.16816369] [ 0. 0. 0. 1. ]] SLAMing on 15.962401008 meters Centerline goodness : 0.929556 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.23, Z:-0.17 [[ 9.99898907e-01 -1.39573227e-02 -2.71472032e-03 3.23164587e+00] [ 1.40072338e-02 9.99715058e-01 1.93287244e-02 -2.25629814e-01] [ 2.44416954e-03 -1.93647961e-02 9.99809497e-01 -1.71589836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992401008000002 meters Centerline goodness : 0.929681 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.22, Z:-0.17 [[ 9.99903624e-01 -1.36744491e-02 -2.39853336e-03 3.23055436e+00] [ 1.37169119e-02 9.99731338e-01 1.86841832e-02 -2.22230030e-01] [ 2.14239305e-03 -1.87152830e-02 9.99822558e-01 -1.71612160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022401008 meters Centerline goodness : 0.931329 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.22, Z:-0.17 [[ 9.99908879e-01 -1.33529671e-02 -1.98284432e-03 3.22938090e+00] [ 1.33864330e-02 9.99749248e-01 1.79511714e-02 -2.18761800e-01] [ 1.74264571e-03 -1.79760789e-02 9.99836899e-01 -1.71814538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052401008 meters Centerline goodness : 0.932367 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.22, Z:-0.17 [[ 9.99909386e-01 -1.33464271e-02 -1.75880316e-03 3.22905187e+00] [ 1.33742526e-02 9.99767844e-01 1.68933883e-02 -2.15484253e-01] [ 1.53292847e-03 -1.69153802e-02 9.99855750e-01 -1.72719079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082401008 meters Centerline goodness : 0.929687 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.21, Z:-0.17 [[ 9.99928360e-01 -1.18656564e-02 -1.57544129e-03 3.22844186e+00] [ 1.18918211e-02 9.99770991e-01 1.77918804e-02 -2.13287579e-01] [ 1.36396816e-03 -1.78093406e-02 9.99840471e-01 -1.72158140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112401008000003 meters Centerline goodness : 0.930482 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.21, Z:-0.18 [[ 9.99957204e-01 -8.99367141e-03 2.16907344e-03 3.24007808e+00] [ 8.98135112e-03 9.99943849e-01 5.62436481e-03 -2.06524105e-01] [-2.21953533e-03 -5.60464290e-03 9.99981831e-01 -1.79685237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142401008 meters Centerline goodness : 0.930461 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.20, Z:-0.18 [[ 9.99957242e-01 -9.07301994e-03 1.78709995e-03 3.24145127e+00] [ 9.06592774e-03 9.99951151e-01 3.93746058e-03 -2.04995011e-01] [-1.82273731e-03 -3.92109050e-03 9.99990651e-01 -1.80254747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172401008 meters Centerline goodness : 0.929717 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.20, Z:-0.18 [[ 9.99957603e-01 -9.03659160e-03 1.76974943e-03 3.24101939e+00] [ 9.02938644e-03 9.99951082e-01 4.03781858e-03 -2.04133488e-01] [-1.80615098e-03 -4.02166763e-03 9.99990282e-01 -1.79370368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202401008000002 meters Centerline goodness : 0.930360 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.20, Z:-0.18 [[ 9.99956754e-01 -9.09745291e-03 1.93049592e-03 3.24082430e+00] [ 9.08970255e-03 9.99950743e-01 3.98619549e-03 -2.02741449e-01] [-1.96666505e-03 -3.96847547e-03 9.99990192e-01 -1.79387333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232401008 meters Centerline goodness : 0.931004 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.20, Z:-0.18 [[ 9.99962603e-01 -8.30138263e-03 2.42471810e-03 3.24065011e+00] [ 8.28736238e-03 9.99949207e-01 5.73613575e-03 -2.01545020e-01] [-2.47221280e-03 -5.71582672e-03 9.99980609e-01 -1.80517404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262401008 meters Centerline goodness : 0.926777 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.20, Z:-0.19 [[ 9.99991431e-01 -4.10857717e-03 5.07508780e-04 3.26020850e+00] [ 4.10979249e-03 9.99988633e-01 -2.41729255e-03 -1.96516055e-01] [-4.97571378e-04 2.41935759e-03 9.99996950e-01 -1.88311071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292401008000002 meters Centerline goodness : 0.925887 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.20, Z:-0.19 [[ 9.99998083e-01 7.00249029e-04 -1.82861292e-03 3.27942152e+00] [-7.11760777e-04 9.99979887e-01 -6.30230034e-03 -1.96566671e-01] [ 1.82416296e-03 6.30358979e-03 9.99978468e-01 -1.90427273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322401008 meters Centerline goodness : 0.926969 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.20, Z:-0.19 [[ 9.99986263e-01 4.93458580e-03 -1.76757915e-03 3.29713472e+00] [-4.95408268e-03 9.99924993e-01 -1.12011701e-02 -1.96476091e-01] [ 1.71217343e-03 1.12097729e-02 9.99935703e-01 -1.92631435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352401008 meters Centerline goodness : 0.924534 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.20, Z:-0.19 [[ 9.99983359e-01 5.49296791e-03 -1.76347796e-03 3.29616166e+00] [-5.51175295e-03 9.99926160e-01 -1.08302533e-02 -1.96103014e-01] [ 1.70385751e-03 1.08397929e-02 9.99939796e-01 -1.91354014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382401008000002 meters Centerline goodness : 0.922580 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.20, Z:-0.19 [[ 9.99980448e-01 5.54837187e-03 -2.88439689e-03 3.29807568e+00] [-5.58262140e-03 9.99912355e-01 -1.20048189e-02 -1.95941590e-01] [ 2.81753689e-03 1.20206867e-02 9.99923779e-01 -1.90818613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412401008 meters Centerline goodness : 0.922580 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.20, Z:-0.19 [[ 9.99980448e-01 5.54837187e-03 -2.88439689e-03 3.29807568e+00] [-5.58262140e-03 9.99912355e-01 -1.20048189e-02 -1.95941590e-01] [ 2.81753689e-03 1.20206867e-02 9.99923779e-01 -1.90818613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442401008 meters Centerline goodness : 0.923971 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.20, Z:-0.18 [[ 9.99969856e-01 4.09126084e-03 -6.59912401e-03 3.28444764e+00] [-4.09199072e-03 9.99991623e-01 -9.71057186e-05 -1.99096265e-01] [ 6.59867145e-03 1.24106346e-04 9.99978221e-01 -1.82799458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472401008000002 meters Centerline goodness : 0.923300 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.20, Z:-0.18 [[ 9.99960371e-01 1.45613122e-03 -8.78266152e-03 3.26791826e+00] [-1.39218560e-03 9.99972512e-01 7.28261719e-03 -2.00043512e-01] [ 8.79302455e-03 -7.27010149e-03 9.99934912e-01 -1.78584159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502401008 meters Centerline goodness : 0.921764 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.20, Z:-0.18 [[ 9.99959367e-01 1.44090296e-03 -8.89878303e-03 3.26820653e+00] [-1.37359540e-03 9.99970440e-01 7.56516678e-03 -2.00915494e-01] [ 8.90942065e-03 -7.55263606e-03 9.99931788e-01 -1.78706208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532401008 meters Centerline goodness : 0.926496 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.20, Z:-0.18 [[ 9.99946998e-01 2.51696932e-03 -9.98330612e-03 3.27180159e+00] [-2.44712111e-03 9.99972488e-01 7.00255617e-03 -2.02819285e-01] [ 1.00006567e-02 -6.97775466e-03 9.99925646e-01 -1.80634206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562401008000002 meters Centerline goodness : 0.923634 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.20, Z:-0.18 [[ 9.99987861e-01 1.03702246e-03 -4.81690653e-03 3.24888828e+00] [-9.85653289e-04 9.99942753e-01 1.06545080e-02 -2.01466136e-01] [ 4.82767974e-03 -1.06496309e-02 9.99931637e-01 -1.82669118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592401008 meters Centerline goodness : 0.923587 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.20, Z:-0.18 [[ 9.99988205e-01 2.05732413e-03 -4.39971719e-03 3.24726189e+00] [-2.00761931e-03 9.99934453e-01 1.12720101e-02 -2.01528843e-01] [ 4.42261898e-03 -1.12630442e-02 9.99926789e-01 -1.82029293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622401008 meters Centerline goodness : 0.924523 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.20, Z:-0.18 [[ 9.99987603e-01 3.17331201e-03 -3.83712313e-03 3.24554058e+00] [-3.12623325e-03 9.99920523e-01 1.22136587e-02 -2.01974159e-01] [ 3.87557592e-03 -1.22015115e-02 9.99918048e-01 -1.81152369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652401008000002 meters Centerline goodness : 0.922368 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.20, Z:-0.19 [[ 9.99971892e-01 7.49695796e-03 1.08771245e-04 3.25729775e+00] [-7.49736896e-03 9.99961924e-01 4.46552008e-03 -2.04280980e-01] [-7.52892873e-05 -4.46621006e-03 9.99990024e-01 -1.86184371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682401008 meters Centerline goodness : 0.921255 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.21, Z:-0.19 [[ 9.99969924e-01 7.75420437e-03 -1.55923827e-04 3.25806526e+00] [-7.75329784e-03 9.99956660e-01 5.15415647e-03 -2.06986188e-01] [ 1.95883451e-04 -5.15279252e-03 9.99986705e-01 -1.86343136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712401008 meters Centerline goodness : 0.920341 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.21, Z:-0.18 [[ 9.99943369e-01 1.06256142e-02 -5.95785943e-04 3.27983819e+00] [-1.06218699e-02 9.99925763e-01 5.97032705e-03 -2.11899954e-01] [ 6.59180105e-04 -5.96366058e-03 9.99982000e-01 -1.83564073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742401008 meters Centerline goodness : 0.923991 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.18 [[ 9.99938775e-01 1.10437670e-02 -6.94223491e-04 3.27958500e+00] [-1.10385752e-02 9.99913982e-01 7.08369270e-03 -2.15007277e-01] [ 7.72394427e-04 -7.07559576e-03 9.99974669e-01 -1.82536156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772401008 meters Centerline goodness : 0.924303 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.18 [[ 9.99935494e-01 1.13265871e-02 -8.46611209e-04 3.27992543e+00] [-1.13186947e-02 9.99897142e-01 8.80867316e-03 -2.21219443e-01] [ 9.46296332e-04 -8.79852241e-03 9.99960844e-01 -1.81514016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802401008 meters Centerline goodness : 0.925286 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.18 [[ 9.99939092e-01 1.09629098e-02 -1.27572913e-03 3.28171186e+00] [-1.09509914e-02 9.99899517e-01 9.00180048e-03 -2.23880540e-01] [ 1.37428686e-03 -8.98728169e-03 9.99958669e-01 -1.82475324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832401008 meters Centerline goodness : 0.925546 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.23, Z:-0.18 [[ 9.99943958e-01 1.04194369e-02 -1.87541851e-03 3.28414504e+00] [-1.04015660e-02 9.99902663e-01 9.29904731e-03 -2.27085849e-01] [ 1.97212680e-03 -9.27901887e-03 9.99955004e-01 -1.83549237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862401008000003 meters Centerline goodness : 0.922251 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.23, Z:-0.18 [[ 9.99949061e-01 9.77700662e-03 -2.50719007e-03 3.28664678e+00] [-9.75227225e-03 9.99905448e-01 9.69479901e-03 -2.31368430e-01] [ 2.60173912e-03 -9.66985436e-03 9.99949861e-01 -1.84512960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892401008 meters Centerline goodness : 0.918919 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.24, Z:-0.18 [[ 9.99978730e-01 5.89084212e-03 -2.79950882e-03 3.28833492e+00] [-5.86943388e-03 9.99953933e-01 7.59479829e-03 -2.39267041e-01] [ 2.84411962e-03 -7.57820521e-03 9.99967240e-01 -1.84674418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922401008 meters Centerline goodness : 0.918760 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.25, Z:-0.18 [[ 0.99995813 0.00723074 -0.00560877 3.31275134] [-0.00717938 0.99993261 0.00912288 -0.24644782] [ 0.00567436 -0.00908223 0.99994266 -0.17993699] [ 0. 0. 0. 1. ]] SLAMing on 16.952401008000002 meters Centerline goodness : 0.919929 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.25, Z:-0.18 [[ 0.99995813 0.0069406 -0.00596413 3.31407997] [-0.00687989 0.99992492 0.0101396 -0.25071407] [ 0.00603406 -0.01009814 0.99993081 -0.17953355] [ 0. 0. 0. 1. ]] SLAMing on 16.982401008 meters Centerline goodness : 0.921328 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.26, Z:-0.18 [[ 0.99995824 0.00699792 -0.00587846 3.31425836] [-0.00691464 0.99987712 0.01406897 -0.26015049] [ 0.00597619 -0.01402774 0.99988375 -0.17535131] [ 0. 0. 0. 1. ]] SLAMing on 17.012401008 meters Centerline goodness : 0.924049 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.26, Z:-0.18 [[ 9.99972204e-01 7.31603618e-03 -1.43732328e-03 3.32768636e+00] [-7.31236368e-03 9.99970028e-01 2.54394985e-03 -2.60482007e-01] [ 1.45589183e-03 -2.53336891e-03 9.99995731e-01 -1.82124371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042401008000002 meters Centerline goodness : 0.922583 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.26, Z:-0.18 [[ 9.99969547e-01 7.64792190e-03 -1.55413748e-03 3.32809058e+00] [-7.64286368e-03 9.99965560e-01 3.23496475e-03 -2.63293970e-01] [ 1.57882471e-03 -3.22298817e-03 9.99993560e-01 -1.82257489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072401008 meters Centerline goodness : 0.919394 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.27, Z:-0.18 [[ 9.99966772e-01 7.99365366e-03 -1.59881981e-03 3.32853673e+00] [-7.98792771e-03 9.99961772e-01 3.55624700e-03 -2.65339978e-01] [ 1.62718610e-03 -3.54335758e-03 9.99992398e-01 -1.83052926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102401008 meters Centerline goodness : 0.922522 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.27, Z:-0.18 [[ 9.99955775e-01 9.34201040e-03 -1.08431624e-03 3.32769907e+00] [-9.33768808e-03 9.99948699e-01 3.92508926e-03 -2.68084336e-01] [ 1.12092884e-03 -3.91479066e-03 9.99991709e-01 -1.84943391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132401008000002 meters Centerline goodness : 0.919586 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.27, Z:-0.19 [[ 9.99912201e-01 1.31358207e-02 -1.74362855e-03 3.32986456e+00] [-1.31203499e-02 9.99876889e-01 8.60596188e-03 -2.71937858e-01] [ 1.85646026e-03 -8.58232927e-03 9.99961448e-01 -1.85224139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162401008 meters Centerline goodness : 0.918915 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.27, Z:-0.19 [[ 9.99906942e-01 1.35498341e-02 -1.58408526e-03 3.32995915e+00] [-1.35359513e-02 9.99872521e-01 8.46869589e-03 -2.72804829e-01] [ 1.69863275e-03 -8.44646571e-03 9.99962885e-01 -1.86533529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192401008 meters Centerline goodness : 0.916181 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.28, Z:-0.19 [[ 9.99896607e-01 1.43111497e-02 -1.40233686e-03 3.32924077e+00] [-1.42977835e-02 9.99856206e-01 9.11812514e-03 -2.75151348e-01] [ 1.53262607e-03 -9.09713208e-03 9.99957446e-01 -1.86447517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222401008000002 meters Centerline goodness : 0.917020 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.28, Z:-0.19 [[ 9.99926368e-01 1.21056048e-02 -8.44911534e-04 3.32672068e+00] [-1.21007185e-02 9.99911288e-01 5.56675338e-03 -2.76206943e-01] [ 9.12225497e-04 -5.55611945e-03 9.99984149e-01 -1.86652374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252401008 meters Centerline goodness : 0.917166 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.28, Z:-0.19 [[ 9.99916223e-01 1.29189330e-02 -8.05261606e-04 3.32587838e+00] [-1.29131502e-02 9.99893401e-01 6.81450526e-03 -2.80272860e-01] [ 8.93211903e-04 -6.80353589e-03 9.99976457e-01 -1.85559877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282401008 meters Centerline goodness : 0.919983 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.29, Z:-0.19 [[ 9.99942858e-01 1.06891691e-02 1.50640323e-04 3.32400970e+00] [-1.06896454e-02 9.99936282e-01 3.62804066e-03 -2.85188503e-01] [-1.11849985e-04 -3.62944364e-03 9.99993407e-01 -1.87700174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312401008000002 meters Centerline goodness : 0.917429 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.19 [[ 9.99944667e-01 1.05183845e-02 -1.65571418e-04 3.32606936e+00] [-1.05177117e-02 9.99938052e-01 3.64272459e-03 -2.88143319e-01] [ 2.03876739e-04 -3.64078159e-03 9.99993352e-01 -1.89800118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342401008 meters Centerline goodness : 0.914403 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.29, Z:-0.19 [[ 9.99947292e-01 1.02504483e-02 -5.84962850e-04 3.32854859e+00] [-1.02482351e-02 9.99940756e-01 3.66861727e-03 -2.91255775e-01] [ 6.22533166e-04 -3.66242907e-03 9.99993100e-01 -1.92064972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372401008 meters Centerline goodness : 0.913569 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.19 [[ 9.99947753e-01 1.01825745e-02 -8.97807379e-04 3.33043507e+00] [-1.01788939e-02 9.99940141e-01 4.01297157e-03 -2.95271585e-01] [ 9.38616020e-04 -4.00362322e-03 9.99991545e-01 -1.93769733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402401008000002 meters Centerline goodness : 0.909934 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.30, Z:-0.20 [[ 9.99968803e-01 7.89473637e-03 -2.56978963e-04 3.32981939e+00] [-7.89414076e-03 9.99966328e-01 2.24162513e-03 -3.04586581e-01] [ 2.74667350e-04 -2.23952657e-03 9.99997455e-01 -1.95121116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432401008 meters Centerline goodness : 0.910848 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.31, Z:-0.20 [[ 9.99988987e-01 4.68457015e-03 2.83688828e-04 3.32861175e+00] [-4.68427815e-03 9.99988507e-01 -1.02134012e-03 -3.08991697e-01] [-2.88470107e-04 1.02000000e-03 9.99999438e-01 -1.95708543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462401008 meters Centerline goodness : 0.915837 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.32, Z:-0.19 [[ 9.99998056e-01 1.93824862e-03 3.60971674e-04 3.33139656e+00] [-1.93965323e-03 9.99990387e-01 3.93236970e-03 -3.18150369e-01] [-3.53346294e-04 -3.93306222e-03 9.99992203e-01 -1.87027486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492401008 meters Centerline goodness : 0.921953 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.33, Z:-0.18 [[ 9.99995699e-01 -2.89837476e-03 4.48483600e-04 3.33199818e+00] [ 2.89637740e-03 9.99986161e-01 4.39191755e-03 -3.27685087e-01] [-4.61206816e-04 -4.39059968e-03 9.99990255e-01 -1.80523984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522401008000003 meters Centerline goodness : 0.923741 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.33, Z:-0.18 [[ 9.99995434e-01 -2.97841702e-03 5.10136924e-04 3.33219936e+00] [ 2.97624204e-03 9.99986698e-01 4.21249369e-03 -3.26762473e-01] [-5.22676701e-04 -4.21095617e-03 9.99990997e-01 -1.80972827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552401008 meters Centerline goodness : 0.921949 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.33, Z:-0.18 [[ 9.99999974e-01 -1.40198131e-04 -1.78051980e-04 3.33526632e+00] [ 1.41590857e-04 9.99969208e-01 7.84624767e-03 -3.26727187e-01] [ 1.76946468e-04 -7.84627268e-03 9.99969202e-01 -1.82049332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582401008 meters Centerline goodness : 0.919982 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.18 [[ 9.99999623e-01 -8.53333078e-04 -1.61385745e-04 3.33687014e+00] [ 8.54360447e-04 9.99978661e-01 6.47676258e-03 -3.23455401e-01] [ 1.55855466e-04 -6.47689802e-03 9.99979013e-01 -1.84723854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612401008000003 meters Centerline goodness : 0.921413 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.19 [[ 9.99999383e-01 -1.10160443e-03 1.45002263e-04 3.33713335e+00] [ 1.10080432e-03 9.99984777e-01 5.40693837e-03 -3.21053551e-01] [-1.50956362e-04 -5.40677541e-03 9.99985372e-01 -1.86760489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642401008 meters Centerline goodness : 0.918888 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.19 [[ 9.99997834e-01 -2.02838500e-03 -4.66260614e-04 3.33966229e+00] [ 2.03052773e-03 9.99987164e-01 4.64196812e-03 -3.20562128e-01] [ 4.56838931e-04 -4.64290482e-03 9.99989117e-01 -1.88190716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672401008 meters Centerline goodness : 0.920445 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.19 [[ 9.99995526e-01 -2.70257260e-03 -1.28246057e-03 3.34192927e+00] [ 2.70853845e-03 9.99985413e-01 4.67317150e-03 -3.21762451e-01] [ 1.26981228e-03 -4.67662419e-03 9.99988258e-01 -1.88164084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702401008000002 meters Centerline goodness : 0.920626 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.32, Z:-0.19 [[ 9.99991297e-01 -3.59036560e-03 -2.12503778e-03 3.34476370e+00] [ 3.59938040e-03 9.99984475e-01 4.25367351e-03 -3.22678326e-01] [ 2.10973255e-03 -4.26128531e-03 9.99988695e-01 -1.89122757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732401008 meters Centerline goodness : 0.919357 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.32, Z:-0.19 [[ 9.99987257e-01 -4.19051245e-03 -2.81512281e-03 3.34701398e+00] [ 4.20213996e-03 9.99982612e-01 4.13723567e-03 -3.24029630e-01] [ 2.79773672e-03 -4.14901249e-03 9.99987479e-01 -1.89767565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762401008 meters Centerline goodness : 0.916323 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.33, Z:-0.19 [[ 0.99998222 -0.0049127 -0.0033791 3.34923933] [ 0.00492793 0.99997766 0.0045161 -0.32700949] [ 0.00335684 -0.00453267 0.99998409 -0.18998089] [ 0. 0. 0. 1. ]] SLAMing on 17.792401008000002 meters Centerline goodness : 0.916876 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.18 [[ 9.99972855e-01 -2.05732571e-03 -7.07506967e-03 3.37785731e+00] [ 2.11806208e-03 9.99960881e-01 8.58781091e-03 -3.31827111e-01] [ 7.05712498e-03 -8.60256323e-03 9.99938095e-01 -1.84003889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822401008 meters Centerline goodness : 0.915888 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.18 [[ 9.99968927e-01 -2.42844068e-03 -7.49981715e-03 3.37905587e+00] [ 2.49297972e-03 9.99959842e-01 8.60808938e-03 -3.31829536e-01] [ 7.47861174e-03 -8.62651880e-03 9.99934825e-01 -1.83824555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852401008 meters Centerline goodness : 0.917630 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.33, Z:-0.18 [[ 9.99965490e-01 -2.87313430e-03 -7.79510511e-03 3.38023368e+00] [ 2.93781050e-03 9.99961253e-01 8.29830213e-03 -3.31872591e-01] [ 7.77096094e-03 -8.32091630e-03 9.99935185e-01 -1.84420958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882401008000002 meters Centerline goodness : 0.913176 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.33, Z:-0.18 [[ 0.99993881 -0.0067988 -0.00872653 3.40074383] [ 0.00696774 0.99978603 0.01947696 -0.33468371] [ 0.00859224 -0.01953657 0.99977222 -0.17706734] [ 0. 0. 0. 1. ]] SLAMing on 17.912401008 meters Centerline goodness : 0.914936 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.34, Z:-0.17 [[ 0.99990518 -0.00498875 -0.01283489 3.43073273] [ 0.00529506 0.9996993 0.02394292 -0.33834028] [ 0.01271159 -0.02400862 0.99963093 -0.16970665] [ 0. 0. 0. 1. ]] SLAMing on 17.942401008 meters Centerline goodness : 0.915694 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.34, Z:-0.16 [[ 0.99986516 -0.00367095 -0.01600554 3.45818677] [ 0.00408683 0.99965283 0.0260293 -0.34153868] [ 0.01590443 -0.0260912 0.99953304 -0.16341113] [ 0. 0. 0. 1. ]] SLAMing on 17.972401008000002 meters Centerline goodness : 0.916599 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.34, Z:-0.16 [[ 0.99984434 -0.0080148 -0.01571784 3.45809963] [ 0.00834638 0.99974159 0.02114459 -0.33946657] [ 0.0155443 -0.02127248 0.99965287 -0.1645531 ] [ 0. 0. 0. 1. ]] SLAMing on 18.002401008 meters Centerline goodness : 0.917528 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.34, Z:-0.16 [[ 0.99982774 -0.00885046 -0.01631416 3.45997113] [ 0.00919847 0.99972907 0.0213815 -0.33992327] [ 0.01612051 -0.02152788 0.99963827 -0.16368267] [ 0. 0. 0. 1. ]] SLAMing on 18.032401008 meters Centerline goodness : 0.919006 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.34, Z:-0.16 [[ 0.9998278 -0.00681833 -0.01725938 3.4634044 ] [ 0.00728586 0.99960421 0.02717231 -0.34258648] [ 0.01706728 -0.02729338 0.99948176 -0.15979259] [ 0. 0. 0. 1. ]] SLAMing on 18.062401008000002 meters Centerline goodness : 0.919095 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.34, Z:-0.16 [[ 0.99979787 -0.01106134 -0.01678857 3.46256718] [ 0.01142424 0.99969978 0.02167585 -0.33823713] [ 0.01654377 -0.02186326 0.99962408 -0.16131749] [ 0. 0. 0. 1. ]] SLAMing on 18.092401008 meters Centerline goodness : 0.920563 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.16 [[ 0.9997654 -0.01462485 -0.01597678 3.4609463 ] [ 0.01488205 0.99975963 0.01609977 -0.33370837] [ 0.01573748 -0.01633376 0.99974274 -0.16374956] [ 0. 0. 0. 1. ]] SLAMing on 18.122401008 meters Centerline goodness : 0.921538 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.17 [[ 0.99974958 -0.01552208 -0.01611943 3.46240694] [ 0.01575621 0.99977071 0.01450043 -0.32992299] [ 0.01589065 -0.01475078 0.99976492 -0.16583518] [ 0. 0. 0. 1. ]] SLAMing on 18.152401008000002 meters Centerline goodness : 0.923698 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.17 [[ 0.99974284 -0.01584978 -0.01621843 3.46298549] [ 0.01607669 0.99977334 0.0139574 -0.3281617 ] [ 0.01599353 -0.01421455 0.99977105 -0.16641446] [ 0. 0. 0. 1. ]] SLAMing on 18.182401008 meters Centerline goodness : 0.925342 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.17 [[ 0.99973764 -0.01607312 -0.0163186 3.46325713] [ 0.01629546 0.99977493 0.01358458 -0.32667237] [ 0.01609658 -0.01384693 0.99977456 -0.16655265] [ 0. 0. 0. 1. ]] SLAMing on 18.212401008 meters Centerline goodness : 0.925954 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.16 [[ 0.99977543 -0.01263608 -0.01701257 3.46419697] [ 0.01295842 0.99973604 0.01897173 -0.32898542] [ 0.01676836 -0.01918792 0.99967527 -0.16327838] [ 0. 0. 0. 1. ]] SLAMing on 18.242401008 meters Centerline goodness : 0.928732 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.33, Z:-0.16 [[ 0.99974972 -0.01513353 -0.01647618 3.46021458] [ 0.01537936 0.99977075 0.01489697 -0.32516165] [ 0.01624695 -0.01514663 0.99975328 -0.16130817] [ 0. 0. 0. 1. ]] SLAMing on 18.272401008000003 meters Centerline goodness : 0.931920 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.16 [[ 0.99975041 -0.01513581 -0.01643226 3.45960617] [ 0.01537823 0.99977327 0.014728 -0.32337672] [ 0.01620562 -0.01497702 0.9997565 -0.16064841] [ 0. 0. 0. 1. ]] SLAMing on 18.302401008 meters Centerline goodness : 0.933357 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.16 [[ 0.99974907 -0.01533705 -0.016327 3.4594873 ] [ 0.01556604 0.99978094 0.01399159 -0.32093449] [ 0.01610883 -0.01424223 0.99976881 -0.16119858] [ 0. 0. 0. 1. ]] SLAMing on 18.332401008 meters Centerline goodness : 0.933302 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.16 [[ 0.99977778 -0.01210855 -0.01725633 3.46142139] [ 0.01243191 0.99974679 0.01875629 -0.32164292] [ 0.01702485 -0.01896665 0.99967516 -0.15918814] [ 0. 0. 0. 1. ]] SLAMing on 18.362401008000003 meters Centerline goodness : 0.933302 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.16 [[ 0.99977839 -0.01208917 -0.01723446 3.46136654] [ 0.01241128 0.99974797 0.01870733 -0.32154938] [ 0.01700397 -0.01891709 0.99967645 -0.15923901] [ 0. 0. 0. 1. ]] SLAMing on 18.392401008 meters Centerline goodness : 0.935265 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.32, Z:-0.16 [[ 0.99974221 -0.01564649 -0.01645326 3.46014112] [ 0.01585369 0.99979569 0.01253915 -0.31540041] [ 0.01625371 -0.01279676 0.99978601 -0.16278191] [ 0. 0. 0. 1. ]] SLAMing on 18.422401008 meters Centerline goodness : 0.933566 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.31, Z:-0.16 [[ 0.99972523 -0.01644872 -0.01670055 3.46155847] [ 0.01663137 0.99980274 0.01085747 -0.31025897] [ 0.01651866 -0.01113223 0.99980158 -0.16466373] [ 0. 0. 0. 1. ]] SLAMing on 18.452401008000002 meters Centerline goodness : 0.933221 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.31, Z:-0.16 [[ 0.99973509 -0.01404925 -0.01823106 3.46583103] [ 0.01431935 0.99978837 0.01477051 -0.3107433 ] [ 0.01801969 -0.01502765 0.99972469 -0.16413041] [ 0. 0. 0. 1. ]] SLAMing on 18.482401008 meters Centerline goodness : 0.931446 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.31, Z:-0.17 [[ 0.99972454 -0.01440018 -0.01853339 3.46699808] [ 0.01465976 0.99979527 0.01394687 -0.30864041] [ 0.01832876 -0.01421472 0.99973096 -0.16526519] [ 0. 0. 0. 1. ]] SLAMing on 18.512401008 meters Centerline goodness : 0.928263 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.17 [[ 9.99797545e-01 -1.25078031e-02 -1.57614780e-02 3.48168081e+00] [ 1.25403999e-02 9.99919424e-01 1.97099753e-03 -3.03820793e-01] [ 1.57355551e-02 -2.16825373e-03 9.99873838e-01 -1.73607985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542401008000002 meters Centerline goodness : 0.926945 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.17 [[ 0.9998251 -0.00885366 -0.01647374 3.48309396] [ 0.00896332 0.99993808 0.00659499 -0.30411932] [ 0.01641433 -0.0067415 0.99984255 -0.17216281] [ 0. 0. 0. 1. ]] SLAMing on 18.572401008 meters Centerline goodness : 0.926464 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.17 [[ 0.99984213 -0.00504173 -0.01703785 3.48391918] [ 0.00522308 0.99993 0.01061635 -0.30199036] [ 0.01698313 -0.01070366 0.99979848 -0.17111363] [ 0. 0. 0. 1. ]] SLAMing on 18.602401008 meters Centerline goodness : 0.926627 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.17 [[ 0.99984405 -0.00505112 -0.01692215 3.48367198] [ 0.0052206 0.99993651 0.00998644 -0.29936071] [ 0.01687063 -0.01007322 0.99980694 -0.17155165] [ 0. 0. 0. 1. ]] SLAMing on 18.632401008000002 meters Centerline goodness : 0.924941 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.30, Z:-0.17 [[ 9.99843504e-01 -1.53999641e-03 -1.76237430e-02 3.48513753e+00] [ 1.80578313e-03 9.99884732e-01 1.50752105e-02 -3.00081760e-01] [ 1.75984958e-02 -1.51046759e-02 9.99731035e-01 -1.69019187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662401008 meters Centerline goodness : 0.931002 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.17 [[ 9.99830730e-01 2.67488853e-03 -1.82032057e-02 3.48493569e+00] [-2.30632837e-03 9.99792532e-01 2.02379514e-02 -3.00865856e-01] [ 1.82535634e-02 -2.01925431e-02 9.99629466e-01 -1.65634212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692401008 meters Centerline goodness : 0.933231 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.30, Z:-0.16 [[ 0.99980285 0.00655489 -0.01874289 3.48557049] [-0.00607582 0.99965626 0.02550379 -0.30185552] [ 0.01890362 -0.02538488 0.999499 -0.16255625] [ 0. 0. 0. 1. ]] SLAMing on 18.722401008000002 meters Centerline goodness : 0.932950 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.30, Z:-0.16 [[ 0.99980604 0.00702737 -0.01839848 3.48448817] [-0.00657191 0.99967331 0.02469981 -0.29872076] [ 0.01856605 -0.02457411 0.9995256 -0.16332454] [ 0. 0. 0. 1. ]] SLAMing on 18.752401008 meters Centerline goodness : 0.933083 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.29, Z:-0.17 [[ 0.99981338 0.01392545 -0.01339002 3.49180489] [-0.01375141 0.99982089 0.01300355 -0.29038002] [ 0.0135687 -0.01281699 0.99982579 -0.17414905] [ 0. 0. 0. 1. ]] SLAMing on 18.782401008 meters Centerline goodness : 0.937155 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.29, Z:-0.17 [[ 0.99979408 0.01545912 -0.01314603 3.48985186] [-0.01529262 0.99980274 0.01267329 -0.28671876] [ 0.01333936 -0.01246964 0.99983327 -0.17421124] [ 0. 0. 0. 1. ]] SLAMing on 18.812401008000002 meters Centerline goodness : 0.939913 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.99977712 0.01948325 -0.00813129 3.50206843] [-0.01945238 0.99980334 0.00385822 -0.2816908 ] [ 0.00820486 -0.00369919 0.9999595 -0.18026012] [ 0. 0. 0. 1. ]] SLAMing on 18.842401008 meters Centerline goodness : 0.940083 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.99968342 0.02376266 -0.00827066 3.50171385] [-0.02369427 0.99968504 0.00827045 -0.2811512 ] [ 0.00846459 -0.00807186 0.9999316 -0.17869633] [ 0. 0. 0. 1. ]] SLAMing on 18.872401008 meters Centerline goodness : 0.943174 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.9995392 0.02940147 -0.00754655 3.49818214] [-0.02930178 0.99948612 0.01299645 -0.27941008] [ 0.00792478 -0.01276933 0.99988706 -0.17635331] [ 0. 0. 0. 1. ]] SLAMing on 18.902401008000002 meters Centerline goodness : 0.943174 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.9995392 0.02940147 -0.00754655 3.49818214] [-0.02930178 0.99948612 0.01299645 -0.27941008] [ 0.00792478 -0.01276933 0.99988706 -0.17635331] [ 0. 0. 0. 1. ]] SLAMing on 18.932401008 meters Centerline goodness : 0.948318 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.9995096 0.03048511 -0.00715626 3.49626334] [-0.03039253 0.99945724 0.01270872 -0.27728182] [ 0.0075398 -0.01248499 0.99989363 -0.17625597] [ 0. 0. 0. 1. ]] SLAMing on 18.962401008 meters Centerline goodness : 0.946171 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 0.99951284 0.0303527 -0.00726678 3.49687821] [-0.03026269 0.99946763 0.01219083 -0.27613565] [ 0.00763294 -0.01196498 0.99989928 -0.17708263] [ 0. 0. 0. 1. ]] SLAMing on 18.992401008 meters Centerline goodness : 0.945439 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.18 [[ 0.99961465 0.0269041 -0.0068352 3.49624154] [-0.02685595 0.99961452 0.00704115 -0.27254394] [ 0.007022 -0.00685487 0.99995185 -0.17948459] [ 0. 0. 0. 1. ]] SLAMing on 19.022401008000003 meters Centerline goodness : 0.944551 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.18 [[ 0.99962784 0.0263515 -0.00705539 3.49772379] [-0.02630725 0.9996341 0.00629205 -0.27180448] [ 0.00721862 -0.0061041 0.99995531 -0.18098434] [ 0. 0. 0. 1. ]] SLAMing on 19.052401008 meters Centerline goodness : 0.942514 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.18 [[ 9.99727488e-01 2.23802801e-02 -6.63878448e-03 3.49790753e+00] [-2.23725364e-02 9.99748936e-01 1.23842212e-03 -2.70743596e-01] [ 6.66483396e-03 -1.08955819e-03 9.99977196e-01 -1.83998655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082401008 meters Centerline goodness : 0.941889 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.19 [[ 9.99807616e-01 1.85771524e-02 -6.29449599e-03 3.49752352e+00] [-1.85978294e-02 9.99821788e-01 -3.24247777e-03 -2.69898476e-01] [ 6.23313823e-03 3.35891793e-03 9.99974933e-01 -1.85437926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112401008000003 meters Centerline goodness : 0.942021 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.19 [[ 9.99813618e-01 1.79954648e-02 -6.99230190e-03 3.49951864e+00] [-1.80149603e-02 9.99833976e-01 -2.73522252e-03 -2.72392096e-01] [ 6.94191941e-03 2.86067876e-03 9.99971813e-01 -1.85162669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142401008 meters Centerline goodness : 0.939448 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.27, Z:-0.18 [[ 9.99819935e-01 1.73973740e-02 -7.57821581e-03 3.50133062e+00] [-1.74156674e-02 9.99845563e-01 -2.35467077e-03 -2.74848625e-01] [ 7.53608036e-03 2.48622646e-03 9.99968513e-01 -1.84993771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172401008 meters Centerline goodness : 0.940620 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.18 [[ 9.99827254e-01 1.68611099e-02 -7.82085656e-03 3.50267576e+00] [-1.68735171e-02 9.99856472e-01 -1.52316017e-03 -2.78471612e-01] [ 7.79405188e-03 1.65486241e-03 9.99968257e-01 -1.84711166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202401008000002 meters Centerline goodness : 0.941784 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.19 [[ 9.99829095e-01 1.67139995e-02 -7.90088210e-03 3.50343622e+00] [-1.67263079e-02 9.99858989e-01 -1.49434715e-03 -2.79687640e-01] [ 7.87479147e-03 1.62624434e-03 9.99967671e-01 -1.85457942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232401008 meters Centerline goodness : 0.941852 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.19 [[ 9.99830343e-01 1.65299047e-02 -8.12697368e-03 3.50435973e+00] [-1.65414512e-02 9.99862262e-01 -1.35559469e-03 -2.80805488e-01] [ 8.10344644e-03 1.48979665e-03 9.99966057e-01 -1.85804653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262401008 meters Centerline goodness : 0.940421 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.19 [[ 9.99829107e-01 1.65583871e-02 -8.22046630e-03 3.50479403e+00] [-1.65691163e-02 9.99861955e-01 -1.23878782e-03 -2.81548905e-01] [ 8.19881918e-03 1.37478198e-03 9.99965444e-01 -1.86123122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292401008000002 meters Centerline goodness : 0.942150 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.19 [[ 9.99823599e-01 1.70507106e-02 -7.87686345e-03 3.50467220e+00] [-1.70631658e-02 9.99853263e-01 -1.51675121e-03 -2.81164395e-01] [ 7.84984594e-03 1.65088788e-03 9.99967827e-01 -1.87861916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322401008 meters Centerline goodness : 0.939086 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.28, Z:-0.19 [[ 9.99821480e-01 1.71956203e-02 -7.83067084e-03 3.50489254e+00] [-1.72088363e-02 9.99850599e-01 -1.62346722e-03 -2.81265151e-01] [ 7.80158440e-03 1.75793413e-03 9.99968022e-01 -1.88600747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352401008 meters Centerline goodness : 0.933852 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.28, Z:-0.19 [[ 9.99820225e-01 1.71861239e-02 -8.00962840e-03 3.50548411e+00] [-1.71984683e-02 9.99851008e-01 -1.47487053e-03 -2.81978388e-01] [ 7.98308772e-03 1.61235872e-03 9.99966835e-01 -1.88737214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382401008000002 meters Centerline goodness : 0.936537 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.28, Z:-0.19 [[ 9.99817050e-01 1.72847095e-02 -8.19179004e-03 3.50577059e+00] [-1.72944148e-02 9.99849818e-01 -1.11540195e-03 -2.83166348e-01] [ 8.17128038e-03 1.25687010e-03 9.99965825e-01 -1.88435017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412401008 meters Centerline goodness : 0.937965 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.28, Z:-0.19 [[ 9.99816450e-01 1.72716090e-02 -8.29200431e-03 3.50616090e+00] [-1.72793573e-02 9.99850328e-01 -8.63688087e-04 -2.83986264e-01] [ 8.27584595e-03 1.00681006e-03 9.99965248e-01 -1.88390791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442401008 meters Centerline goodness : 0.939665 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.29, Z:-0.19 [[ 0.99975762 0.02010705 -0.00896666 3.50889162] [-0.02006894 0.99978926 0.00432054 -0.28839849] [ 0.00905164 -0.00413954 0.99995046 -0.18711286] [ 0. 0. 0. 1. ]] SLAMing on 19.472401008000002 meters Centerline goodness : 0.938842 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.29, Z:-0.18 [[ 0.99971306 0.02150245 -0.01055706 3.51481048] [-0.02138969 0.99971416 0.01068049 -0.29254153] [ 0.01078369 -0.01045162 0.99988723 -0.1829535 ] [ 0. 0. 0. 1. ]] SLAMing on 19.502401008 meters Centerline goodness : 0.941689 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.29, Z:-0.19 [[ 0.99979587 0.01734039 -0.01036928 3.51507349] [-0.01728391 0.99983543 0.00551182 -0.29094397] [ 0.01046315 -0.00533147 0.99993105 -0.18517617] [ 0. 0. 0. 1. ]] SLAMing on 19.532401008 meters Centerline goodness : 0.941367 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.29, Z:-0.19 [[ 0.9997986 0.01680116 -0.01097655 3.51687205] [-0.01674027 0.9998441 0.00561543 -0.29241197] [ 0.01106919 -0.00543055 0.99992399 -0.18522362] [ 0. 0. 0. 1. ]] SLAMing on 19.562401008000002 meters Centerline goodness : 0.948751 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.30, Z:-0.19 [[ 0.99981117 0.0155909 -0.01159927 3.51988386] [-0.01552368 0.99986231 0.00586288 -0.29538187] [ 0.01168909 -0.00568171 0.99991554 -0.18573624] [ 0. 0. 0. 1. ]] SLAMing on 19.592401008 meters Centerline goodness : 0.943994 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.29, Z:-0.19 [[ 9.99870706e-01 1.15167655e-02 -1.12221107e-02 3.51980653e+00] [-1.15044762e-02 9.99933150e-01 1.15903659e-03 -2.94295280e-01] [ 1.12347089e-02 -1.02978223e-03 9.99936358e-01 -1.87553153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622401008 meters Centerline goodness : 0.946290 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.30, Z:-0.19 [[ 9.99871854e-01 1.08962537e-02 -1.17280808e-02 3.52167324e+00] [-1.08774715e-02 9.99939454e-01 1.66407093e-03 -2.96587881e-01] [ 1.17455029e-02 -1.53628582e-03 9.99929839e-01 -1.87383437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652401008000002 meters Centerline goodness : 0.947505 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.30, Z:-0.19 [[ 9.99872018e-01 1.02699107e-02 -1.22668635e-02 3.52339999e+00] [-1.02462097e-02 9.99945519e-01 1.99339997e-03 -2.98218982e-01] [ 1.22866672e-02 -1.86745599e-03 9.99922772e-01 -1.87184514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682401008000003 meters Centerline goodness : 0.943363 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.30, Z:-0.19 [[ 9.99874329e-01 8.70092667e-03 -1.32521483e-02 3.52763633e+00] [-8.67840200e-03 9.99960800e-01 1.75625907e-03 -3.00743099e-01] [ 1.32669099e-02 -1.64103089e-03 9.99910644e-01 -1.88645803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712401008 meters Centerline goodness : 0.942750 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.30, Z:-0.19 [[ 9.99868985e-01 8.12833176e-03 -1.39979815e-02 3.53016398e+00] [-8.10043637e-03 9.99965093e-01 2.04836199e-03 -3.02928691e-01] [ 1.40141426e-02 -1.93470387e-03 9.99899925e-01 -1.88975700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742401008 meters Centerline goodness : 0.947871 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.31, Z:-0.19 [[ 9.99861066e-01 7.71859909e-03 -1.47740256e-02 3.53236017e+00] [-7.68161223e-03 9.99967223e-01 2.55861909e-03 -3.05648696e-01] [ 1.47932903e-02 -2.44477527e-03 9.99887584e-01 -1.88818983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772401008000003 meters Centerline goodness : 0.947516 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.31, Z:-0.19 [[ 9.99854551e-01 7.28736067e-03 -1.54198387e-02 3.53439425e+00] [-7.24514574e-03 9.99969856e-01 2.79179733e-03 -3.07794454e-01] [ 1.54397187e-02 -2.67967229e-03 9.99877210e-01 -1.89105009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802401008 meters Centerline goodness : 0.948909 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.31, Z:-0.19 [[ 9.99848516e-01 6.94698496e-03 -1.59588597e-02 3.53625409e+00] [-6.90364055e-03 9.99972334e-01 2.76949640e-03 -3.08878812e-01] [ 1.59776579e-02 -2.65890263e-03 9.99868814e-01 -1.89787575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832401008 meters Centerline goodness : 0.951423 Centerline is valid? [False, True] Translation: X:3.54, Y:-0.31, Z:-0.19 [[ 0.99980237 0.00959059 -0.01741358 3.54160497] [-0.00947275 0.99993176 0.006837 -0.31094305] [ 0.01747796 -0.0066707 0.999825 -0.19092441] [ 0. 0. 0. 1. ]] SLAMing on 19.862401008000003 meters Centerline goodness : 0.950044 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.31, Z:-0.20 [[ 9.99792382e-01 1.04061835e-02 -1.75186631e-02 3.57116049e+00] [-1.04028790e-02 9.99945849e-01 2.79745937e-04 -3.09191509e-01] [ 1.75206256e-02 -9.74433242e-05 9.99846497e-01 -1.97344738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892401008 meters Centerline goodness : 0.950569 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.31, Z:-0.20 [[ 9.99777434e-01 1.17549400e-02 -1.75186729e-02 3.60086384e+00] [-1.17518532e-02 9.99930906e-01 2.79136316e-04 -3.11237841e-01] [ 1.75207437e-02 -7.31973180e-05 9.99846497e-01 -1.99824131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922401008 meters Centerline goodness : 0.948087 Centerline is valid? [True, False] Translation: X:3.60, Y:-0.31, Z:-0.20 [[ 9.99767329e-01 1.18403770e-02 -1.80303410e-02 3.60227756e+00] [-1.18362048e-02 9.99929893e-01 3.38097304e-04 -3.12722269e-01] [ 1.80330802e-02 -1.24607830e-04 9.99837383e-01 -2.00588979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952401008000002 meters Centerline goodness : 0.949050 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.32, Z:-0.20 [[ 0.9996964 0.01521311 -0.01938202 3.60508971] [-0.01508434 0.99986329 0.00677293 -0.31741199] [ 0.01948241 -0.00647851 0.99978921 -0.19644944] [ 0. 0. 0. 1. ]] SLAMing on 19.982401008 meters Centerline goodness : 0.952934 Centerline is valid? [False, True] Translation: X:3.61, Y:-0.32, Z:-0.20 [[ 0.99969005 0.01509524 -0.01979727 3.60576679] [-0.0149547 0.99986205 0.00722824 -0.31912103] [ 0.01990365 -0.00692994 0.99977789 -0.19559002] [ 0. 0. 0. 1. ]] SLAMing on 20.012401008 meters Centerline goodness : 0.951445 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.32, Z:-0.20 [[ 9.99710159e-01 1.35327565e-02 -1.99113714e-02 3.63655970e+00] [-1.35289101e-02 9.99908426e-01 3.27872381e-04 -3.18834638e-01] [ 1.99139851e-02 -5.83981951e-05 9.99801695e-01 -1.99708038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042401008000002 meters Centerline goodness : 0.955051 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.32, Z:-0.19 [[ 9.99773652e-01 7.49565589e-03 -1.99112989e-02 3.66745693e+00] [-7.49052574e-03 9.99971890e-01 3.32219416e-04 -3.23219253e-01] [ 1.99132294e-02 -1.82998122e-04 9.99801695e-01 -1.94064824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072401008 meters Centerline goodness : 0.955411 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.32, Z:-0.19 [[ 9.99797048e-01 3.06659329e-03 -1.99112877e-02 3.69588518e+00] [-3.06057168e-03 9.99995261e-01 3.32888099e-04 -3.24639091e-01] [ 1.99122142e-02 -2.71880615e-04 9.99801695e-01 -1.92373181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401008 meters Centerline goodness : 0.958391 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.33, Z:-0.19 [[ 9.99800662e-01 -1.47480361e-03 -1.99113102e-02 3.72412444e+00] [ 1.48169856e-03 9.99998847e-01 3.31534729e-04 -3.26085459e-01] [ 1.99107983e-02 -3.60971202e-04 9.99801695e-01 -1.91262184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132401008000002 meters Centerline goodness : 0.957277 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.33, Z:-0.19 [[ 9.99781758e-01 -6.32264026e-03 -1.99113379e-02 3.75304290e+00] [ 6.33046282e-03 9.99979908e-01 3.29863090e-04 -3.27806100e-01] [ 1.99088523e-02 -4.55839085e-04 9.99801695e-01 -1.89567988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters Centerline goodness : 0.957613 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.33, Z:-0.19 [[ 9.99704944e-01 -1.39126865e-02 -1.99113597e-02 3.78046374e+00] [ 1.39219869e-02 9.99903030e-01 3.28541650e-04 -3.32535976e-01] [ 1.99048580e-02 -6.05650401e-04 9.99801695e-01 -1.86406955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192401008 meters Centerline goodness : 0.957655 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.33, Z:-0.19 [[ 9.99660232e-01 -1.68213359e-02 -1.99113867e-02 3.80891874e+00] [ 1.68311799e-02 9.99858292e-01 3.26900285e-04 -3.34033401e-01] [ 1.99030662e-02 -6.61921347e-04 9.99801695e-01 -1.85702191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222401008000002 meters Centerline goodness : 0.959619 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.33, Z:-0.19 [[ 9.99618039e-01 -1.91653318e-02 -1.99114695e-02 3.83672577e+00] [ 1.91755382e-02 9.99816081e-01 3.21773260e-04 -3.34577735e-01] [ 1.99016405e-02 -7.03463500e-04 9.99801695e-01 -1.86298556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252401008 meters Centerline goodness : 0.959619 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.33, Z:-0.19 [[ 9.99612770e-01 -1.94381635e-02 -1.99115233e-02 3.86540309e+00] [ 1.94483571e-02 9.99810812e-01 3.18412543e-04 -3.34879621e-01] [ 1.99015669e-02 -7.05535659e-04 9.99801695e-01 -1.85729815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282401008 meters Centerline goodness : 0.958600 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.33, Z:-0.19 [[ 9.99575741e-01 -2.12571187e-02 -1.99116087e-02 3.89344263e+00] [ 2.12675646e-02 9.99773771e-01 3.12978190e-04 -3.34382362e-01] [ 1.99004511e-02 -7.36316830e-04 9.99801695e-01 -1.88245050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312401008000002 meters Centerline goodness : 0.960982 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.33, Z:-0.19 [[ 9.99594461e-01 -2.03577871e-02 -1.99116479e-02 3.92203262e+00] [ 2.03680047e-02 9.99792502e-01 3.10460832e-04 -3.34282286e-01] [ 1.99011960e-02 -7.15895468e-04 9.99801695e-01 -1.89413042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342401008 meters Centerline goodness : 0.960604 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.33, Z:-0.19 [[ 9.99628028e-01 -1.86367885e-02 -1.99117185e-02 3.94966629e+00] [ 1.86465737e-02 9.99826091e-01 3.05866671e-04 -3.33675415e-01] [ 1.99025553e-02 -6.77038223e-04 9.99801695e-01 -1.91953927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372401008 meters Centerline goodness : 0.961196 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.33, Z:-0.19 [[ 9.99655122e-01 -1.71218912e-02 -1.99117435e-02 3.97862593e+00] [ 1.71313438e-02 9.99853201e-01 3.04234765e-04 -3.32668278e-01] [ 1.99036114e-02 -6.45244765e-04 9.99801695e-01 -1.92050244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402401008000002 meters Centerline goodness : 0.959860 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.33, Z:-0.20 [[ 9.99728828e-01 -1.20743891e-02 -1.99118130e-02 4.00725309e+00] [ 1.20827495e-02 9.99926956e-01 2.99615360e-04 -3.29902319e-01] [ 1.99067409e-02 -5.40123561e-04 9.99801695e-01 -1.95466466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432401008000003 meters Centerline goodness : 0.957062 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.33, Z:-0.19 [[ 9.99768420e-01 -8.16232940e-03 -1.99118811e-02 4.03651450e+00] [ 8.16982288e-03 9.99966583e-01 2.95013414e-04 -3.28589057e-01] [ 1.99088078e-02 -4.57621637e-04 9.99801695e-01 -1.94369423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462401008 meters Centerline goodness : 0.956832 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.33, Z:-0.20 [[ 9.99795562e-01 -3.51417475e-03 -1.99119504e-02 4.06411723e+00] [ 3.52065234e-03 9.99993760e-01 2.90265789e-04 -3.27256959e-01] [ 1.99108061e-02 -3.60309502e-04 9.99801695e-01 -1.95029155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492401008 meters Centerline goodness : 0.958546 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.33, Z:-0.20 [[ 9.99800929e-01 1.27117811e-03 -1.99119747e-02 4.09210248e+00] [-1.26568263e-03 9.99999157e-01 2.88588466e-04 -3.25550221e-01] [ 1.99123247e-02 -2.63328776e-04 9.99801695e-01 -1.95960220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008000003 meters Centerline goodness : 0.957368 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.32, Z:-0.20 [[ 9.99784576e-01 5.85784826e-03 -1.99119985e-02 4.11913029e+00] [-5.85329512e-03 9.99982828e-01 2.86937296e-04 -3.23923886e-01] [ 1.99133374e-02 -1.70324679e-04 9.99801695e-01 -1.96640358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552401008 meters Centerline goodness : 0.957304 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.32, Z:-0.19 [[ 9.99705768e-01 1.38523559e-02 -1.99120714e-02 4.14753261e+00] [-1.38494909e-02 9.99904051e-01 2.81780109e-04 -3.21737631e-01] [ 1.99140642e-02 -5.92514703e-06 9.99801695e-01 -1.94575275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401008 meters Centerline goodness : 0.959716 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.32, Z:-0.19 [[ 9.99666658e-01 1.64341675e-02 -1.99120940e-02 4.17893605e+00] [-1.64318466e-02 9.99864949e-01 2.80174922e-04 -3.21864950e-01] [ 1.99140093e-02 4.71109465e-05 9.99801695e-01 -1.91606779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612401008000003 meters Centerline goodness : 0.961303 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.32, Z:-0.19 [[ 9.99645389e-01 1.76806293e-02 -1.99120846e-02 4.21108812e+00] [-1.76785424e-02 9.99843683e-01 2.80842976e-04 -3.21671255e-01] [ 1.99139375e-02 7.12732456e-05 9.99801695e-01 -1.89839192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters Centerline goodness : 0.963073 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.32, Z:-0.19 [[ 9.99650127e-01 1.74107793e-02 -1.99120172e-02 4.24223639e+00] [-1.74085452e-02 9.99848419e-01 2.85543305e-04 -3.21508818e-01] [ 1.99139704e-02 6.11958498e-05 9.99801695e-01 -1.88950851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672401008 meters Centerline goodness : 0.961517 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.32, Z:-0.19 [[ 9.99716386e-01 1.30637682e-02 -1.99119541e-02 4.27362185e+00] [-1.30605855e-02 9.99914665e-01 2.89878500e-04 -3.21402781e-01] [ 1.99140418e-02 -2.97345064e-05 9.99801695e-01 -1.88815341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008000002 meters Centerline goodness : 0.964607 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.32, Z:-0.19 [[ 9.99758029e-01 9.34881045e-03 -1.99118908e-02 4.30443689e+00] [-9.34480563e-03 9.99956293e-01 2.94165176e-04 -3.22353497e-01] [ 1.99137706e-02 -1.08021248e-04 9.99801695e-01 -1.88180781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732401008 meters Centerline goodness : 0.963662 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.32, Z:-0.19 [[ 9.99787917e-01 5.25720512e-03 -1.99118908e-02 4.33367751e+00] [-5.25238893e-03 9.99986163e-01 2.94165176e-04 -3.23546445e-01] [ 1.99131617e-02 -1.89517794e-04 9.99801695e-01 -1.87338311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401008 meters Centerline goodness : 0.963734 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.33, Z:-0.19 [[ 9.99801476e-01 7.23897964e-04 -1.99119004e-02 4.36301040e+00] [-7.18195928e-04 9.99999699e-01 2.93512732e-04 -3.25341523e-01] [ 1.99121069e-02 -2.79153817e-04 9.99801695e-01 -1.86602234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792401008000002 meters Centerline goodness : 0.963248 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.33, Z:-0.19 [[ 9.99751268e-01 -1.00457360e-02 -1.99119195e-02 4.39107660e+00] [ 1.00535470e-02 9.99949419e-01 2.92208417e-04 -3.28160152e-01] [ 1.99079769e-02 -4.92321154e-04 9.99801695e-01 -1.86127596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters Centerline goodness : 0.962603 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.33, Z:-0.19 [[ 9.99678203e-01 -1.57164176e-02 -1.99119431e-02 4.41948415e+00] [ 1.57253201e-02 9.99876307e-01 2.90589285e-04 -3.28593188e-01] [ 1.99049132e-02 -6.03617454e-04 9.99801695e-01 -1.87574386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852401008 meters Centerline goodness : 0.963576 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.33, Z:-0.19 [[ 9.99568376e-01 -2.16003423e-02 -1.99119775e-02 4.44750661e+00] [ 2.16103635e-02 9.99766427e-01 2.88216519e-04 -3.27996133e-01] [ 1.99011010e-02 -7.18397191e-04 9.99801695e-01 -1.87986749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882401008000002 meters Centerline goodness : 0.964177 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.33, Z:-0.19 [[ 9.99349181e-01 -3.00786421e-02 -1.99120487e-02 4.47649141e+00] [ 3.00902434e-02 9.99547146e-01 2.83207967e-04 -3.26885029e-01] [ 1.98945130e-02 -8.82182043e-04 9.99801695e-01 -1.87435833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912401008 meters Centerline goodness : 0.965913 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.33, Z:-0.19 [[ 9.99271795e-01 -3.25482176e-02 -1.99121136e-02 4.50466463e+00] [ 3.25602160e-02 9.99469737e-01 2.78573846e-04 -3.26516531e-01] [ 1.98924878e-02 -9.26713705e-04 9.99801695e-01 -1.87147350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942401008 meters Centerline goodness : 0.965172 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.33, Z:-0.19 [[ 9.99244900e-01 -3.33637112e-02 -1.99121361e-02 4.53255769e+00] [ 3.33758389e-02 9.99442833e-01 2.76952833e-04 -3.25820068e-01] [ 1.98918015e-02 -9.41327952e-04 9.99801695e-01 -1.86428943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972401008000002 meters Centerline goodness : 0.964543 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.33, Z:-0.18 [[ 9.99276847e-01 -3.23927097e-02 -1.99122069e-02 4.56154470e+00] [ 3.24045420e-02 9.99474798e-01 2.71767077e-04 -3.25273669e-01] [ 1.98929457e-02 -9.16816491e-04 9.99801695e-01 -1.84394464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002401008 meters Centerline goodness : 0.966426 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.32, Z:-0.18 [[ 9.99442749e-01 -2.67897802e-02 -1.99122689e-02 4.58967619e+00] [ 2.68004104e-02 9.99640769e-01 2.67141712e-04 -3.21124513e-01] [ 1.98979592e-02 -8.00649826e-04 9.99801695e-01 -1.84660425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032401008 meters Centerline goodness : 0.965987 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.32, Z:-0.19 [[ 9.99531718e-01 -2.32345916e-02 -1.99122907e-02 4.61808128e+00] [ 2.32444849e-02 9.99729775e-01 2.65508348e-04 -3.17767118e-01] [ 1.99007409e-02 -7.28234955e-04 9.99801695e-01 -1.85336606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062401008000002 meters Centerline goodness : 0.965074 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.31, Z:-0.19 [[ 9.99615061e-01 -1.93191610e-02 -1.99123122e-02 4.64651571e+00] [ 1.93282462e-02 9.99813157e-01 2.63887942e-04 -3.13781995e-01] [ 1.99034936e-02 -6.48656433e-04 9.99801695e-01 -1.85240291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092401008000003 meters Centerline goodness : 0.966032 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.31, Z:-0.19 [[ 9.99687271e-01 -1.51279978e-02 -1.99123806e-02 4.67569368e+00] [ 1.51361475e-02 9.99885409e-01 2.58622382e-04 -3.10524929e-01] [ 1.99061864e-02 -5.59938233e-04 9.99801695e-01 -1.86056186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122401008 meters Centerline goodness : 0.962671 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.31, Z:-0.19 [[ 9.99743828e-01 -1.07597695e-02 -1.99124396e-02 4.70432526e+00] [ 1.07669613e-02 9.99942002e-01 2.53996005e-04 -3.07915254e-01] [ 1.99085518e-02 -4.68327405e-04 9.99801695e-01 -1.86665312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152401008000002 meters Centerline goodness : 0.962531 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.31, Z:-0.19 [[ 9.99777980e-01 -6.89075954e-03 -1.99124976e-02 4.73238864e+00] [ 6.89709214e-03 9.99976184e-01 2.49361794e-04 -3.05280657e-01] [ 1.99103051e-02 -3.86644762e-04 9.99801695e-01 -1.87603676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008000003 meters Centerline goodness : 0.964215 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.30, Z:-0.18 [[ 9.99801391e-01 -8.18901162e-04 -1.99125182e-02 4.76099604e+00] [ 8.23997053e-04 9.99999630e-01 2.47710580e-04 -3.01977435e-01] [ 1.99123079e-02 -2.64069239e-04 9.99801695e-01 -1.84556032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212401008 meters Centerline goodness : 0.967296 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.30, Z:-0.18 [[ 9.99801699e-01 2.26472553e-04 -1.99125724e-02 4.79015307e+00] [-2.21672404e-04 9.99999946e-01 2.43268143e-04 -3.00681616e-01] [ 1.99126265e-02 -2.38805835e-04 9.99801695e-01 -1.80802414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401008 meters Centerline goodness : 0.968655 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.30, Z:-0.18 [[ 9.99800818e-01 1.34561361e-03 -1.99126265e-02 4.81948784e+00] [-1.34112516e-03 9.99999072e-01 2.38759841e-04 -3.00205946e-01] [ 1.99129293e-02 -2.12006961e-04 9.99801695e-01 -1.79149260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272401008000003 meters Centerline goodness : 0.972018 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.30, Z:-0.18 [[ 9.99800913e-01 1.27291828e-03 -1.99126793e-02 4.84708064e+00] [-1.26850473e-03 9.99999168e-01 2.34274608e-04 -2.97969601e-01] [ 1.99129609e-02 -2.08968639e-04 9.99801695e-01 -1.77469611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters Centerline goodness : 0.971194 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.30, Z:-0.18 [[ 9.99801384e-01 8.22859904e-04 -1.99126978e-02 4.87493427e+00] [-8.18388764e-04 9.99999638e-01 2.32685034e-04 -2.96542232e-01] [ 1.99128821e-02 -2.16342491e-04 9.99801695e-01 -1.77683776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332401008 meters Centerline goodness : 0.972232 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.30, Z:-0.18 [[ 9.99801595e-01 5.04996311e-04 -1.99127197e-02 4.90398776e+00] [-5.00499652e-04 9.99999848e-01 2.30801449e-04 -2.95537254e-01] [ 1.99128332e-02 -2.20789348e-04 9.99801696e-01 -1.77591881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008000003 meters Centerline goodness : 0.969727 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.30, Z:-0.18 [[ 9.99801687e-01 -2.63340037e-04 -1.99127341e-02 4.93333693e+00] [ 2.67964115e-04 9.99999938e-01 2.29549254e-04 -2.95239830e-01] [ 1.99126724e-02 -2.34839630e-04 9.99801696e-01 -1.76086960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392401008 meters Centerline goodness : 0.970651 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.30, Z:-0.18 [[ 9.99801589e-01 -5.15483776e-04 -1.99127454e-02 4.96084258e+00] [ 5.20138275e-04 9.99999839e-01 2.28566177e-04 -2.95688383e-01] [ 1.99126244e-02 -2.38878208e-04 9.99801696e-01 -1.75531537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401008 meters Centerline goodness : 0.969392 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.30, Z:-0.17 [[ 9.99801220e-01 -1.00163144e-03 -1.99127641e-02 4.98991590e+00] [ 1.00634973e-03 9.99999468e-01 2.26928822e-04 -2.95468524e-01] [ 1.99125262e-02 -2.46922918e-04 9.99801696e-01 -1.74846165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452401008000002 meters Centerline goodness : 0.967499 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.30, Z:-0.18 [[ 9.99801059e-01 -1.15032218e-03 -1.99127791e-02 5.01774472e+00] [ 1.15504358e-03 9.99999307e-01 2.25604449e-04 -2.95320203e-01] [ 1.99125057e-02 -2.48559694e-04 9.99801696e-01 -1.76003070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters Centerline goodness : 0.966403 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.29, Z:-0.18 [[ 9.99800828e-01 -1.33599985e-03 -1.99127973e-02 5.04630065e+00] [ 1.34072572e-03 9.99999076e-01 2.23979965e-04 -2.94502547e-01] [ 1.99124797e-02 -2.50632954e-04 9.99801696e-01 -1.77299471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512401008 meters Centerline goodness : 0.963932 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.29, Z:-0.18 [[ 9.99801609e-01 4.71224382e-04 -1.99128477e-02 5.07388495e+00] [-4.66947852e-04 9.99999867e-01 2.19411406e-04 -2.93204035e-01] [ 1.99129484e-02 -2.10069615e-04 9.99801696e-01 -1.80463718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008000002 meters Centerline goodness : 0.962008 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.29, Z:-0.18 [[ 9.99800489e-01 1.56819595e-03 -1.99128654e-02 5.10308578e+00] [-1.56416915e-03 9.99998753e-01 2.17794208e-04 -2.92349334e-01] [ 1.99131821e-02 -1.86603666e-04 9.99801696e-01 -1.79877524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572401008 meters Centerline goodness : 0.960107 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.29, Z:-0.18 [[ 9.99798183e-01 2.65881411e-03 -1.99129148e-02 5.13119891e+00] [-2.65509555e-03 9.99996453e-01 2.13176518e-04 -2.91683020e-01] [ 1.99134109e-02 -1.60262804e-04 9.99801696e-01 -1.81595230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401008 meters Centerline goodness : 0.961121 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.29, Z:-0.18 [[ 9.99794412e-01 3.82205867e-03 -1.99129322e-02 5.15888878e+00] [-3.81860341e-03 9.99992687e-01 2.11539150e-04 -2.91546192e-01] [ 1.99135951e-02 -1.35456069e-04 9.99801696e-01 -1.79921803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632401008000002 meters Centerline goodness : 0.959990 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.29, Z:-0.18 [[ 9.99788639e-01 5.11381556e-03 -1.99129862e-02 5.18664625e+00] [-5.11072023e-03 9.99986919e-01 2.06330201e-04 -2.91939892e-01] [ 1.99137808e-02 -1.04516889e-04 9.99801696e-01 -1.78660066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters Centerline goodness : 0.961372 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.29, Z:-0.18 [[ 9.99780110e-01 6.57298638e-03 -1.99130065e-02 5.21453269e+00] [-6.57022001e-03 9.99978395e-01 2.04343539e-04 -2.93034222e-01] [ 1.99139195e-02 -7.34657720e-05 9.99801696e-01 -1.76950225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692401008 meters Centerline goodness : 0.963004 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.29, Z:-0.18 [[ 9.99774161e-01 7.42278555e-03 -1.99130200e-02 5.24290001e+00] [-7.42021405e-03 9.99972449e-01 2.03020830e-04 -2.93506905e-01] [ 1.99139784e-02 -5.52161087e-05 9.99801696e-01 -1.77376156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008000002 meters Centerline goodness : 0.963020 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.29, Z:-0.18 [[ 9.99773956e-01 7.45032992e-03 -1.99130399e-02 5.27126107e+00] [-7.44780303e-03 9.99972245e-01 2.01055856e-04 -2.93747157e-01] [ 1.99139851e-02 -5.27020099e-05 9.99801696e-01 -1.76764892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752401008 meters Centerline goodness : 0.961923 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.29, Z:-0.18 [[ 9.99782718e-01 6.16343908e-03 -1.99130534e-02 5.30028932e+00] [-6.16068374e-03 9.99981003e-01 1.99711095e-04 -2.94388979e-01] [ 1.99139060e-02 -7.69896776e-05 9.99801696e-01 -1.76553795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401008 meters Centerline goodness : 0.961079 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.30, Z:-0.18 [[ 9.99785716e-01 5.65605992e-03 -1.99130668e-02 5.32888038e+00] [-5.65323085e-03 9.99984001e-01 1.98361111e-04 -2.95889130e-01] [ 1.99138702e-02 -8.57454421e-05 9.99801696e-01 -1.76098523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812401008000002 meters Centerline goodness : 0.960312 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.30, Z:-0.18 [[ 9.99795710e-01 3.46505568e-03 -1.99130798e-02 5.35663102e+00] [-3.46181819e-03 9.99993988e-01 1.97050161e-04 -2.97802927e-01] [ 1.99136429e-02 -1.28074444e-04 9.99801696e-01 -1.76806881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008000003 meters Centerline goodness : 0.958577 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.30, Z:-0.18 [[ 9.99801310e-01 8.99816535e-04 -1.99130958e-02 5.38339152e+00] [-8.96102795e-04 9.99999579e-01 1.95419556e-04 -3.00220542e-01] [ 1.99132632e-02 -1.77536547e-04 9.99801696e-01 -1.75533431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872401008 meters Centerline goodness : 0.956180 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.30, Z:-0.17 [[ 9.99780292e-01 -6.54488930e-03 -1.99131168e-02 5.41209381e+00] [ 6.55003606e-03 9.99978530e-01 1.93248805e-04 -3.04861391e-01] [ 1.99114245e-02 -3.23637980e-04 9.99801696e-01 -1.72325825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902401008000002 meters Centerline goodness : 0.955157 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.31, Z:-0.17 [[ 9.99735980e-01 -1.14646511e-02 -1.99131263e-02 5.44036389e+00] [ 1.14707539e-02 9.99934190e-01 1.92272226e-04 -3.06365893e-01] [ 1.99096115e-02 -4.20640032e-04 9.99801696e-01 -1.71647586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932401008000003 meters Centerline goodness : 0.956205 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.31, Z:-0.17 [[ 9.99667229e-01 -1.63980959e-02 -1.99131419e-02 5.46842468e+00] [ 1.64051443e-02 9.99865408e-01 1.90643654e-04 -3.07808109e-01] [ 1.99073355e-02 -5.17258179e-04 9.99801696e-01 -1.70650906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962401008 meters Centerline goodness : 0.954076 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.31, Z:-0.17 [[ 9.99566805e-01 -2.16717900e-02 -1.99131909e-02 5.49586038e+00] [ 2.16797790e-02 9.99764949e-01 1.85375440e-04 -3.09395601e-01] [ 1.99044929e-02 -6.17008716e-04 9.99801696e-01 -1.71152018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992401008 meters Centerline goodness : 0.951884 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.31, Z:-0.17 [[ 9.99348823e-01 -3.00897584e-02 -1.99132233e-02 5.52405782e+00] [ 3.00993454e-02 9.99546896e-01 1.81827786e-04 -3.14047305e-01] [ 1.98987294e-02 -7.81084370e-04 9.99801696e-01 -1.71789282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022401008000003 meters Centerline goodness : 0.950387 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.31, Z:-0.17 [[ 9.99202759e-01 -3.46021724e-02 -1.99132375e-02 5.55215631e+00] [ 3.46126225e-02 9.99400787e-01 1.80257321e-04 -3.14855853e-01] [ 1.98950680e-02 -8.69362985e-04 9.99801696e-01 -1.71098333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052401008 meters Centerline goodness : 0.949096 Centerline is valid? [True, False] Translation: X:5.54, Y:-0.32, Z:-0.16 [[ 0.99906294 -0.03615097 -0.02379808 5.53707532] [ 0.03644876 0.99926104 0.01220069 -0.3196694 ] [ 0.02333942 -0.01305667 0.99964233 -0.16210777] [ 0. 0. 0. 1. ]] SLAMing on 22.082401008 meters Centerline goodness : 0.949571 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.32, Z:-0.16 [[ 0.99891541 -0.04036955 -0.02320129 5.53688112] [ 0.04053876 0.99915435 0.0068694 -0.31671255] [ 0.02290435 -0.0078025 0.99970721 -0.16436526] [ 0. 0. 0. 1. ]] SLAMing on 22.112401008000003 meters Centerline goodness : 0.945366 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.32, Z:-0.17 [[ 0.99939956 -0.03343658 -0.0090832 5.53456174] [ 0.03351597 0.99940003 0.00873316 -0.31986027] [ 0.00878574 -0.00903235 0.99992061 -0.17236722] [ 0. 0. 0. 1. ]] SLAMing on 22.142401008 meters Centerline goodness : 0.945366 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.32, Z:-0.17 [[ 0.99939956 -0.03343658 -0.0090832 5.53456174] [ 0.03351597 0.99940003 0.00873316 -0.31986027] [ 0.00878574 -0.00903235 0.99992061 -0.17236722] [ 0. 0. 0. 1. ]] SLAMing on 22.172401008 meters Centerline goodness : 0.946461 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.32, Z:-0.17 [[ 0.99940687 -0.03327049 -0.00888736 5.53415001] [ 0.03334203 0.99941176 0.00802726 -0.3175012 ] [ 0.00861506 -0.00831882 0.99992829 -0.17314478] [ 0. 0. 0. 1. ]] SLAMing on 22.202401008000002 meters Centerline goodness : 0.943140 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.31, Z:-0.17 [[ 0.99941501 -0.0330668 -0.00873093 5.53366003] [ 0.0331293 0.99942575 0.00711411 -0.31378178] [ 0.00849067 -0.0073992 0.99993658 -0.1740074 ] [ 0. 0. 0. 1. ]] SLAMing on 22.232401008 meters Centerline goodness : 0.944748 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.31, Z:-0.17 [[ 0.99953489 -0.02908582 -0.00916573 5.53379705] [ 0.02919066 0.99950748 0.01151992 -0.31291907] [ 0.00882615 -0.01178212 0.99989163 -0.17248506] [ 0. 0. 0. 1. ]] SLAMing on 22.262401008 meters Centerline goodness : 0.943663 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.31, Z:-0.17 [[ 0.99966109 -0.02442274 -0.00901279 5.53141864] [ 0.02455827 0.99958214 0.01524619 -0.30841723] [ 0.00863667 -0.01546236 0.99984315 -0.17062821] [ 0. 0. 0. 1. ]] SLAMing on 22.292401008000002 meters Centerline goodness : 0.945083 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.30, Z:-0.18 [[ 9.99779052e-01 -2.06098135e-02 -4.13309531e-03 5.54388604e+00] [ 2.06353813e-02 9.99767583e-01 6.24193216e-03 -3.03125716e-01] [ 4.00348965e-03 -6.32584102e-03 9.99971978e-01 -1.76919993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322401008 meters Centerline goodness : 0.942491 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.30, Z:-0.18 [[ 9.99847459e-01 -1.67811667e-02 -4.84270559e-03 5.54477118e+00] [ 1.68296889e-02 9.99806758e-01 1.01591614e-02 -3.01485913e-01] [ 4.67128719e-03 -1.02391129e-02 9.99936668e-01 -1.75931603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352401008 meters Centerline goodness : 0.939001 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.30, Z:-0.18 [[ 9.99929834e-01 -1.17400134e-02 -1.58063611e-03 5.56293240e+00] [ 1.17504245e-02 9.99908200e-01 6.74682422e-03 -2.97902481e-01] [ 1.50128320e-03 -6.76492397e-03 9.99975991e-01 -1.78769386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382401008000002 meters Centerline goodness : 0.937544 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.30, Z:-0.18 [[ 9.99964562e-01 -8.12291968e-03 -2.21186286e-03 5.56411199e+00] [ 8.14577789e-03 9.99911386e-01 1.05292859e-02 -2.96738938e-01] [ 2.12613832e-03 -1.05469301e-02 9.99942119e-01 -1.78260342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412401008 meters Centerline goodness : 0.934414 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.29, Z:-0.18 [[ 9.99991458e-01 -4.12225215e-03 -3.02240968e-04 5.58256337e+00] [ 4.12354191e-03 9.99981824e-01 4.39869534e-03 -2.92499457e-01] [ 2.84102943e-04 -4.39990407e-03 9.99990280e-01 -1.82730636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401008 meters Centerline goodness : 0.929538 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.29, Z:-0.18 [[ 9.99998656e-01 -1.11912116e-03 -1.19779622e-03 5.58484631e+00] [ 1.13014761e-03 9.99956627e-01 9.24486557e-03 -2.94772865e-01] [ 1.18739814e-03 -9.24620683e-03 9.99956548e-01 -1.81056292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472401008000002 meters Centerline goodness : 0.929688 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.18 [[ 9.99999319e-01 1.12481493e-03 -3.11967310e-04 5.60572607e+00] [-1.12340678e-03 9.99989343e-01 4.47782627e-03 -2.93942573e-01] [ 3.17000711e-04 -4.47747275e-03 9.99989926e-01 -1.83089822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502401008 meters Centerline goodness : 0.928064 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.18 [[ 9.99999622e-01 7.14097166e-04 -4.96151516e-04 5.60640242e+00] [-7.12255119e-04 9.99992890e-01 3.70298030e-03 -2.91591002e-01] [ 4.98792277e-04 -3.70262551e-03 9.99993021e-01 -1.83684233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532401008 meters Centerline goodness : 0.925931 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.18 [[ 9.99991901e-01 3.71228919e-03 -1.55435238e-03 5.60922722e+00] [-3.69947601e-03 9.99959809e-01 8.16670059e-03 -2.92906416e-01] [ 1.58460706e-03 -8.16088417e-03 9.99965444e-01 -1.82648827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562401008000002 meters Centerline goodness : 0.925817 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.18 [[ 9.99992774e-01 3.20647702e-03 -2.04197881e-03 5.61100494e+00] [-3.19224388e-03 9.99970852e-01 6.93579258e-03 -2.90119587e-01] [ 2.06415875e-03 -6.92922397e-03 9.99973862e-01 -1.84291528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592401008000003 meters Centerline goodness : 0.922488 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.19 [[ 9.99991512e-01 3.32696283e-03 -2.43067940e-03 5.61196981e+00] [-3.31414671e-03 9.99980686e-01 5.25778447e-03 -2.85098854e-01] [ 2.44812491e-03 -5.24968421e-03 9.99983224e-01 -1.86408975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622401008 meters Centerline goodness : 0.920812 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.29, Z:-0.18 [[ 9.99970585e-01 6.95104137e-03 -3.24219988e-03 5.61355503e+00] [-6.91863600e-03 9.99927046e-01 9.90123190e-03 -2.86368129e-01] [ 3.31078722e-03 -9.87850905e-03 9.99945725e-01 -1.84903749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652401008000002 meters Centerline goodness : 0.925497 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.28, Z:-0.18 [[ 9.99969877e-01 6.97774369e-03 -3.39932839e-03 5.61357733e+00] [-6.94558337e-03 9.99931862e-01 9.38246772e-03 -2.84629744e-01] [ 3.46456522e-03 -9.35857478e-03 9.99950206e-01 -1.84925101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682401008000003 meters Centerline goodness : 0.921705 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.28, Z:-0.18 [[ 9.99969068e-01 7.08226276e-03 -3.42112836e-03 5.61332013e+00] [-7.05109998e-03 9.99934308e-01 9.03667740e-03 -2.83230841e-01] [ 3.48490374e-03 -9.01227516e-03 9.99953316e-01 -1.84855073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712401008 meters Centerline goodness : 0.925116 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.28, Z:-0.19 [[ 9.99968119e-01 7.13954041e-03 -3.57598721e-03 5.61334921e+00] [-7.10926902e-03 9.99939384e-01 8.40754367e-03 -2.81235770e-01] [ 3.63579644e-03 -8.38185297e-03 9.99958262e-01 -1.85111969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742401008 meters Centerline goodness : 0.924867 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-0.18 [[ 9.99937591e-01 1.02172599e-02 -4.51901735e-03 5.61595736e+00] [-1.01565710e-02 9.99860569e-01 1.32546904e-02 -2.84128147e-01] [ 4.65381387e-03 -1.32079655e-02 9.99901941e-01 -1.83799463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772401008000003 meters Centerline goodness : 0.926794 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-0.19 [[ 9.99970359e-01 6.25563787e-03 -4.48867295e-03 5.61654027e+00] [-6.22039805e-03 9.99950058e-01 7.82230632e-03 -2.80960927e-01] [ 4.53738229e-03 -7.79415313e-03 9.99959331e-01 -1.86388815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802401008 meters Centerline goodness : 0.926700 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-0.19 [[ 9.99971125e-01 5.84954410e-03 -4.85095400e-03 5.61796154e+00] [-5.81278105e-03 9.99954541e-01 7.55830168e-03 -2.81195902e-01] [ 4.89494609e-03 -7.52988590e-03 9.99959669e-01 -1.87160978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832401008 meters Centerline goodness : 0.927241 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-0.19 [[ 9.99971102e-01 5.85304009e-03 -4.85140949e-03 5.61806823e+00] [-5.81464519e-03 9.99951961e-01 7.89085112e-03 -2.82727633e-01] [ 4.89736190e-03 -7.86241387e-03 9.99957098e-01 -1.87012427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862401008000003 meters Centerline goodness : 0.931016 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-0.19 [[ 9.99969913e-01 5.86407564e-03 -5.07802355e-03 5.61833032e+00] [-5.82309331e-03 9.99950659e-01 8.04805014e-03 -2.83295038e-01] [ 5.12496737e-03 -8.01823819e-03 9.99954720e-01 -1.86563325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892401008 meters Centerline goodness : 0.931483 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.28, Z:-0.19 [[ 9.99970971e-01 7.57413504e-03 -8.30923075e-04 5.63424510e+00] [-7.57392593e-03 9.99971285e-01 2.54523389e-04 -2.82099743e-01] [ 8.32827009e-04 -2.48222650e-04 9.99999622e-01 -1.90899738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922401008 meters Centerline goodness : 0.932136 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.28, Z:-0.19 [[ 9.99970403e-01 7.64248569e-03 -8.86538169e-04 5.63440346e+00] [-7.64224556e-03 9.99970760e-01 2.73932408e-04 -2.82487849e-01] [ 8.88605771e-04 -2.67149158e-04 9.99999570e-01 -1.91056243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952401008000002 meters Centerline goodness : 0.930391 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-0.19 [[ 9.99970435e-01 7.58744758e-03 -1.24854277e-03 5.63542687e+00] [-7.58718563e-03 9.99971194e-01 2.14401800e-04 -2.82827124e-01] [ 1.25013357e-03 -2.04922536e-04 9.99999198e-01 -1.91450886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982401008 meters Centerline goodness : 0.923323 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.29, Z:-0.19 [[ 9.99935905e-01 1.10778221e-02 -2.33848391e-03 5.63866148e+00] [-1.10668227e-02 9.99927877e-01 4.66532321e-03 -2.86137505e-01] [ 2.38999688e-03 -4.63914460e-03 9.99986383e-01 -1.91823478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012401008 meters Centerline goodness : 0.921058 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.29, Z:-0.19 [[ 9.99896611e-01 1.39916361e-02 -3.31679698e-03 5.64211439e+00] [-1.39626592e-02 9.99865497e-01 8.60423304e-03 -2.88261935e-01] [ 3.43673815e-03 -8.55703215e-03 9.99957482e-01 -1.92463510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042401008000002 meters Centerline goodness : 0.919621 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.29, Z:-0.19 [[ 9.99903068e-01 1.33784432e-02 -3.85635750e-03 5.64451239e+00] [-1.33479299e-02 9.99880235e-01 7.83248074e-03 -2.87742898e-01] [ 3.96068205e-03 -7.78024714e-03 9.99961890e-01 -1.94381342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072401008 meters Centerline goodness : 0.918569 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.29, Z:-0.20 [[ 9.99908183e-01 1.27530648e-02 -4.58084805e-03 5.64705210e+00] [-1.27183414e-02 9.99890758e-01 7.53092793e-03 -2.88727094e-01] [ 4.67639004e-03 -7.47197568e-03 9.99961150e-01 -1.95509682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102401008 meters Centerline goodness : 0.912792 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.29, Z:-0.20 [[ 9.99950733e-01 8.48210066e-03 -5.15611674e-03 5.64868838e+00] [-8.46333631e-03 9.99957523e-01 3.65023075e-03 -2.91569200e-01] [ 5.18685934e-03 -3.60641297e-03 9.99980045e-01 -1.96251068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132401008000002 meters Centerline goodness : 0.909014 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.29, Z:-0.20 [[ 9.99952368e-01 7.81820447e-03 -5.84275345e-03 5.65068576e+00] [-7.79309019e-03 9.99960350e-01 4.30883893e-03 -2.94891492e-01] [ 5.87620917e-03 -4.26310059e-03 9.99973648e-01 -1.95633029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162401008 meters Centerline goodness : 0.911521 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.30, Z:-0.20 [[ 9.99954613e-01 6.94614729e-03 -6.52095922e-03 5.65284845e+00] [-6.91510164e-03 9.99964707e-01 4.77143702e-03 -2.97892135e-01] [ 6.55387218e-03 -4.72612737e-03 9.99967355e-01 -1.95231236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192401008 meters Centerline goodness : 0.912166 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.30, Z:-0.20 [[ 9.99976523e-01 2.07871715e-03 -6.52933171e-03 5.65397440e+00] [-2.07186049e-03 9.99997295e-01 1.05672013e-03 -3.00477352e-01] [ 6.53151067e-03 -1.04316745e-03 9.99978125e-01 -1.95581761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222401008000002 meters Centerline goodness : 0.914397 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.30, Z:-0.19 [[ 9.99973455e-01 1.11319079e-03 -7.20075467e-03 5.65596933e+00] [-1.09800273e-03 9.99997165e-01 2.11284133e-03 -3.04007104e-01] [ 7.20308626e-03 -2.10487880e-03 9.99971842e-01 -1.94071954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252401008000003 meters Centerline goodness : 0.913434 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.31, Z:-0.19 [[ 9.99965079e-01 -3.06147180e-04 -8.35148366e-03 5.65930689e+00] [ 3.37826916e-04 9.99992753e-01 3.79215939e-03 -3.08197702e-01] [ 8.35026217e-03 -3.79484832e-03 9.99957935e-01 -1.91346584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282401008 meters Centerline goodness : 0.916817 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.31, Z:-0.19 [[ 9.99954742e-01 -1.42852089e-03 -9.40598753e-03 5.66206592e+00] [ 1.47967283e-03 9.99984144e-01 5.43352011e-03 -3.12617786e-01] [ 9.39807649e-03 -5.44719198e-03 9.99941000e-01 -1.88677387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312401008000002 meters Centerline goodness : 0.916384 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.32, Z:-0.18 [[ 0.99993755 -0.00736542 -0.0084051 5.68478176] [ 0.00753504 0.99976493 0.02033006 -0.31918194] [ 0.00825338 -0.02039212 0.99975799 -0.17605713] [ 0. 0. 0. 1. ]] SLAMing on 23.342401008000003 meters Centerline goodness : 0.917882 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.32, Z:-0.17 [[ 0.99993012 -0.00626239 -0.010027 5.69059917] [ 0.00652659 0.99962653 0.02653697 -0.32273348] [ 0.00985707 -0.02660056 0.99959754 -0.17158907] [ 0. 0. 0. 1. ]] SLAMing on 23.372401008 meters Centerline goodness : 0.921806 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.33, Z:-0.17 [[ 9.99918308e-01 -5.37312542e-03 -1.15976682e-02 5.69708937e+00] [ 5.75623739e-03 9.99430258e-01 3.32569461e-02 -3.25103669e-01] [ 1.14123668e-02 -3.33209883e-02 9.99379542e-01 -1.65952797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402401008000002 meters Centerline goodness : 0.921527 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.32, Z:-0.17 [[ 9.99912634e-01 -5.66838068e-03 -1.19412402e-02 5.69805674e+00] [ 6.06311461e-03 9.99427552e-01 3.32837353e-02 -3.24893721e-01] [ 1.17457396e-02 -3.33532285e-02 9.99374604e-01 -1.65728386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432401008000003 meters Centerline goodness : 0.919652 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.32, Z:-0.17 [[ 0.99990108 -0.00671629 -0.01235807 5.70018695] [ 0.00710905 0.99946204 0.03201717 -0.32181196] [ 0.01213639 -0.03210186 0.99941092 -0.16727247] [ 0. 0. 0. 1. ]] SLAMing on 23.462401008 meters Centerline goodness : 0.917351 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.32, Z:-0.17 [[ 0.99989739 -0.00705404 -0.01246789 5.70061471] [ 0.00744331 0.99947741 0.03145636 -0.31939947] [ 0.01223948 -0.03154593 0.99942736 -0.16732296] [ 0. 0. 0. 1. ]] SLAMing on 23.492401008 meters Centerline goodness : 0.921263 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.32, Z:-0.17 [[ 0.99988908 -0.00750292 -0.01286611 5.70114384] [ 0.00789896 0.9994878 0.03101199 -0.31732994] [ 0.01262684 -0.03111018 0.9994362 -0.16650233] [ 0. 0. 0. 1. ]] SLAMing on 23.522401008000003 meters Centerline goodness : 0.925262 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.32, Z:-0.17 [[ 0.99987481 -0.00814343 -0.01356672 5.67345246] [ 0.00858488 0.9994249 0.0328049 -0.31516084] [ 0.01329177 -0.03291726 0.99936969 -0.16520442] [ 0. 0. 0. 1. ]] SLAMing on 23.552401008 meters Centerline goodness : 0.927340 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.31, Z:-0.17 [[ 0.99986022 -0.01200297 -0.01163876 5.64938755] [ 0.01235522 0.99945285 0.03068137 -0.30918235] [ 0.01126412 -0.03082089 0.99946145 -0.16910044] [ 0. 0. 0. 1. ]] SLAMing on 23.582401008 meters Centerline goodness : 0.923277 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.31, Z:-0.17 [[ 0.99980123 -0.01682823 -0.01069194 5.60767324] [ 0.01722769 0.99911247 0.03843801 -0.30568597] [ 0.01003561 -0.03861457 0.99920378 -0.16678244] [ 0. 0. 0. 1. ]] SLAMing on 23.612401008000003 meters Centerline goodness : 0.921039 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.30, Z:-0.17 [[ 0.99971615 -0.02135976 -0.01055392 5.60866582] [ 0.02168755 0.99925297 0.0319867 -0.30051517] [ 0.00986281 -0.03220651 0.99943257 -0.17039435] [ 0. 0. 0. 1. ]] SLAMing on 23.642401008 meters Centerline goodness : 0.919481 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.30, Z:-0.17 [[ 0.99948734 -0.02750299 -0.01639063 5.59679378] [ 0.02804667 0.99903096 0.03391934 -0.29539852] [ 0.01544187 -0.03436165 0.99929016 -0.16991234] [ 0. 0. 0. 1. ]] SLAMing on 23.672401008 meters Centerline goodness : 0.916650 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.30, Z:-0.17 [[ 9.99701732e-01 -2.38609555e-02 -5.20596280e-03 5.59826867e+00] [ 2.40512233e-02 9.98902050e-01 4.02023962e-02 -2.97964172e-01] [ 4.24097933e-03 -4.03156149e-02 9.99177995e-01 -1.70903531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702401008000002 meters Centerline goodness : 0.917104 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.30, Z:-0.17 [[ 9.99677529e-01 -2.48243042e-02 -5.34710406e-03 5.59961848e+00] [ 2.50181667e-02 9.98890518e-01 3.98976706e-02 -2.96885959e-01] [ 4.35073963e-03 -4.00185795e-02 9.99189464e-01 -1.72527486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732401008 meters Centerline goodness : 0.917479 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.29, Z:-0.17 [[ 9.99657400e-01 -2.57224441e-02 -4.84130391e-03 5.59852445e+00] [ 2.58967996e-02 9.98852941e-01 4.02760315e-02 -2.94565021e-01] [ 3.79975268e-03 -4.03876072e-02 9.99176863e-01 -1.72294321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762401008 meters Centerline goodness : 0.919288 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.29, Z:-0.17 [[ 9.99662104e-01 -2.57448582e-02 -3.58884741e-03 5.59764295e+00] [ 2.58737398e-02 9.98769870e-01 4.23000750e-02 -2.89951661e-01] [ 2.49542323e-03 -4.23786388e-02 9.99098506e-01 -1.74772884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792401008000002 meters Centerline goodness : 0.917833 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.29, Z:-0.18 [[ 9.99654308e-01 -2.61011137e-02 -3.16159104e-03 5.59804910e+00] [ 2.62114943e-02 9.98762675e-01 4.22619972e-02 -2.87416432e-01] [ 2.05459393e-03 -4.23302576e-02 9.99101560e-01 -1.76533158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822401008 meters Centerline goodness : 0.920311 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.28, Z:-0.18 [[ 9.99649773e-01 -2.62547045e-02 -3.31982986e-03 5.59870508e+00] [ 2.63693633e-02 9.98801484e-01 4.12341042e-02 -2.84909810e-01] [ 2.23326178e-03 -4.13072047e-02 9.99143997e-01 -1.76790731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852401008 meters Centerline goodness : 0.920686 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.28, Z:-0.18 [[ 9.99652017e-01 -2.61673493e-02 -3.33401746e-03 5.59894904e+00] [ 2.62799551e-02 9.98852498e-01 4.00381325e-02 -2.82368152e-01] [ 2.28249986e-03 -4.01118177e-02 9.99192590e-01 -1.76659230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882401008000002 meters Centerline goodness : 0.922914 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.28, Z:-0.18 [[ 9.99657328e-01 -2.59863567e-02 -3.15202266e-03 5.59875978e+00] [ 2.60893942e-02 9.98902379e-01 3.89022035e-02 -2.79104127e-01] [ 2.13763640e-03 -3.89711072e-02 9.99238051e-01 -1.76477194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912401008 meters Centerline goodness : 0.921080 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-0.18 [[ 9.99679659e-01 -2.52353284e-02 -1.93857853e-03 5.59700001e+00] [ 2.52912976e-02 9.98937703e-01 3.85203365e-02 -2.70656319e-01] [ 9.64445839e-04 -3.85570261e-02 9.99255936e-01 -1.77244916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942401008 meters Centerline goodness : 0.924009 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.27, Z:-0.18 [[ 9.99688607e-01 -2.49300811e-02 -1.08643474e-03 5.59485226e+00] [ 2.49535648e-02 9.98898031e-01 3.97497457e-02 -2.66207242e-01] [ 9.42731424e-05 -3.97644783e-02 9.99209076e-01 -1.76657825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972401008000002 meters Centerline goodness : 0.925028 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-0.18 [[ 9.99682913e-01 -2.51289861e-02 -1.61458750e-03 5.59725414e+00] [ 2.51714276e-02 9.99003885e-01 3.68461223e-02 -2.61921314e-01] [ 6.87073492e-04 -3.68750804e-02 9.99319647e-01 -1.78246430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002401008000003 meters Centerline goodness : 0.925392 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.25, Z:-0.18 [[ 9.99690005e-01 -2.48972161e-02 1.47860136e-04 5.59254338e+00] [ 2.48740894e-02 9.98984505e-01 3.75664641e-02 -2.52955931e-01] [-1.08301036e-03 -3.75511409e-02 9.99294120e-01 -1.76049249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032401008 meters Centerline goodness : 0.925392 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.25, Z:-0.18 [[ 9.99690005e-01 -2.48972161e-02 1.47860136e-04 5.59254338e+00] [ 2.48740894e-02 9.98984505e-01 3.75664641e-02 -2.52955931e-01] [-1.08301036e-03 -3.75511409e-02 9.99294120e-01 -1.76049249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062401008000002 meters Centerline goodness : 0.929232 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.25, Z:-0.18 [[ 9.99685447e-01 -2.50612266e-02 9.70163264e-04 5.59168017e+00] [ 2.50067744e-02 9.98974500e-01 3.77440118e-02 -2.48573974e-01] [-1.91507959e-03 -3.77078786e-02 9.99286970e-01 -1.77076444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092401008000003 meters Centerline goodness : 0.931191 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.24, Z:-0.19 [[ 9.99694272e-01 -2.42727700e-02 4.71125058e-03 5.60574032e+00] [ 2.41526029e-02 9.99418310e-01 2.40768360e-02 -2.40724889e-01] [-5.29292160e-03 -2.39556861e-02 9.99699010e-01 -1.86854215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122401008 meters Centerline goodness : 0.930160 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.23, Z:-0.19 [[ 9.99665556e-01 -2.55151376e-02 4.21356430e-03 5.60794783e+00] [ 2.54175208e-02 9.99439413e-01 2.17901201e-02 -2.34796202e-01] [-4.76718015e-03 -2.16757342e-02 9.99753688e-01 -1.89177304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152401008000002 meters Centerline goodness : 0.930095 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.22, Z:-0.19 [[ 9.99606528e-01 -2.78613151e-02 3.24605838e-03 5.61211012e+00] [ 2.78018988e-02 9.99467167e-01 1.71007752e-02 -2.23795067e-01] [-3.72077886e-03 -1.70037999e-02 9.99848502e-01 -1.94301466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182401008000003 meters Centerline goodness : 0.929047 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.22, Z:-0.20 [[ 9.99568802e-01 -2.92596723e-02 2.46611803e-03 5.61483855e+00] [ 2.92192485e-02 9.99459204e-01 1.50842589e-02 -2.18789878e-01] [-2.90614484e-03 -1.50056965e-02 9.99883185e-01 -1.96091032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212401008 meters Centerline goodness : 0.931564 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.21, Z:-0.20 [[ 9.99532599e-01 -3.05236303e-02 1.70045645e-03 5.61731232e+00] [ 3.04983418e-02 9.99446155e-01 1.33129729e-02 -2.14432339e-01] [-2.10587492e-03 -1.32548893e-02 9.99909933e-01 -1.97483520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242401008 meters Centerline goodness : 0.928571 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.21, Z:-0.20 [[ 9.99496327e-01 -3.17212980e-02 9.22780068e-04 5.61943465e+00] [ 3.17081692e-02 9.99427052e-01 1.18388837e-02 -2.10626709e-01] [-1.29779612e-03 -1.18036611e-02 9.99929492e-01 -1.98115143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272401008000003 meters Centerline goodness : 0.936222 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.20, Z:-0.20 [[ 9.99462798e-01 -3.27658369e-02 7.17429594e-04 5.61894068e+00] [ 3.27570145e-02 9.99413105e-01 1.00211437e-02 -2.02805668e-01] [-1.04535970e-03 -9.99225952e-03 9.99949530e-01 -1.96846122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302401008 meters Centerline goodness : 0.933078 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.20, Z:-0.20 [[ 9.99439254e-01 -3.34831901e-02 2.33422124e-04 5.61973698e+00] [ 3.34799083e-02 9.99401757e-01 8.67320843e-03 -1.97290426e-01] [-5.23689167e-04 -8.66053001e-03 9.99962360e-01 -1.96800110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332401008 meters Centerline goodness : 0.934350 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.19, Z:-0.20 [[ 9.99522532e-01 -3.08919479e-02 -6.29386786e-04 5.62146682e+00] [ 3.08971194e-02 9.99457509e-01 1.14041802e-02 -1.93776282e-01] [ 2.76748008e-04 -1.14181813e-02 9.99934772e-01 -1.96504367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362401008000003 meters Centerline goodness : 0.943211 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.18, Z:-0.19 [[ 9.99592650e-01 -2.85174713e-02 -1.13447088e-03 5.62058597e+00] [ 2.85294367e-02 9.99514794e-01 1.24999515e-02 -1.83287288e-01] [ 7.77453418e-04 -1.25272255e-02 9.99921229e-01 -1.94682192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392401008 meters Centerline goodness : 0.948481 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.18, Z:-0.19 [[ 9.99592437e-01 -2.85147147e-02 -1.36798879e-03 5.62036066e+00] [ 2.85284661e-02 9.99528093e-01 1.13893951e-02 -1.76941818e-01] [ 1.04257788e-03 -1.14237798e-02 9.99934203e-01 -1.94303446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422401008 meters Centerline goodness : 0.943410 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.17, Z:-0.19 [[ 9.99672150e-01 -2.55268096e-02 -1.99349116e-03 5.62126299e+00] [ 2.55523045e-02 9.99575054e-01 1.40281932e-02 -1.72591670e-01] [ 1.63454901e-03 -1.40745324e-02 9.99899613e-01 -1.93897312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452401008000002 meters Centerline goodness : 0.949170 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.17, Z:-0.19 [[ 9.99740032e-01 -2.26564848e-02 -2.55969273e-03 5.62238457e+00] [ 2.26953130e-02 9.99609156e-01 1.63235469e-02 -1.67239372e-01] [ 2.18885809e-03 -1.63773963e-02 9.99863486e-01 -1.94129642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482401008 meters Centerline goodness : 0.948711 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.16, Z:-0.19 [[ 9.99797678e-01 -1.98565412e-02 -3.21273398e-03 5.62373323e+00] [ 1.99128603e-02 9.99629302e-01 1.85670733e-02 -1.61710678e-01] [ 2.84286517e-03 -1.86272915e-02 9.99822455e-01 -1.94417853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512401008 meters Centerline goodness : 0.957707 Centerline is valid? [False, True] Translation: X:5.63, Y:-0.15, Z:-0.20 [[ 9.99831208e-01 -1.79508895e-02 -3.91421940e-03 5.62517812e+00] [ 1.80211080e-02 9.99662533e-01 1.87098595e-02 -1.49440646e-01] [ 3.57703986e-03 -1.87772400e-02 9.99817293e-01 -1.95415789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542401008000002 meters Centerline goodness : 0.951943 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.14, Z:-0.20 [[ 9.99801746e-01 -1.92886799e-02 -4.94119501e-03 5.65455450e+00] [ 1.92902734e-02 9.99813888e-01 2.75039956e-04 -1.35812108e-01] [ 4.93497024e-03 -3.70302431e-04 9.99987754e-01 -1.98403702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572401008 meters Centerline goodness : 0.955690 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.13, Z:-0.20 [[ 9.99760646e-01 -2.13127866e-02 -4.94126047e-03 5.68183485e+00] [ 2.13143989e-02 9.99772785e-01 2.73858953e-04 -1.29913401e-01] [ 4.93430104e-03 -3.79113401e-04 9.99987754e-01 -1.98036306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602401008 meters Centerline goodness : 0.954757 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.12, Z:-0.20 [[ 9.99705557e-01 -2.37567329e-02 -4.94131114e-03 5.71158835e+00] [ 2.37583703e-02 9.99717693e-01 2.72941656e-04 -1.23956671e-01] [ 4.93343197e-03 -3.90258790e-04 9.99987754e-01 -1.96458858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632401008000002 meters Centerline goodness : 0.959347 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.11, Z:-0.20 [[ 9.99539172e-01 -2.99504124e-02 -4.94134647e-03 5.74078735e+00] [ 2.99521218e-02 9.99551297e-01 2.72300557e-04 -1.10642911e-01] [ 4.93097376e-03 -4.20178885e-04 9.99987754e-01 -1.96687015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662401008000003 meters Centerline goodness : 0.954173 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.10, Z:-0.19 [[ 9.99412402e-01 -3.39180567e-02 -4.94136470e-03 5.76974401e+00] [ 3.39198127e-02 9.99424521e-01 2.71969352e-04 -1.03380832e-01] [ 4.92929637e-03 -4.39419708e-04 9.99987754e-01 -1.91114400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692401008 meters Centerline goodness : 0.951445 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.10, Z:-0.19 [[ 9.99302286e-01 -3.70205869e-02 -4.94142960e-03 5.79897448e+00] [ 3.70223747e-02 9.99314400e-01 2.70784963e-04 -9.59529278e-02] [ 4.92801714e-03 -4.53539491e-04 9.99987754e-01 -1.88902793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722401008000002 meters Centerline goodness : 0.949591 Centerline is valid? [True, False] Translation: X:5.80, Y:-0.09, Z:-0.19 [[ 9.99396745e-01 -3.42913522e-02 -5.50001716e-03 5.79981904e+00] [ 3.43068689e-02 9.99407557e-01 2.75209228e-03 -9.11934778e-02] [ 5.40238575e-03 -2.93912043e-03 9.99981088e-01 -1.88547668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752401008000003 meters Centerline goodness : 0.946785 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.08, Z:-0.19 [[ 9.99465577e-01 -3.22322673e-02 -5.44442534e-03 5.79878399e+00] [ 3.22476782e-02 9.99476079e-01 2.76689543e-03 -7.66318359e-02] [ 5.35238957e-03 -2.94098682e-03 9.99981351e-01 -1.87881276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401008 meters Centerline goodness : 0.946819 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.07, Z:-0.19 [[ 9.99583903e-01 -2.88416350e-02 -4.26015579e-04 5.81262326e+00] [ 2.88393701e-02 9.99573446e-01 -4.60613514e-03 -6.81111564e-02] [ 5.58682329e-04 4.59193252e-03 9.99989301e-01 -1.93116198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812401008000002 meters Centerline goodness : 0.944402 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.06, Z:-0.19 [[ 9.99671406e-01 -2.56260574e-02 -6.20423159e-04 5.81260513e+00] [ 2.56244844e-02 9.99668703e-01 -2.42290205e-03 -6.05274893e-02] [ 6.82307042e-04 2.40620788e-03 9.99996872e-01 -1.92825347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008000003 meters Centerline goodness : 0.943916 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.05, Z:-0.19 [[ 9.99735618e-01 -2.29651582e-02 -1.13819484e-03 5.81363975e+00] [ 2.29641502e-02 9.99735892e-01 -8.90914929e-04 -5.22610562e-02] [ 1.15835424e-03 8.64541710e-04 9.99998955e-01 -1.93083907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872401008 meters Centerline goodness : 0.954366 Centerline is valid? [False, True] Translation: X:5.83, Y:-0.03, Z:-0.20 [[ 9.99816455e-01 -1.86535254e-02 4.37063418e-03 5.82670692e+00] [ 1.86880949e-02 9.99793301e-01 -8.00684643e-03 -3.15923101e-02] [-4.22037487e-03 8.08705564e-03 9.99958393e-01 -1.98763353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902401008000002 meters Centerline goodness : 0.955074 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.03, Z:-0.20 [[ 9.99811850e-01 -1.87598378e-02 4.93290180e-03 5.85489063e+00] [ 1.87618539e-02 9.99823915e-01 -3.62749496e-04 -2.64008984e-02] [-4.92522807e-03 4.55231627e-04 9.99987767e-01 -1.97843502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932401008000003 meters Centerline goodness : 0.955414 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.02, Z:-0.20 [[ 9.99789952e-01 -1.98926748e-02 4.93294060e-03 5.88341578e+00] [ 1.98947020e-02 9.99802015e-01 -3.62221177e-04 -1.78515959e-02] [-4.92475840e-03 4.60284476e-04 9.99987767e-01 -1.97502451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962401008 meters Centerline goodness : 0.955315 Centerline is valid? [True, True] Translation: X:5.91, Y:0.00, Z:-0.20 [[ 9.99786179e-01 -2.00813815e-02 4.93306155e-03 5.91300220e+00] [ 2.00834029e-02 9.99798243e-01 -3.60566354e-04 1.62268264e-03] [-4.92482560e-03 4.59561920e-04 9.99987767e-01 -1.95969080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992401008 meters Centerline goodness : 0.955923 Centerline is valid? [True, True] Translation: X:5.94, Y:0.01, Z:-0.20 [[ 9.99777936e-01 -2.04876511e-02 4.93309901e-03 5.94200144e+00] [ 2.04896749e-02 9.99790000e-01 -3.60053136e-04 1.07924040e-02] [-4.92468642e-03 4.61050776e-04 9.99987767e-01 -1.95242913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022401008000003 meters Centerline goodness : 0.953245 Centerline is valid? [True, True] Translation: X:5.97, Y:0.02, Z:-0.19 [[ 9.99762739e-01 -2.12162614e-02 4.93313542e-03 5.97180545e+00] [ 2.12182916e-02 9.99774802e-01 -3.59553656e-04 2.00487606e-02] [-4.92439610e-03 4.64141054e-04 9.99987767e-01 -1.89858352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052401008 meters Centerline goodness : 0.953967 Centerline is valid? [True, True] Translation: X:6.00, Y:0.03, Z:-0.19 [[ 9.99780355e-01 -2.03692309e-02 4.93324636e-03 6.00017043e+00] [ 2.03712434e-02 9.99792421e-01 -3.58024993e-04 2.86249016e-02] [-4.92492962e-03 4.58442717e-04 9.99987767e-01 -1.91753117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082401008 meters Centerline goodness : 0.950352 Centerline is valid? [True, True] Translation: X:6.03, Y:0.05, Z:-0.19 [[ 9.99786216e-01 -2.00794869e-02 4.93328550e-03 6.03058332e+00] [ 2.00814933e-02 9.99798283e-01 -3.57484807e-04 4.99198608e-02] [-4.92511226e-03 4.56476121e-04 9.99987767e-01 -1.93329183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112401008000003 meters Centerline goodness : 0.945551 Centerline is valid? [True, False] Translation: X:6.03, Y:0.06, Z:-0.20 [[ 9.99821347e-01 -1.84658678e-02 4.03547094e-03 6.03355275e+00] [ 1.84665619e-02 9.99829469e-01 -1.34804048e-04 5.95988270e-02] [-4.03229350e-03 2.09301239e-04 9.99991848e-01 -1.95105284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142401008 meters Centerline goodness : 0.944386 Centerline is valid? [False, False] Translation: X:6.05, Y:0.07, Z:-0.20 [[ 0.99984278 -0.01612607 0.00737348 6.05012267] [ 0.01618086 0.99984146 -0.00743243 0.07003222] [-0.00725245 0.00755057 0.99994519 -0.19997469] [ 0. 0. 0. 1. ]] SLAMing on 25.172401008 meters Centerline goodness : 0.942716 Centerline is valid? [False, False] Translation: X:6.05, Y:0.08, Z:-0.20 [[ 0.99987952 -0.01391251 0.00688444 6.05191408] [ 0.01395688 0.99988186 -0.00644012 0.07799891] [-0.00679403 0.00653543 0.99995556 -0.20112529] [ 0. 0. 0. 1. ]] SLAMing on 25.202401008000002 meters Centerline goodness : 0.941443 Centerline is valid? [False, False] Translation: X:6.07, Y:0.10, Z:-0.21 [[ 0.99989586 -0.01063541 0.00975446 6.06962895] [ 0.01076708 0.99985027 -0.01354623 0.09686028] [-0.00960893 0.01364984 0.99986067 -0.20571667] [ 0. 0. 0. 1. ]] SLAMing on 25.232401008 meters Centerline goodness : 0.940253 Centerline is valid? [False, False] Translation: X:6.07, Y:0.10, Z:-0.21 [[ 0.99992448 -0.00816072 0.00918888 6.07117594] [ 0.00827428 0.99988902 -0.01238902 0.10492616] [-0.00908676 0.01246412 0.99988103 -0.20628336] [ 0. 0. 0. 1. ]] SLAMing on 25.262401008 meters Centerline goodness : 0.942338 Centerline is valid? [False, False] Translation: X:6.09, Y:0.12, Z:-0.21 [[ 9.99919792e-01 -1.82753995e-03 1.25327632e-02 6.08795878e+00] [ 2.01339496e-03 9.99887958e-01 -1.48329844e-02 1.23723801e-01] [-1.25042511e-02 1.48570280e-02 9.99811438e-01 -2.08802234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292401008000002 meters Centerline goodness : 0.944282 Centerline is valid? [False, False] Translation: X:6.11, Y:0.13, Z:-0.21 [[ 9.99875876e-01 2.41748730e-03 1.55688455e-02 6.10578221e+00] [-2.15138168e-03 9.99851704e-01 -1.70863120e-02 1.31551419e-01] [-1.56078426e-02 1.70506967e-02 9.99732799e-01 -2.10300108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322401008 meters Centerline goodness : 0.944530 Centerline is valid? [False, False] Translation: X:6.11, Y:0.14, Z:-0.21 [[ 9.99862877e-01 6.18885840e-03 1.53598371e-02 6.10551424e+00] [-5.96605913e-03 9.99876940e-01 -1.45089920e-02 1.38603988e-01] [-1.54477410e-02 1.44153648e-02 9.99776757e-01 -2.09161391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352401008 meters Centerline goodness : 0.944590 Centerline is valid? [False, False] Translation: X:6.11, Y:0.15, Z:-0.21 [[ 0.99984331 0.00944701 0.01497032 6.1061669 ] [-0.00925791 0.99987712 -0.01265075 0.14557654] [-0.01508799 0.01251017 0.99980791 -0.20875662] [ 0. 0. 0. 1. ]] SLAMing on 25.382401008000002 meters Centerline goodness : 0.943476 Centerline is valid? [False, False] Translation: X:6.11, Y:0.16, Z:-0.21 [[ 0.99977151 0.01528716 0.0149411 6.10558593] [-0.01514905 0.99984187 -0.00931328 0.15765677] [-0.01508111 0.00908481 0.999845 -0.20717538] [ 0. 0. 0. 1. ]] SLAMing on 25.412401008000003 meters Centerline goodness : 0.944295 Centerline is valid? [False, False] Translation: X:6.11, Y:0.16, Z:-0.21 [[ 0.9997266 0.01824977 0.01461723 6.10671442] [-0.01814676 0.99980977 -0.00714911 0.16232879] [-0.01474492 0.0068819 0.9998676 -0.20748468] [ 0. 0. 0. 1. ]] SLAMing on 25.442401008 meters Centerline goodness : 0.942244 Centerline is valid? [False, False] Translation: X:6.11, Y:0.17, Z:-0.21 [[ 9.99671923e-01 2.11796617e-02 1.44037677e-02 6.10773865e+00] [-2.11096351e-02 9.99764682e-01 -4.99648862e-03 1.67084792e-01] [-1.45062021e-02 4.69079111e-03 9.99883777e-01 -2.07941536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472401008000002 meters Centerline goodness : 0.940414 Centerline is valid? [False, False] Translation: X:6.11, Y:0.17, Z:-0.21 [[ 9.99609276e-01 2.41351475e-02 1.40993083e-02 6.10924364e+00] [-2.40991450e-02 9.99705879e-01 -2.71786661e-03 1.71572544e-01] [-1.41607575e-02 2.37702340e-03 9.99896906e-01 -2.08803792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502401008000003 meters Centerline goodness : 0.936166 Centerline is valid? [False, False] Translation: X:6.11, Y:0.18, Z:-0.21 [[ 9.99473622e-01 2.95049822e-02 1.34882946e-02 6.11225205e+00] [-2.95299504e-02 9.99562525e-01 1.65565602e-03 1.79776147e-01] [-1.34335437e-02 -2.05309318e-03 9.99907658e-01 -2.10557958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532401008 meters Centerline goodness : 0.936106 Centerline is valid? [False, False] Translation: X:6.11, Y:0.18, Z:-0.21 [[ 9.99496632e-01 2.89461063e-02 1.29848411e-02 6.11391470e+00] [-2.89489569e-02 9.99580891e-01 3.15913884e-05 1.84394920e-01] [-1.29784846e-02 -4.07473093e-04 9.99915693e-01 -2.11514595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562401008000002 meters Centerline goodness : 0.934551 Centerline is valid? [False, False] Translation: X:6.11, Y:0.19, Z:-0.21 [[ 9.99511807e-01 2.86064686e-02 1.25625160e-02 6.11494186e+00] [-2.85926194e-02 9.99590327e-01 -1.28068261e-03 1.88477929e-01] [-1.25940053e-02 9.20862153e-04 9.99920268e-01 -2.11766812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592401008000003 meters Centerline goodness : 0.936748 Centerline is valid? [False, False] Translation: X:6.12, Y:0.19, Z:-0.21 [[ 9.99421410e-01 3.16228305e-02 1.25236576e-02 6.11516608e+00] [-3.16351084e-02 9.99499178e-01 7.83438895e-04 1.93866935e-01] [-1.24926109e-02 -1.17917287e-03 9.99921269e-01 -2.11441333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622401008 meters Centerline goodness : 0.935633 Centerline is valid? [False, False] Translation: X:6.12, Y:0.20, Z:-0.21 [[ 9.99432961e-01 3.14159298e-02 1.21158964e-02 6.11612070e+00] [-3.14160222e-02 9.99506378e-01 -1.82742667e-04 1.96675665e-01] [-1.21156568e-02 -1.97994226e-04 9.99926583e-01 -2.11667590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652401008000002 meters Centerline goodness : 0.934336 Centerline is valid? [False, False] Translation: X:6.12, Y:0.20, Z:-0.21 [[ 9.99441991e-01 3.12737551e-02 1.17328008e-02 6.11732862e+00] [-3.12643414e-02 9.99510666e-01 -9.84937371e-04 1.98953853e-01] [-1.17578622e-02 6.17569478e-04 9.99930683e-01 -2.12316046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682401008000003 meters Centerline goodness : 0.933465 Centerline is valid? [False, False] Translation: X:6.12, Y:0.20, Z:-0.21 [[ 9.99448417e-01 3.12031893e-02 1.13676148e-02 6.11860988e+00] [-3.11848371e-02 9.99512035e-01 -1.78817144e-03 2.01513510e-01] [-1.14178645e-02 1.43268789e-03 9.99933788e-01 -2.13130289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712401008 meters Centerline goodness : 0.930231 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 9.99444794e-01 3.15779368e-02 1.06272565e-02 6.12089934e+00] [-3.15455193e-02 9.99497180e-01 -3.20437864e-03 2.05548038e-01] [-1.07231006e-02 2.86735722e-03 9.99938395e-01 -2.13849608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742401008 meters Centerline goodness : 0.929337 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 9.99444650e-01 3.16438304e-02 1.04431923e-02 6.12117870e+00] [-3.16088755e-02 9.99494203e-01 -3.49544011e-03 2.06445134e-01] [-1.05485193e-02 3.16340135e-03 9.99939359e-01 -2.13625284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772401008000003 meters Centerline goodness : 0.935622 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 9.99454635e-01 3.13943332e-02 1.02386017e-02 6.12149803e+00] [-3.13582640e-02 9.99501491e-01 -3.66461527e-03 2.06418532e-01] [-1.03485458e-02 3.34155194e-03 9.99940869e-01 -2.13506621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802401008 meters Centerline goodness : 0.938536 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 9.99470499e-01 3.08499398e-02 1.03442121e-02 6.12090981e+00] [-3.08108471e-02 9.99517556e-01 -3.91752253e-03 2.06179306e-01] [-1.04600769e-02 3.59673426e-03 9.99938823e-01 -2.12945484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832401008 meters Centerline goodness : 0.935446 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 0.99959122 0.02676905 0.01004085 6.1209748 ] [-0.02668745 0.9996104 -0.00817488 0.2067164 ] [-0.01025577 0.00790358 0.99991617 -0.21251987] [ 0. 0. 0. 1. ]] SLAMing on 25.862401008000003 meters Centerline goodness : 0.937507 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-0.21 [[ 0.99965053 0.0246938 0.00943595 6.12313454] [-0.02459729 0.99964529 -0.0102114 0.20602975] [-0.00968476 0.00997573 0.99990334 -0.21387504] [ 0. 0. 0. 1. ]] SLAMing on 25.892401008 meters Centerline goodness : 0.941233 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99968183 0.02364971 0.0087709 6.1255763 ] [-0.02355375 0.9996633 -0.01088649 0.20447392] [-0.00902541 0.01067644 0.99990227 -0.21539383] [ 0. 0. 0. 1. ]] SLAMing on 25.922401008 meters Centerline goodness : 0.933126 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99971572 0.02234353 0.00832082 6.1273805 ] [-0.02224605 0.99968489 -0.01162924 0.2012206 ] [-0.00857803 0.01144083 0.99989776 -0.21665954] [ 0. 0. 0. 1. ]] SLAMing on 25.952401008000002 meters Centerline goodness : 0.943920 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99971305 0.02246132 0.00832496 6.12722898] [-0.02236798 0.99968773 -0.01114058 0.19948946] [-0.00857259 0.01095117 0.99990329 -0.21643551] [ 0. 0. 0. 1. ]] SLAMing on 25.982401008 meters Centerline goodness : 0.943920 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99971305 0.02246132 0.00832496 6.12722898] [-0.02236798 0.99968773 -0.01114058 0.19948946] [-0.00857259 0.01095117 0.99990329 -0.21643551] [ 0. 0. 0. 1. ]] SLAMing on 26.012401008 meters Centerline goodness : 0.947178 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99971049 0.02268053 0.00803354 6.12791565] [-0.022593 0.99968616 -0.01082321 0.19881157] [-0.00827649 0.01063857 0.99990916 -0.21660516] [ 0. 0. 0. 1. ]] SLAMing on 26.042401008000002 meters Centerline goodness : 0.936499 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99969721 0.02332708 0.00783231 6.12849276] [-0.02324435 0.99967475 -0.01049246 0.19877905] [-0.00807452 0.01030722 0.99991428 -0.21687499] [ 0. 0. 0. 1. ]] SLAMing on 26.072401008 meters Centerline goodness : 0.936913 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.99969108 0.02368613 0.00753008 6.12923594] [-0.02361067 0.99967164 -0.00995769 0.19720688] [-0.00776347 0.00977682 0.99992207 -0.21712572] [ 0. 0. 0. 1. ]] SLAMing on 26.102401008 meters Centerline goodness : 0.932641 Centerline is valid? [False, False] Translation: X:6.13, Y:0.20, Z:-0.22 [[ 0.9996832 0.02412453 0.00717744 6.13034783] [-0.02405749 0.99966746 -0.00928495 0.19504028] [-0.00739905 0.00910934 0.99993113 -0.21775437] [ 0. 0. 0. 1. ]] SLAMing on 26.132401008000002 meters Centerline goodness : 0.949133 Centerline is valid? [False, False] Translation: X:6.13, Y:0.19, Z:-0.22 [[ 0.99967686 0.02446462 0.00690324 6.13122424] [-0.02440428 0.99966437 -0.00869407 0.19308562] [-0.00711362 0.0085228 0.99993838 -0.21828751] [ 0. 0. 0. 1. ]] SLAMing on 26.162401008000003 meters Centerline goodness : 0.946766 Centerline is valid? [False, False] Translation: X:6.13, Y:0.19, Z:-0.22 [[ 0.99967215 0.02472306 0.00666015 6.13227909] [-0.02466726 0.99966099 -0.00833305 0.19198226] [-0.00686391 0.00816603 0.9999431 -0.21912294] [ 0. 0. 0. 1. ]] SLAMing on 26.192401008 meters Centerline goodness : 0.944138 Centerline is valid? [False, False] Translation: X:6.13, Y:0.19, Z:-0.22 [[ 9.99631965e-01 2.64054515e-02 6.21985522e-03 6.13477306e+00] [-2.63663578e-02 9.99632586e-01 -6.28562761e-03 1.88418031e-01] [-6.38354479e-03 6.11931935e-03 9.99960901e-01 -2.21322220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222401008000002 meters Centerline goodness : 0.940723 Centerline is valid? [False, False] Translation: X:6.14, Y:0.19, Z:-0.22 [[ 9.99625910e-01 2.67186186e-02 5.84431911e-03 6.13606770e+00] [-2.66857576e-02 9.99628016e-01 -5.63023639e-03 1.86349454e-01] [-5.99257726e-03 5.47217009e-03 9.99967072e-01 -2.22101199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252401008000003 meters Centerline goodness : 0.944159 Centerline is valid? [False, False] Translation: X:6.14, Y:0.18, Z:-0.22 [[ 9.99615985e-01 2.71486257e-02 5.55287386e-03 6.13698717e+00] [-2.71226559e-02 9.99621065e-01 -4.69985841e-03 1.83347295e-01] [-5.67836437e-03 4.54744491e-03 9.99973538e-01 -2.22595075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282401008 meters Centerline goodness : 0.944914 Centerline is valid? [False, False] Translation: X:6.14, Y:0.18, Z:-0.22 [[ 9.99676780e-01 2.48415494e-02 5.40672955e-03 6.13699138e+00] [-2.48058058e-02 9.99670630e-01 -6.58054672e-03 1.77904225e-01] [-5.56841971e-03 6.44430147e-03 9.99963731e-01 -2.22648217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312401008000002 meters Centerline goodness : 0.948556 Centerline is valid? [False, False] Translation: X:6.14, Y:0.17, Z:-0.22 [[ 9.99663156e-01 2.54207888e-02 5.23040755e-03 6.13754549e+00] [-2.53921547e-02 9.99662602e-01 -5.47000708e-03 1.74358552e-01] [-5.36769471e-03 5.33535323e-03 9.99971361e-01 -2.22958112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342401008000003 meters Centerline goodness : 0.950505 Centerline is valid? [False, True] Translation: X:6.14, Y:0.17, Z:-0.22 [[ 9.99646775e-01 2.61025842e-02 4.99807220e-03 6.13814346e+00] [-2.60800626e-02 9.99649641e-01 -4.51943213e-03 1.71844475e-01] [-5.11428994e-03 4.38748572e-03 9.99977297e-01 -2.23183264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372401008 meters Centerline goodness : 0.951906 Centerline is valid? [True, True] Translation: X:6.17, Y:0.16, Z:-0.22 [[ 9.99538010e-01 2.99381594e-02 5.24155414e-03 6.17113829e+00] [-2.99369840e-02 9.99551742e-01 -3.02590921e-04 1.64871325e-01] [-5.24826358e-03 1.45534805e-04 9.99986217e-01 -2.20171240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402401008000002 meters Centerline goodness : 0.947996 Centerline is valid? [True, False] Translation: X:6.17, Y:0.16, Z:-0.22 [[ 9.99357091e-01 3.54693449e-02 5.22790079e-03 6.17153547e+00] [-3.55008695e-02 9.99351236e-01 6.06590223e-03 1.58623721e-01] [-5.00935554e-03 -6.24759743e-03 9.99967936e-01 -2.20346950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432401008000003 meters Centerline goodness : 0.947621 Centerline is valid? [False, False] Translation: X:6.17, Y:0.16, Z:-0.22 [[ 9.99331674e-01 3.62143804e-02 4.97231502e-03 6.17198971e+00] [-3.62481936e-02 9.99319084e-01 6.88744237e-03 1.56622009e-01] [-4.71950483e-03 -7.06307675e-03 9.99963919e-01 -2.20291838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462401008 meters Centerline goodness : 0.949368 Centerline is valid? [False, False] Translation: X:6.17, Y:0.15, Z:-0.22 [[ 9.99299647e-01 3.71084054e-02 4.81478970e-03 6.17208431e+00] [-3.71465471e-02 9.99277080e-01 8.09014815e-03 1.53612693e-01] [-4.51109650e-03 -8.26333500e-03 9.99955683e-01 -2.19997833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492401008 meters Centerline goodness : 0.955479 Centerline is valid? [False, True] Translation: X:6.17, Y:0.15, Z:-0.22 [[ 9.99213052e-01 3.93404088e-02 5.06056630e-03 6.17062682e+00] [-3.93946406e-02 9.99162021e-01 1.11048308e-02 1.45912471e-01] [-4.61945707e-03 -1.12954511e-02 9.99925534e-01 -2.18653939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522401008000003 meters Centerline goodness : 0.957616 Centerline is valid? [True, True] Translation: X:6.20, Y:0.14, Z:-0.22 [[ 9.99109593e-01 4.19461152e-02 4.53253109e-03 6.20283248e+00] [-4.19455868e-02 9.99119874e-01 -2.11608714e-04 1.44375293e-01] [-4.53741806e-03 2.13006195e-05 9.99989706e-01 -2.22168502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552401008 meters Centerline goodness : 0.956067 Centerline is valid? [True, True] Translation: X:6.23, Y:0.14, Z:-0.22 [[ 9.99031848e-01 4.37586869e-02 4.53246357e-03 6.23454655e+00] [-4.37581707e-02 9.99042130e-01 -2.13045172e-04 1.38179853e-01] [-4.53744464e-03 1.45065974e-05 9.99989706e-01 -2.22661929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582401008 meters Centerline goodness : 0.954604 Centerline is valid? [True, True] Translation: X:6.27, Y:0.13, Z:-0.23 [[ 9.98999720e-01 4.44861400e-02 4.53240128e-03 6.26624509e+00] [-4.44856253e-02 9.99010002e-01 -2.14362244e-04 1.30875673e-01] [-4.53745036e-03 1.25211162e-05 9.99989706e-01 -2.26030119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612401008000003 meters Centerline goodness : 0.958452 Centerline is valid? [True, True] Translation: X:6.30, Y:0.11, Z:-0.22 [[ 9.99038375e-01 4.36094453e-02 4.53233457e-03 6.29716277e+00] [-4.36089153e-02 9.99048655e-01 -2.15763653e-04 1.14930273e-01] [-4.53743209e-03 1.79059757e-05 9.99989706e-01 -2.23620032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters Centerline goodness : 0.961730 Centerline is valid? [True, True] Translation: X:6.33, Y:0.11, Z:-0.22 [[ 9.99026143e-01 4.38887658e-02 4.53227918e-03 6.32892815e+00] [-4.38882333e-02 9.99036424e-01 -2.16920939e-04 1.05005753e-01] [-4.53743237e-03 1.77959633e-05 9.99989706e-01 -2.19529665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672401008 meters Centerline goodness : 0.960485 Centerline is valid? [True, True] Translation: X:6.36, Y:0.10, Z:-0.22 [[ 9.99025000e-01 4.39147911e-02 4.53221671e-03 6.35933021e+00] [-4.39142530e-02 9.99035280e-01 -2.18218417e-04 9.58674190e-02] [-4.53742740e-03 1.89767424e-05 9.99989706e-01 -2.20118358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008000002 meters Centerline goodness : 0.961981 Centerline is valid? [True, True] Translation: X:6.39, Y:0.09, Z:-0.22 [[ 9.99001775e-01 4.44399909e-02 4.53218306e-03 6.39158397e+00] [-4.44394551e-02 9.99012055e-01 -2.18915064e-04 8.72700138e-02] [-4.53743409e-03 1.72887918e-05 9.99989706e-01 -2.17143689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732401008 meters Centerline goodness : 0.964789 Centerline is valid? [True, True] Translation: X:6.42, Y:0.07, Z:-0.22 [[ 9.98887817e-01 4.69317558e-02 4.53211177e-03 6.42383510e+00] [-4.69312389e-02 9.98898098e-01 -2.20381038e-04 7.25106252e-02] [-4.53746070e-03 7.43831356e-06 9.99989706e-01 -2.17956159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401008 meters Centerline goodness : 0.956224 Centerline is valid? [True, True] Translation: X:6.46, Y:0.06, Z:-0.21 [[ 9.98791778e-01 4.89330549e-02 4.53206213e-03 6.45552672e+00] [-4.89325540e-02 9.98802061e-01 -2.21397233e-04 6.32275874e-02] [-4.53746664e-03 -6.35638903e-07 9.99989706e-01 -2.09630291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792401008000002 meters Centerline goodness : 0.958377 Centerline is valid? [True, True] Translation: X:6.49, Y:0.05, Z:-0.21 [[ 9.98697072e-01 5.08293085e-02 4.53201714e-03 6.48723201e+00] [-5.08288230e-02 9.98707355e-01 -2.22314396e-04 5.32086014e-02] [-4.53745894e-03 -8.33236079e-06 9.99989706e-01 -2.10051079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008000003 meters Centerline goodness : 0.959692 Centerline is valid? [True, True] Translation: X:6.52, Y:0.03, Z:-0.21 [[ 9.98409986e-01 5.61868423e-02 4.53196485e-03 6.51818562e+00] [-5.61864072e-02 9.98420271e-01 -2.23375336e-04 3.26529541e-02] [-4.53735632e-03 -3.16146566e-05 9.99989706e-01 -2.10902196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852401008 meters Centerline goodness : 0.961812 Centerline is valid? [True, True] Translation: X:6.55, Y:0.02, Z:-0.21 [[ 9.98293660e-01 5.82170877e-02 4.53191221e-03 6.55023959e+00] [-5.82166687e-02 9.98303946e-01 -2.24438071e-04 2.15250296e-02] [-4.53729198e-03 -3.97777286e-05 9.99989706e-01 -2.10927476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008000002 meters Centerline goodness : 0.965359 Centerline is valid? [True, True] Translation: X:6.58, Y:0.01, Z:-0.21 [[ 9.98204269e-01 5.97302309e-02 4.53185199e-03 6.58222812e+00] [-5.97298220e-02 9.98214555e-01 -2.25647671e-04 1.13620569e-02] [-4.53723860e-03 -4.54442440e-05 9.99989706e-01 -2.12151990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912401008000003 meters Centerline goodness : 0.963398 Centerline is valid? [True, True] Translation: X:6.61, Y:0.00, Z:-0.21 [[ 9.98135238e-01 6.08728959e-02 4.53181441e-03 6.61405500e+00] [-6.08724953e-02 9.98145524e-01 -2.26399765e-04 1.70227931e-03] [-4.53719188e-03 -4.98852683e-05 9.99989706e-01 -2.13420105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401008 meters Centerline goodness : 0.966276 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.01, Z:-0.22 [[ 9.98105888e-01 6.13522619e-02 4.53176196e-03 6.64597919e+00] [-6.13518616e-02 9.98116174e-01 -2.27444857e-04 -7.90543607e-03] [-4.53717917e-03 -5.10179812e-05 9.99989706e-01 -2.15269190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972401008000002 meters Centerline goodness : 0.967471 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.03, Z:-0.22 [[ 9.98105944e-01 6.13513473e-02 4.53170936e-03 6.67582545e+00] [-6.13509421e-02 9.98116231e-01 -2.28488189e-04 -2.70420976e-02] [-4.53719072e-03 -4.99692189e-05 9.99989706e-01 -2.16890804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008000003 meters Centerline goodness : 0.966342 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.04, Z:-0.21 [[ 9.98160781e-01 6.04526226e-02 4.53166066e-03 6.70844214e+00] [-6.04522039e-02 9.98171067e-01 -2.29450020e-04 -3.81409425e-02] [-4.53724341e-03 -4.49208628e-05 9.99989706e-01 -2.13917549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032401008 meters Centerline goodness : 0.964521 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.05, Z:-0.21 [[ 9.98203886e-01 5.97366365e-02 4.53159842e-03 6.73982238e+00] [-5.97362048e-02 9.98214172e-01 -2.30672589e-04 -4.93106042e-02] [-4.53728537e-03 -4.04422174e-05 9.99989706e-01 -2.12853683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008000002 meters Centerline goodness : 0.971026 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.06, Z:-0.21 [[ 9.98276936e-01 5.85031955e-02 4.53154328e-03 6.76998943e+00] [-5.85027462e-02 9.98287221e-01 -2.31750881e-04 -6.04862453e-02] [-4.53733991e-03 -3.37561674e-05 9.99989706e-01 -2.13170538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092401008000003 meters Centerline goodness : 0.969633 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.07, Z:-0.21 [[ 9.98305598e-01 5.80120590e-02 4.53151581e-03 6.80170628e+00] [-5.80116022e-02 9.98315882e-01 -2.32286706e-04 -7.13502180e-02] [-4.53735963e-03 -3.09873738e-05 9.99989706e-01 -2.13059561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401008 meters Centerline goodness : 0.977975 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.09, Z:-0.21 [[ 9.98342720e-01 5.73696800e-02 4.53146182e-03 6.83203465e+00] [-5.73692118e-02 9.98353003e-01 -2.33335250e-04 -9.16492962e-02] [-4.53738489e-03 -2.70178450e-05 9.99989706e-01 -2.14591754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152401008000002 meters Centerline goodness : 0.965020 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.10, Z:-0.21 [[ 9.98309779e-01 5.79400655e-02 4.53143206e-03 6.86374024e+00] [-5.79396006e-02 9.98320063e-01 -2.33911722e-04 -1.01338405e-01] [-4.53737240e-03 -2.90330042e-05 9.99989706e-01 -2.07337912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008000003 meters Centerline goodness : 0.976486 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.12, Z:-0.21 [[ 9.98122528e-01 6.10809727e-02 4.53137390e-03 6.89357541e+00] [-6.10805351e-02 9.98132813e-01 -2.35033170e-04 -1.15702464e-01] [-4.53726903e-03 -4.21868402e-05 9.99989706e-01 -2.13065991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212401008 meters Centerline goodness : 0.976294 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.12, Z:-0.21 [[ 9.97986466e-01 6.32651546e-02 4.53132816e-03 6.92586568e+00] [-6.32647355e-02 9.97996752e-01 -2.35911740e-04 -1.23706144e-01] [-4.53717578e-03 -5.12365531e-05 9.99989706e-01 -2.14125320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401008 meters Centerline goodness : 0.967882 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.13, Z:-0.21 [[ 9.97844891e-01 6.54602208e-02 4.53130887e-03 6.95759764e+00] [-6.54598226e-02 9.97855178e-01 -2.36281553e-04 -1.32510958e-01] [-4.53705706e-03 -6.08463347e-05 9.99989706e-01 -2.11243700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272401008000003 meters Centerline goodness : 0.966128 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.14, Z:-0.21 [[ 9.97720539e-01 6.73290014e-02 4.53125071e-03 6.98917447e+00] [-6.73286175e-02 9.97730826e-01 -2.37391729e-04 -1.41882332e-01] [-4.53695186e-03 -6.82322419e-05 9.99989706e-01 -2.12843366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters Centerline goodness : 0.967895 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.16, Z:-0.22 [[ 9.97570398e-01 6.95181216e-02 4.53119274e-03 7.01926811e+00] [-6.95177552e-02 9.97580686e-01 -2.38493057e-04 -1.59822599e-01] [-4.53680995e-03 -7.70847346e-05 9.99989706e-01 -2.15443852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332401008 meters Centerline goodness : 0.968465 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.17, Z:-0.22 [[ 9.97520656e-01 7.02282719e-02 4.53113910e-03 7.05166946e+00] [-7.02279083e-02 9.97530944e-01 -2.39507945e-04 -1.69560204e-01] [-4.53677169e-03 -7.92982983e-05 9.99989706e-01 -2.15529105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008000003 meters Centerline goodness : 0.968459 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.18, Z:-0.22 [[ 9.97530146e-01 7.00933420e-02 4.53107310e-03 7.08376046e+00] [-7.00929714e-02 9.97540434e-01 -2.40750000e-04 -1.78404324e-01] [-4.53680360e-03 -7.74409949e-05 9.99989706e-01 -2.16090594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392401008 meters Centerline goodness : 0.969196 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.19, Z:-0.22 [[ 9.97518880e-01 7.02535040e-02 4.53101506e-03 7.11490195e+00] [-7.02531300e-02 9.97529167e-01 -2.41837576e-04 -1.87023635e-01] [-4.53680961e-03 -7.70804418e-05 9.99989706e-01 -2.18221947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401008 meters Centerline goodness : 0.967831 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.20, Z:-0.22 [[ 9.97529611e-01 7.01009738e-02 4.53095293e-03 7.14655734e+00] [-7.01005930e-02 9.97539898e-01 -2.42995938e-04 -1.96253095e-01] [-4.53684058e-03 -7.52268443e-05 9.99989706e-01 -2.19073702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452401008000002 meters Centerline goodness : 0.966376 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.22, Z:-0.22 [[ 9.97589822e-01 6.92388455e-02 4.53089450e-03 7.17695335e+00] [-6.92384509e-02 9.97600109e-01 -2.44080643e-04 -2.15823029e-01] [-4.53692071e-03 -7.02197506e-05 9.99989706e-01 -2.20801535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters Centerline goodness : 0.966956 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.23, Z:-0.22 [[ 9.97676813e-01 6.79738788e-02 4.53083198e-03 7.20710069e+00] [-6.79734659e-02 9.97687099e-01 -2.45235703e-04 -2.26430431e-01] [-4.53702224e-03 -6.33103786e-05 9.99989706e-01 -2.21808429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512401008 meters Centerline goodness : 0.967813 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.24, Z:-0.22 [[ 9.97759100e-01 6.67551488e-02 4.53077837e-03 7.23814346e+00] [-6.67547188e-02 9.97769386e-01 -2.46222146e-04 -2.37072674e-01] [-4.53710855e-03 -5.67804498e-05 9.99989706e-01 -2.20232315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008000002 meters Centerline goodness : 0.965182 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.25, Z:-0.22 [[ 9.97810366e-01 6.59844336e-02 4.53072582e-03 7.26904639e+00] [-6.59839914e-02 9.97820651e-01 -2.47185352e-04 -2.47967370e-01] [-4.53716218e-03 -5.23112672e-05 9.99989706e-01 -2.16271786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572401008000003 meters Centerline goodness : 0.964672 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.26, Z:-0.22 [[ 9.97897594e-01 6.46518682e-02 4.53067198e-03 7.29945998e+00] [-6.46514078e-02 9.97907878e-01 -2.48168388e-04 -2.57399616e-01] [-4.53723781e-03 -4.52676844e-05 9.99989706e-01 -2.15120549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401008 meters Centerline goodness : 0.962929 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.27, Z:-0.21 [[ 9.98003194e-01 6.30007858e-02 4.53061840e-03 7.32969474e+00] [-6.30003039e-02 9.98013477e-01 -2.49142715e-04 -2.72371708e-01] [-4.53731440e-03 -3.67851107e-05 9.99989706e-01 -2.14261390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632401008000002 meters Centerline goodness : 0.960388 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.28, Z:-0.22 [[ 9.98003716e-01 6.29925180e-02 4.53056508e-03 7.36069356e+00] [-6.29920316e-02 9.98013999e-01 -2.50108487e-04 -2.80419943e-01] [-4.53732234e-03 -3.57802995e-05 9.99989706e-01 -2.15838639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008000003 meters Centerline goodness : 0.956853 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.29, Z:-0.22 [[ 9.97980964e-01 6.33519593e-02 4.53050359e-03 7.39193913e+00] [-6.33514716e-02 9.97991246e-01 -2.51217388e-04 -2.89073692e-01] [-4.53731804e-03 -3.63038985e-05 9.99989706e-01 -2.15343771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692401008 meters Centerline goodness : 0.951187 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.30, Z:-0.22 [[ 9.97974409e-01 6.34551355e-02 4.53044629e-03 7.42256908e+00] [-6.34546442e-02 9.97984692e-01 -2.52246633e-04 -3.04124261e-01] [-4.53732238e-03 -3.57421723e-05 9.99989706e-01 -2.17925767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008000002 meters Centerline goodness : 0.951159 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.31, Z:-0.22 [[ 9.97948269e-01 6.38649136e-02 4.53041355e-03 7.45279410e+00] [-6.38644239e-02 9.97958552e-01 -2.52833160e-04 -3.12122285e-01] [-4.53731212e-03 -3.70178375e-05 9.99989706e-01 -2.19610832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752401008000003 meters Centerline goodness : 0.949115 Centerline is valid? [True, False] Translation: X:7.46, Y:-0.31, Z:-0.22 [[ 0.99841354 0.05492672 -0.01238811 7.46170549] [-0.05502456 0.99845531 -0.00769983 -0.31275226] [ 0.01194605 0.00836927 0.99989362 -0.21802847] [ 0. 0. 0. 1. ]] SLAMing on 27.782401008 meters Centerline goodness : 0.942333 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.32, Z:-0.22 [[ 0.99867853 0.0490927 -0.0152018 7.46859775] [-0.04927001 0.99871909 -0.01151706 -0.32394444] [ 0.01461693 0.01225084 0.99981811 -0.22283399] [ 0. 0. 0. 1. ]] SLAMing on 27.812401008000002 meters Centerline goodness : 0.941203 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.33, Z:-0.23 [[ 0.99883388 0.04518517 -0.01700532 7.47280562] [-0.04542734 0.99886764 -0.01413482 -0.32955682] [ 0.01634738 0.01489084 0.99975548 -0.22528353] [ 0. 0. 0. 1. ]] SLAMing on 27.842401008000003 meters Centerline goodness : 0.941315 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.33, Z:-0.23 [[ 0.99901914 0.0400212 -0.01894888 7.47747363] [-0.04038722 0.99899683 -0.01934461 -0.33457716] [ 0.01815567 0.02009093 0.9996333 -0.22784225] [ 0. 0. 0. 1. ]] SLAMing on 27.872401008 meters Centerline goodness : 0.941315 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.33, Z:-0.23 [[ 0.99901914 0.0400212 -0.01894888 7.47747363] [-0.04038722 0.99899683 -0.01934461 -0.33457716] [ 0.01815567 0.02009093 0.9996333 -0.22784225] [ 0. 0. 0. 1. ]] SLAMing on 27.902401008000002 meters Centerline goodness : 0.938494 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.34, Z:-0.23 [[ 0.99920067 0.03480654 -0.01966008 7.47915876] [-0.03526249 0.99910547 -0.02334136 -0.33945548] [ 0.01883006 0.02401596 0.99953422 -0.22927604] [ 0. 0. 0. 1. ]] SLAMing on 27.932401008000003 meters Centerline goodness : 0.932733 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.35, Z:-0.22 [[ 0.99942183 0.0265866 -0.02119348 7.46872681] [-0.02681339 0.99958542 -0.01048927 -0.35392853] [ 0.02090582 0.01105147 0.99972037 -0.21784843] [ 0. 0. 0. 1. ]] SLAMing on 27.962401008 meters Centerline goodness : 0.935784 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.36, Z:-0.21 [[ 9.99707598e-01 1.83643169e-02 -1.57311610e-02 7.44744872e+00] [-1.82773789e-02 9.99816976e-01 5.65255393e-03 -3.59178702e-01] [ 1.58320871e-02 -5.36337673e-03 9.99860280e-01 -2.13475779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992401008 meters Centerline goodness : 0.932829 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.36, Z:-0.21 [[ 9.99778156e-01 1.43787946e-02 -1.53911740e-02 7.44730712e+00] [-1.43522480e-02 9.99895319e-01 1.83386851e-03 -3.60962624e-01] [ 1.54159316e-02 -1.61256373e-03 9.99879867e-01 -2.14559755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022401008000003 meters Centerline goodness : 0.936749 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.37, Z:-0.21 [[ 0.99978566 0.01046419 -0.01786444 7.43029093] [-0.01030222 0.99990521 0.00913434 -0.36525772] [ 0.01795833 -0.00894834 0.99979869 -0.2092043 ] [ 0. 0. 0. 1. ]] SLAMing on 28.052401008 meters Centerline goodness : 0.932764 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.37, Z:-0.20 [[ 9.99785990e-01 5.67827595e-03 -1.98930168e-02 7.41546938e+00] [-5.27758736e-03 9.99783299e-01 2.01370948e-02 -3.73696107e-01] [ 2.00030499e-02 -2.00277981e-02 9.99599302e-01 -1.99216958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082401008 meters Centerline goodness : 0.930318 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.38, Z:-0.19 [[ 9.99761328e-01 3.45691526e-03 -2.15716431e-02 7.40683342e+00] [-2.65669276e-03 9.99311177e-01 3.70150463e-02 -3.79363045e-01] [ 2.16847420e-02 -3.69489026e-02 9.99081854e-01 -1.88810588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112401008000003 meters Centerline goodness : 0.932646 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.38, Z:-0.19 [[ 9.99760546e-01 3.89109635e-03 -2.15339050e-02 7.40615490e+00] [-3.07470637e-03 9.99279992e-01 3.78159283e-02 -3.80865184e-01] [ 2.16655458e-02 -3.77406627e-02 9.99052675e-01 -1.87666195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142401008 meters Centerline goodness : 0.928626 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.38, Z:-0.19 [[ 9.99788060e-01 2.01774610e-03 -2.04881191e-02 7.40262706e+00] [-1.31921811e-03 9.99419235e-01 3.40507465e-02 -3.78822296e-01] [ 2.05449261e-02 -3.40165015e-02 9.99210080e-01 -1.87975266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172401008 meters Centerline goodness : 0.931693 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.38, Z:-0.19 [[ 9.99790400e-01 2.40047087e-03 -2.03321027e-02 7.40205236e+00] [-1.70585480e-03 9.99416553e-01 3.41122155e-02 -3.78228129e-01] [ 2.04021254e-02 -3.40703820e-02 9.99211170e-01 -1.87833756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202401008000002 meters Centerline goodness : 0.929535 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.38, Z:-0.19 [[ 9.99759710e-01 5.59033652e-03 -2.11959837e-02 7.40454454e+00] [-4.76806696e-03 9.99241524e-01 3.86476587e-02 -3.80505770e-01] [ 2.13959605e-02 -3.85373082e-02 9.99028072e-01 -1.87073912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232401008000004 meters Centerline goodness : 0.929787 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.38, Z:-0.19 [[ 0.99972872 0.00854921 -0.02166557 7.40709012] [-0.00760604 0.99903543 0.04324763 -0.38234372] [ 0.0220144 -0.04307111 0.99882944 -0.18639361] [ 0. 0. 0. 1. ]] SLAMing on 28.262401008 meters Centerline goodness : 0.924051 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.38, Z:-0.19 [[ 9.99725244e-01 7.44340640e-03 -2.22268286e-02 7.41006626e+00] [-6.49094636e-03 9.99070240e-01 4.26206953e-02 -3.82886927e-01] [ 2.25234061e-02 -4.24647119e-02 9.98844054e-01 -1.88429746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292401008000002 meters Centerline goodness : 0.923863 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.38, Z:-0.19 [[ 9.99746997e-01 3.10490983e-03 -2.22778310e-02 7.41083522e+00] [-2.26412420e-03 9.99287768e-01 3.76673582e-02 -3.80811731e-01] [ 2.23789178e-02 -3.76073885e-02 9.99041975e-01 -1.90037597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322401008000003 meters Centerline goodness : 0.923036 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.38, Z:-0.19 [[ 9.99690917e-01 -4.73157367e-04 -2.48565236e-02 7.39274289e+00] [ 1.53545393e-03 9.99085243e-01 4.27354534e-02 -3.81410042e-01] [ 2.48135653e-02 -4.27604106e-02 9.98777169e-01 -1.86729205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352401008 meters Centerline goodness : 0.923382 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.38, Z:-0.20 [[ 9.99720450e-01 -6.02308554e-03 -2.28635951e-02 7.36381103e+00] [ 6.78187944e-03 9.99423832e-01 3.32567270e-02 -3.75498428e-01] [ 2.26501137e-02 -3.34024882e-02 9.99185291e-01 -1.95447139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382401008000002 meters Centerline goodness : 0.921523 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.37, Z:-0.20 [[ 0.99969284 -0.01321474 -0.02096632 7.33647514] [ 0.01372866 0.99960409 0.02455985 -0.36954532] [ 0.02063347 -0.02484015 0.99947848 -0.20185988] [ 0. 0. 0. 1. ]] SLAMing on 28.412401008000003 meters Centerline goodness : 0.919323 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.37, Z:-0.20 [[ 0.99963791 -0.01733271 -0.02058226 7.33603116] [ 0.01773112 0.99965582 0.01933497 -0.3661381 ] [ 0.02024004 -0.01969292 0.99960119 -0.20322021] [ 0. 0. 0. 1. ]] SLAMing on 28.442401008 meters Centerline goodness : 0.922380 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-0.20 [[ 0.99957399 -0.02123571 -0.02002229 7.33536723] [ 0.02151903 0.99966982 0.01404237 -0.36209701] [ 0.01971748 -0.01446725 0.99970092 -0.20497262] [ 0. 0. 0. 1. ]] SLAMing on 28.472401008000002 meters Centerline goodness : 0.920855 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-0.21 [[ 0.99956995 -0.02135105 -0.02010102 7.33559814] [ 0.02162688 0.99967352 0.0136063 -0.36024089] [ 0.01980395 -0.01403517 0.99970537 -0.20523026] [ 0. 0. 0. 1. ]] SLAMing on 28.502401008000003 meters Centerline goodness : 0.922039 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.36, Z:-0.21 [[ 0.99983213 -0.01572351 -0.0094065 7.33887319] [ 0.01590422 0.99968425 0.01945419 -0.36241855] [ 0.00909764 -0.01960053 0.9997665 -0.20673494] [ 0. 0. 0. 1. ]] SLAMing on 28.532401008 meters Centerline goodness : 0.919012 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.35, Z:-0.21 [[ 0.99984299 -0.01505673 -0.00934253 7.33885526] [ 0.01521747 0.99973315 0.01737983 -0.35472855] [ 0.00907836 -0.01751928 0.99980531 -0.20978156] [ 0. 0. 0. 1. ]] SLAMing on 28.562401008000002 meters Centerline goodness : 0.924418 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.35, Z:-0.21 [[ 0.99984926 -0.01480816 -0.00906557 7.33835831] [ 0.01495409 0.99975618 0.01624688 -0.35006244] [ 0.00882277 -0.01638 0.99982691 -0.21097546] [ 0. 0. 0. 1. ]] SLAMing on 28.592401008000003 meters Centerline goodness : 0.921994 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.35, Z:-0.21 [[ 0.99985536 -0.01456617 -0.00877965 7.33767402] [ 0.014697 0.99977908 0.01502624 -0.34556095] [ 0.00855884 -0.0151531 0.99984855 -0.21202709] [ 0. 0. 0. 1. ]] SLAMing on 28.622401008 meters Centerline goodness : 0.923909 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.34, Z:-0.21 [[ 0.99990947 -0.01046248 -0.00846118 7.33708489] [ 0.01060199 0.99980575 0.01661522 -0.3420135 ] [ 0.0082857 -0.01670342 0.99982616 -0.21160148] [ 0. 0. 0. 1. ]] SLAMing on 28.652401008000002 meters Centerline goodness : 0.924737 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.34, Z:-0.21 [[ 0.99990413 -0.01133122 -0.00795886 7.31064189] [ 0.01147234 0.9997737 0.01791449 -0.33928957] [ 0.00775406 -0.01800408 0.99980785 -0.21143403] [ 0. 0. 0. 1. ]] SLAMing on 28.682401008000003 meters Centerline goodness : 0.927563 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.34, Z:-0.21 [[ 0.99990459 -0.01129205 -0.00795614 7.31033256] [ 0.0114292 0.99978312 0.01740945 -0.33787731] [ 0.00775782 -0.01749872 0.99981679 -0.21074978] [ 0. 0. 0. 1. ]] SLAMing on 28.712401008 meters Centerline goodness : 0.928197 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.34, Z:-0.21 [[ 0.99990435 -0.01153509 -0.00763075 7.30944755] [ 0.01166384 0.99978661 0.01704952 -0.33614758] [ 0.00743245 -0.01713689 0.99982553 -0.21027754] [ 0. 0. 0. 1. ]] SLAMing on 28.742401008 meters Centerline goodness : 0.931121 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.22 [[ 9.99925580e-01 -1.17887564e-02 -3.14002558e-03 7.32063376e+00] [ 1.17952843e-02 9.99928293e-01 2.06860855e-03 -3.28857361e-01] [ 3.11541410e-03 -2.10549210e-03 9.99992931e-01 -2.18327867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772401008000003 meters Centerline goodness : 0.929610 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.22 [[ 9.99914451e-01 -1.25488200e-02 -3.69015035e-03 7.32214220e+00] [ 1.25532292e-02 9.99920516e-01 1.17411881e-03 -3.26346950e-01] [ 3.67512324e-03 -1.22034166e-03 9.99992502e-01 -2.18734994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802401008 meters Centerline goodness : 0.930504 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.22 [[ 9.99908477e-01 -1.29245616e-02 -3.99922283e-03 7.32295412e+00] [ 1.29268241e-02 9.99916299e-01 5.40390779e-04 -3.24026988e-01] [ 3.99190378e-03 -5.92038571e-04 9.99991857e-01 -2.18991428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832401008 meters Centerline goodness : 0.928241 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.22 [[ 9.99903299e-01 -1.31824116e-02 -4.42916748e-03 7.32372703e+00] [ 1.31826764e-02 9.99913104e-01 3.05874974e-05 -3.21979845e-01] [ 4.42837938e-03 -8.89728210e-05 9.99990191e-01 -2.18937850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862401008000003 meters Centerline goodness : 0.931311 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.22 [[ 9.99898239e-01 -1.33830395e-02 -4.94024961e-03 7.32463712e+00] [ 1.33778679e-02 9.99909931e-01 -1.07840504e-03 -3.18187939e-01] [ 4.95423698e-03 1.01220530e-03 9.99987215e-01 -2.19359704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892401008 meters Centerline goodness : 0.928275 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.22 [[ 9.99928511e-01 -1.04254138e-02 -5.85518878e-03 7.32721921e+00] [ 1.04396419e-02 9.99942614e-01 2.40471099e-03 -3.18279374e-01] [ 5.82978267e-03 -2.46566516e-03 9.99979967e-01 -2.19813474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922401008 meters Centerline goodness : 0.929551 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.32, Z:-0.22 [[ 9.99972703e-01 -6.99414263e-03 -2.38229147e-03 7.34166091e+00] [ 6.98066216e-03 9.99959838e-01 -5.62069315e-03 -3.15085545e-01] [ 2.42150773e-03 5.60390975e-03 9.99981366e-01 -2.24947358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952401008000002 meters Centerline goodness : 0.928192 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.31, Z:-0.22 [[ 9.99992673e-01 -2.73864138e-03 -2.67461899e-03 7.34129378e+00] [ 2.73383983e-03 9.99994648e-01 -1.79723482e-03 -3.12546461e-01] [ 2.67952666e-03 1.78990967e-03 9.99994808e-01 -2.23742395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982401008000004 meters Centerline goodness : 0.929998 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.31, Z:-0.23 [[ 9.99998240e-01 1.53544543e-03 1.07857740e-03 7.35691844e+00] [-1.52778598e-03 9.99973863e-01 -7.06672035e-03 -3.11075001e-01] [-1.08939977e-03 7.06506007e-03 9.99974449e-01 -2.27130703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012401008 meters Centerline goodness : 0.926640 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.31, Z:-0.23 [[ 9.99980901e-01 4.43439095e-03 4.30504178e-03 7.37293971e+00] [-4.37571458e-03 9.99898691e-01 -1.35447459e-02 -3.08856448e-01] [-4.36466834e-03 1.35256496e-02 9.99898998e-01 -2.30358763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008000002 meters Centerline goodness : 0.931166 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.31, Z:-0.23 [[ 9.99962460e-01 7.88054271e-03 3.60215213e-03 7.37437110e+00] [-7.84672555e-03 9.99925895e-01 -9.30769717e-03 -3.09521935e-01] [-3.67523490e-03 9.27908266e-03 9.99950194e-01 -2.29460642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072401008000003 meters Centerline goodness : 0.932806 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.31, Z:-0.23 [[ 9.99934104e-01 1.11024279e-02 2.91955892e-03 7.37618099e+00] [-1.10863374e-02 9.99923578e-01 -5.47091848e-03 -3.08951172e-01] [-2.98007628e-03 5.43819075e-03 9.99980772e-01 -2.29185297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102401008 meters Centerline goodness : 0.932266 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.31, Z:-0.23 [[ 9.99942785e-01 1.04432876e-02 2.31627584e-03 7.37805400e+00] [-1.04292353e-02 9.99927624e-01 -5.99807880e-03 -3.08470154e-01] [-2.37874786e-03 5.97357863e-03 9.99979329e-01 -2.29896967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132401008000002 meters Centerline goodness : 0.929059 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.31, Z:-0.23 [[ 9.99951692e-01 9.68566063e-03 1.67359711e-03 7.38016985e+00] [-9.67476588e-03 9.99932719e-01 -6.39965811e-03 -3.08809046e-01] [-1.73546943e-03 6.38315729e-03 9.99978121e-01 -2.30694221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162401008000003 meters Centerline goodness : 0.928658 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.31, Z:-0.23 [[ 9.99971407e-01 7.53571209e-03 6.30413055e-04 7.38413570e+00] [-7.53112891e-03 9.99947270e-01 -6.98138994e-03 -3.11161990e-01] [-6.82989557e-04 6.97644260e-03 9.99975431e-01 -2.31865920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192401008 meters Centerline goodness : 0.927563 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.31, Z:-0.23 [[ 9.99982136e-01 5.95703849e-03 -4.90557084e-04 7.38817856e+00] [-5.96056483e-03 9.99953873e-01 -7.53154374e-03 -3.12481849e-01] [ 4.45668760e-04 7.53433320e-03 9.99971517e-01 -2.33415974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222401008000002 meters Centerline goodness : 0.929106 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.31, Z:-0.23 [[ 9.99987974e-01 4.63756063e-03 -1.59498658e-03 7.39183211e+00] [-4.64990774e-03 9.99958560e-01 -7.82662820e-03 -3.14043525e-01] [ 1.55862402e-03 7.83395062e-03 9.99968099e-01 -2.34647374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252401008000003 meters Centerline goodness : 0.924720 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.32, Z:-0.24 [[ 9.99990940e-01 3.30974264e-03 -2.67686603e-03 7.39538892e+00] [-3.33130985e-03 9.99961702e-01 -8.09296422e-03 -3.15680404e-01] [ 2.64997789e-03 8.10180837e-03 9.99963668e-01 -2.35674181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282401008 meters Centerline goodness : 0.925565 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.32, Z:-0.24 [[ 9.99992754e-01 8.33347597e-04 -3.71439459e-03 7.39979489e+00] [-8.66217300e-04 9.99960406e-01 -8.85646938e-03 -3.17538895e-01] [ 3.70686700e-03 8.85962268e-03 9.99953882e-01 -2.37153312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312401008000002 meters Centerline goodness : 0.923936 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.32, Z:-0.24 [[ 9.99989073e-01 -1.75221001e-04 -4.67151676e-03 7.40246182e+00] [ 1.33471842e-04 9.99960066e-01 -8.93577436e-03 -3.18529522e-01] [ 4.67289595e-03 8.93505321e-03 9.99949163e-01 -2.37334797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342401008000003 meters Centerline goodness : 0.924215 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.32, Z:-0.24 [[ 9.99985474e-01 -5.60021036e-04 -5.36083041e-03 7.40386451e+00] [ 5.14352184e-04 9.99963601e-01 -8.51657967e-03 -3.19749641e-01] [ 5.36540474e-03 8.51369861e-03 9.99949363e-01 -2.36721115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372401008 meters Centerline goodness : 0.922594 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.32, Z:-0.24 [[ 9.99981024e-01 -1.18396883e-03 -6.04566733e-03 7.40570180e+00] [ 1.13180007e-03 9.99962161e-01 -8.62525744e-03 -3.20015541e-01] [ 6.05565061e-03 8.61825128e-03 9.99944526e-01 -2.36860542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402401008000002 meters Centerline goodness : 0.922818 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.32, Z:-0.24 [[ 9.99972614e-01 1.44846086e-03 -7.25765944e-03 7.40923678e+00] [-1.48470948e-03 9.99986440e-01 -4.99163713e-03 -3.20516597e-01] [ 7.25033083e-03 5.00227594e-03 9.99961204e-01 -2.37286390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432401008000003 meters Centerline goodness : 0.922957 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.32, Z:-0.24 [[ 9.99964634e-01 2.85669102e-03 -7.91015691e-03 7.41168886e+00] [-2.88353393e-03 9.99990116e-01 -3.38415160e-03 -3.20075203e-01] [ 7.90041125e-03 3.40684112e-03 9.99962988e-01 -2.38263950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462401008 meters Centerline goodness : 0.927295 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.32, Z:-0.24 [[ 9.99940955e-01 6.75892783e-03 -8.50907618e-03 7.41247691e+00] [-6.75053018e-03 9.99976700e-01 1.01523962e-03 -3.21015604e-01] [ 8.51573984e-03 -9.57738898e-04 9.99963282e-01 -2.37082438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492401008 meters Centerline goodness : 0.928128 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.32, Z:-0.24 [[ 9.99935432e-01 7.38834631e-03 -8.63392816e-03 7.41196276e+00] [-7.38482341e-03 9.99972635e-01 4.39839599e-04 -3.17591061e-01] [ 8.63694158e-03 -3.76051164e-04 9.99962630e-01 -2.36925741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522401008000003 meters Centerline goodness : 0.930887 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.31, Z:-0.24 [[ 9.99865946e-01 1.60655172e-02 -3.16056596e-03 7.42112503e+00] [-1.60779542e-02 9.99862940e-01 -3.94981251e-03 -3.12820570e-01] [ 3.09667699e-03 4.00009845e-03 9.99987205e-01 -2.40342777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552401008 meters Centerline goodness : 0.933176 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.31, Z:-0.24 [[ 9.99787946e-01 2.03290673e-02 -3.28522203e-03 7.42061091e+00] [-2.03272897e-02 9.99793215e-01 5.73598249e-04 -3.12904213e-01] [ 3.29620341e-03 -5.06696955e-04 9.99994439e-01 -2.38537790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582401008 meters Centerline goodness : 0.932637 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.31, Z:-0.24 [[ 9.99769230e-01 2.12474703e-02 -3.16721515e-03 7.41919514e+00] [-2.12459429e-02 9.99774147e-01 5.15113418e-04 -3.10665040e-01] [ 3.17744468e-03 -4.47704073e-04 9.99994852e-01 -2.37569286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612401008000003 meters Centerline goodness : 0.932270 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.31, Z:-0.24 [[ 9.99756705e-01 2.18459402e-02 -3.04715044e-03 7.41837634e+00] [-2.18451691e-02 9.99761325e-01 2.86084856e-04 -3.08724747e-01] [ 3.05267296e-03 -2.19449736e-04 9.99995317e-01 -2.37274863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642401008 meters Centerline goodness : 0.936287 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.31, Z:-0.24 [[ 9.99626591e-01 2.72230863e-02 2.36277322e-03 7.42989775e+00] [-2.72087857e-02 9.99612437e-01 -5.88710191e-03 -3.05424463e-01] [-2.52212258e-03 5.82061542e-03 9.99979879e-01 -2.41766020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672401008 meters Centerline goodness : 0.936830 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.30, Z:-0.24 [[ 9.99623708e-01 2.73397349e-02 2.23175844e-03 7.43007389e+00] [-2.73253583e-02 9.99607139e-01 -6.23642712e-03 -3.03989215e-01] [-2.40138393e-03 6.17309681e-03 9.99978063e-01 -2.41895833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702401008000002 meters Centerline goodness : 0.933487 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.30, Z:-0.24 [[ 9.99603388e-01 2.81556898e-02 5.68552595e-04 7.43371514e+00] [-2.81503020e-02 9.99572244e-01 -7.93034078e-03 -3.03985535e-01] [-7.91593608e-04 7.91119058e-03 9.99968393e-01 -2.42283946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732401008000004 meters Centerline goodness : 0.937200 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.31, Z:-0.24 [[ 9.99476662e-01 3.21679261e-02 -3.40964047e-03 7.44076035e+00] [-3.22034073e-02 9.99421687e-01 -1.09193400e-02 -3.05412571e-01] [ 3.05641611e-03 1.10234276e-02 9.99934569e-01 -2.41321593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762401008 meters Centerline goodness : 0.937200 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.31, Z:-0.24 [[ 9.99476662e-01 3.21679261e-02 -3.40964047e-03 7.44076035e+00] [-3.22034073e-02 9.99421687e-01 -1.09193400e-02 -3.05412571e-01] [ 3.05641611e-03 1.10234276e-02 9.99934569e-01 -2.41321593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792401008000002 meters Centerline goodness : 0.932019 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.31, Z:-0.24 [[ 9.99379377e-01 3.47797967e-02 -5.58804263e-03 7.44503771e+00] [-3.48387279e-02 9.99334380e-01 -1.08194714e-02 -3.06681992e-01] [ 5.20802410e-03 1.10074369e-02 9.99925854e-01 -2.41175868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822401008000003 meters Centerline goodness : 0.929944 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.31, Z:-0.24 [[ 9.99280309e-01 3.71830346e-02 -7.50241258e-03 7.44983398e+00] [-3.72577716e-02 9.99254841e-01 -1.00807830e-02 -3.08137107e-01] [ 7.12198799e-03 1.03530511e-02 9.99921043e-01 -2.42678858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852401008 meters Centerline goodness : 0.930066 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.31, Z:-0.25 [[ 0.99920674 0.03880411 -0.00895203 7.45437004] [-0.03888916 0.99919809 -0.00952974 -0.3093835 ] [ 0.00857506 0.00987032 0.99991452 -0.24508716] [ 0. 0. 0. 1. ]] SLAMing on 29.882401008000002 meters Centerline goodness : 0.926624 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.31, Z:-0.25 [[ 0.99915449 0.03985285 -0.0101024 7.45794855] [-0.03993965 0.99916559 -0.00854075 -0.3109333 ] [ 0.0097536 0.00893701 0.99991249 -0.24723556] [ 0. 0. 0. 1. ]] SLAMing on 29.912401008000003 meters Centerline goodness : 0.928222 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.32, Z:-0.25 [[ 0.99906785 0.04112224 -0.01312983 7.46476947] [-0.04125491 0.99909863 -0.00999834 -0.31615543] [ 0.01270684 0.01053069 0.99986381 -0.24935685] [ 0. 0. 0. 1. ]] SLAMing on 29.942401008 meters Centerline goodness : 0.929262 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.32, Z:-0.25 [[ 0.9990524 0.04071821 -0.0153731 7.46966257] [-0.04092238 0.99907503 -0.01320796 -0.31883492] [ 0.01482108 0.01382455 0.99979459 -0.25028295] [ 0. 0. 0. 1. ]] SLAMing on 29.972401008000002 meters Centerline goodness : 0.928055 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.32, Z:-0.25 [[ 0.99902042 0.0410795 -0.016452 7.47144036] [-0.04131255 0.99904699 -0.01408512 -0.32170236] [ 0.01585771 0.01475099 0.99976544 -0.24984099] [ 0. 0. 0. 1. ]] SLAMing on 30.002401008000003 meters Centerline goodness : 0.924556 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.33, Z:-0.25 [[ 0.99895678 0.0413239 -0.0194342 7.47736265] [-0.04166546 0.99897815 -0.01751138 -0.32725094] [ 0.01869071 0.01830284 0.99965777 -0.2507539 ] [ 0. 0. 0. 1. ]] SLAMing on 30.032401008 meters Centerline goodness : 0.924881 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.33, Z:-0.25 [[ 0.99878133 0.04520368 -0.01981096 7.478345 ] [-0.0454231 0.99890979 -0.01076894 -0.3342956 ] [ 0.01930256 0.01165569 0.99974575 -0.24793721] [ 0. 0. 0. 1. ]] SLAMing on 30.062401008000002 meters Centerline goodness : 0.922830 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.34, Z:-0.25 [[ 0.99874909 0.04587312 -0.01989776 7.47808408] [-0.04606334 0.99889607 -0.00920923 -0.3385169 ] [ 0.01945333 0.01011427 0.99975961 -0.24697146] [ 0. 0. 0. 1. ]] SLAMing on 30.092401008000003 meters Centerline goodness : 0.925281 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.34, Z:-0.25 [[ 9.98714824e-01 4.66367195e-02 -1.98423135e-02 7.47743055e+00] [-4.67874518e-02 9.98878911e-01 -7.20108030e-03 -3.43609898e-01] [ 1.94842337e-02 8.12019693e-03 9.99777189e-01 -2.45354898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122401008 meters Centerline goodness : 0.923830 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.35, Z:-0.24 [[ 9.98685071e-01 4.72404876e-02 -1.99114128e-02 7.47699102e+00] [-4.73503512e-02 9.98865413e-01 -5.08249822e-03 -3.49359754e-01] [ 1.96487219e-02 6.01862749e-03 9.99788830e-01 -2.43548569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152401008000002 meters Centerline goodness : 0.923885 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.36, Z:-0.24 [[ 9.98824527e-01 4.41747190e-02 -1.99539065e-02 7.47647277e+00] [-4.43066196e-02 9.98998635e-01 -6.21704880e-03 -3.58608524e-01] [ 1.96592890e-02 7.09383097e-03 9.99781571e-01 -2.42321574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182401008000003 meters Centerline goodness : 0.923616 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.36, Z:-0.24 [[ 9.98830239e-01 4.37674119e-02 -2.05564411e-02 7.47817205e+00] [-4.38758271e-02 9.99025206e-01 -4.85274250e-03 -3.64825602e-01] [ 2.03240109e-02 5.74899681e-03 9.99776917e-01 -2.41719985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212401008 meters Centerline goodness : 0.925764 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.38, Z:-0.24 [[ 9.98987194e-01 3.98099688e-02 -2.09702936e-02 7.47918738e+00] [-3.99421740e-02 9.99184434e-01 -5.92357606e-03 -3.75566987e-01] [ 2.07173735e-02 6.75517574e-03 9.99762551e-01 -2.40499538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242401008 meters Centerline goodness : 0.922514 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.38, Z:-0.24 [[ 9.98998341e-01 3.92276583e-02 -2.15291709e-02 7.48129368e+00] [-3.93377371e-02 9.99214855e-01 -4.71337950e-03 -3.81714122e-01] [ 2.13273725e-02 5.55556717e-03 9.99757110e-01 -2.40408444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272401008000003 meters Centerline goodness : 0.924066 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.39, Z:-0.24 [[ 9.99013515e-01 3.83652678e-02 -2.23629885e-02 7.48422211e+00] [-3.84606313e-02 9.99252700e-01 -3.84980302e-03 -3.87629596e-01] [ 2.21985780e-02 4.70609991e-03 9.99742505e-01 -2.40771467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302401008 meters Centerline goodness : 0.922009 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.39, Z:-0.24 [[ 9.99065402e-01 3.67362585e-02 -2.27765051e-02 7.48697353e+00] [-3.68384955e-02 9.99312882e-01 -4.08535224e-03 -3.92800580e-01] [ 2.26107744e-02 4.92058626e-03 9.99732235e-01 -2.42258944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332401008 meters Centerline goodness : 0.922264 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.40, Z:-0.24 [[ 9.99279993e-01 2.98564234e-02 -2.34113215e-02 7.50531815e+00] [-2.98334190e-02 9.99553998e-01 1.33134734e-03 -4.03495386e-01] [ 2.34406293e-02 -6.31948990e-04 9.99725031e-01 -2.40440934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362401008000003 meters Centerline goodness : 0.920423 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.41, Z:-0.24 [[ 9.99276258e-01 2.93195112e-02 -2.42348371e-02 7.50803389e+00] [-2.92688433e-02 9.99568591e-01 2.44285839e-03 -4.09288811e-01] [ 2.42960053e-02 -1.73176474e-03 9.99703309e-01 -2.40479115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392401008000004 meters Centerline goodness : 0.921318 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.42, Z:-0.24 [[ 0.99930023 0.02792028 -0.02488983 7.51599231] [-0.02770268 0.99957528 0.00904504 -0.41594472] [ 0.0251318 -0.0083492 0.99964928 -0.23521691] [ 0. 0. 0. 1. ]] SLAMing on 30.422401008 meters Centerline goodness : 0.918344 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.42, Z:-0.24 [[ 9.99410665e-01 2.37640946e-02 -2.47707643e-02 7.51639918e+00] [-2.36500484e-02 9.99708354e-01 4.88694313e-03 -4.17380982e-01] [ 2.48796738e-02 -4.29823331e-03 9.99681213e-01 -2.36688164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452401008000002 meters Centerline goodness : 0.918898 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.43, Z:-0.23 [[ 0.99957334 0.01854155 -0.02256859 7.53868196] [-0.0180905 0.99963573 0.02002852 -0.42879374] [ 0.02293173 -0.01961169 0.99954465 -0.2258941 ] [ 0. 0. 0. 1. ]] SLAMing on 30.482401008000004 meters Centerline goodness : 0.921271 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.43, Z:-0.22 [[ 0.99956314 0.01844151 -0.02309639 7.53991449] [-0.01793248 0.9995959 0.02205589 -0.43358991] [ 0.0234938 -0.02163208 0.99948992 -0.22326162] [ 0. 0. 0. 1. ]] SLAMing on 30.512401008 meters Centerline goodness : 0.919877 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.44, Z:-0.22 [[ 0.99955322 0.01843106 -0.02352999 7.54070796] [-0.01787829 0.99956419 0.02349041 -0.43806319] [ 0.02395268 -0.02305924 0.99944712 -0.22166207] [ 0. 0. 0. 1. ]] SLAMing on 30.542401008000002 meters Centerline goodness : 0.921414 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.44, Z:-0.22 [[ 0.99954835 0.01812343 -0.02397149 7.54207101] [-0.01754064 0.99955075 0.02430271 -0.44144441] [ 0.02440117 -0.02387126 0.9994172 -0.22101509] [ 0. 0. 0. 1. ]] SLAMing on 30.572401008000003 meters Centerline goodness : 0.919278 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.45, Z:-0.22 [[ 0.9995405 0.01785611 -0.02449396 7.5436845 ] [-0.01721555 0.99951062 0.02611808 -0.44735999] [ 0.02494834 -0.02568441 0.99935874 -0.21948436] [ 0. 0. 0. 1. ]] SLAMing on 30.602401008 meters Centerline goodness : 0.922531 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.45, Z:-0.22 [[ 0.99952772 0.0179055 -0.02497462 7.54492861] [-0.01722647 0.9994831 0.02714378 -0.45038012] [ 0.02544774 -0.02670074 0.99931951 -0.2186071 ] [ 0. 0. 0. 1. ]] SLAMing on 30.632401008000002 meters Centerline goodness : 0.923633 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.45, Z:-0.23 [[ 0.99963269 0.01747305 -0.02071667 7.55852726] [-0.01718878 0.99975673 0.0138216 -0.44941424] [ 0.02095314 -0.01346043 0.99968984 -0.22705049] [ 0. 0. 0. 1. ]] SLAMing on 30.662401008000003 meters Centerline goodness : 0.925114 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.45, Z:-0.23 [[ 0.99955795 0.02050739 -0.02152575 7.56149433] [-0.02010223 0.99961979 0.01887239 -0.45429429] [ 0.02190459 -0.01843133 0.99959015 -0.22595173] [ 0. 0. 0. 1. ]] SLAMing on 30.692401008 meters Centerline goodness : 0.920409 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.46, Z:-0.23 [[ 0.99945903 0.02413136 -0.02234549 7.56471676] [-0.02360774 0.99944723 0.02340738 -0.45890967] [ 0.02289799 -0.0228672 0.99947625 -0.2270097 ] [ 0. 0. 0. 1. ]] SLAMing on 30.722401008000002 meters Centerline goodness : 0.920245 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.46, Z:-0.24 [[ 0.99946443 0.02685824 -0.01869474 7.57970064] [-0.02661027 0.99955622 0.01338873 -0.45715505] [ 0.01904604 -0.01288409 0.99973559 -0.23535689] [ 0. 0. 0. 1. ]] SLAMing on 30.752401008000003 meters Centerline goodness : 0.918479 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.46, Z:-0.24 [[ 0.99944737 0.0275876 -0.01854395 7.57900157] [-0.02734469 0.99953855 0.01322725 -0.45674196] [ 0.0189003 -0.01271286 0.99974055 -0.23605088] [ 0. 0. 0. 1. ]] SLAMing on 30.782401008 meters Centerline goodness : 0.923871 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.46, Z:-0.24 [[ 9.99385112e-01 3.26824132e-02 -1.26987701e-02 7.58828214e+00] [-3.26058630e-02 9.99449124e-01 6.18919563e-03 -4.57961539e-01] [ 1.28940525e-02 -5.77133561e-03 9.99900213e-01 -2.39685075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812401008000002 meters Centerline goodness : 0.925464 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.46, Z:-0.24 [[ 9.99358146e-01 3.35059336e-02 -1.26747023e-02 7.58697176e+00] [-3.34171287e-02 9.99415883e-01 7.15460438e-03 -4.59815489e-01] [ 1.29070205e-02 -6.72646001e-03 9.99894076e-01 -2.38055841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842401008000003 meters Centerline goodness : 0.928472 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.46, Z:-0.24 [[ 9.99455521e-01 3.07184085e-02 -1.20433071e-02 7.58448791e+00] [-3.06850786e-02 9.99524771e-01 2.94263078e-03 -4.58973804e-01] [ 1.21279767e-02 -2.57147875e-03 9.99923147e-01 -2.38757902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872401008 meters Centerline goodness : 0.928563 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.46, Z:-0.24 [[ 9.99449240e-01 3.09019931e-02 -1.20947821e-02 7.58422562e+00] [-3.08568189e-02 9.99516191e-01 3.90401357e-03 -4.61676859e-01] [ 1.22095724e-02 -3.52865689e-03 9.99919234e-01 -2.37503044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008000002 meters Centerline goodness : 0.930369 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.46, Z:-0.24 [[ 9.99457759e-01 3.05133612e-02 -1.23742788e-02 7.58538902e+00] [-3.04592073e-02 9.99525693e-01 4.54147375e-03 -4.64332076e-01] [ 1.25069852e-02 -4.16210045e-03 9.99913122e-01 -2.37197330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932401008000003 meters Centerline goodness : 0.930595 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.47, Z:-0.24 [[ 9.99495567e-01 2.90637268e-02 -1.28027955e-02 7.58838889e+00] [-2.89983113e-02 9.99565590e-01 5.26584940e-03 -4.69838031e-01] [ 1.29502790e-02 -4.89193368e-03 9.99904175e-01 -2.37530148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962401008 meters Centerline goodness : 0.933216 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.47, Z:-0.24 [[ 9.99489633e-01 2.92430820e-02 -1.28575362e-02 7.58801444e+00] [-2.91764449e-02 9.99560012e-01 5.34014754e-03 -4.69854270e-01] [ 1.30080414e-02 -4.96228491e-03 9.99903079e-01 -2.36943028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992401008 meters Centerline goodness : 0.933658 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.47, Z:-0.24 [[ 9.99485004e-01 2.92860636e-02 -1.31168914e-02 7.58814724e+00] [-2.92154627e-02 9.99557773e-01 5.54213656e-03 -4.70757936e-01] [ 1.32733981e-02 -5.15606633e-03 9.99898611e-01 -2.36284930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022401008000003 meters Centerline goodness : 0.938528 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.47, Z:-0.24 [[ 9.99498087e-01 2.83946008e-02 -1.40470575e-02 7.59122552e+00] [-2.83232699e-02 9.99585023e-01 5.25118011e-03 -4.71922023e-01] [ 1.41903335e-02 -4.85068587e-03 9.99887546e-01 -2.37159358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052401008 meters Centerline goodness : 0.934971 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.47, Z:-0.24 [[ 9.99515030e-01 2.75591618e-02 -1.44981593e-02 7.59365498e+00] [-2.75013639e-02 9.99613064e-01 4.17098153e-03 -4.70618865e-01] [ 1.46074982e-02 -3.77023957e-03 9.99886197e-01 -2.39319786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082401008 meters Centerline goodness : 0.931004 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.47, Z:-0.24 [[ 9.99534657e-01 2.64932739e-02 -1.51187364e-02 7.59681878e+00] [-2.64502356e-02 9.99645510e-01 3.03961376e-03 -4.69874648e-01] [ 1.51939063e-02 -2.63830516e-03 9.99881085e-01 -2.41863992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112401008000003 meters Centerline goodness : 0.930602 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.47, Z:-0.24 [[ 9.99526684e-01 2.57312645e-02 -1.68615061e-02 7.60626333e+00] [-2.56193824e-02 9.99648518e-01 6.81814004e-03 -4.71636976e-01] [ 1.70310189e-02 -6.38293153e-03 9.99834588e-01 -2.41584323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142401008000004 meters Centerline goodness : 0.928220 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.47, Z:-0.24 [[ 9.99580954e-01 2.18268223e-02 -1.90133346e-02 7.61597350e+00] [-2.17090379e-02 9.99743978e-01 6.37938317e-03 -4.73390567e-01] [ 1.91477084e-02 -5.96394871e-03 9.99798878e-01 -2.43119076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172401008 meters Centerline goodness : 0.924583 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.48, Z:-0.24 [[ 9.99583251e-01 2.06780434e-02 -2.01430678e-02 7.61965949e+00] [-2.05480579e-02 9.99766824e-01 6.63887363e-03 -4.75022346e-01] [ 2.02756498e-02 -6.22220596e-03 9.99775066e-01 -2.43024848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202401008000002 meters Centerline goodness : 0.923784 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.48, Z:-0.24 [[ 9.99582508e-01 1.95925864e-02 -2.12353765e-02 7.62308673e+00] [-1.94451020e-02 9.99785505e-01 7.12961930e-03 -4.76979585e-01] [ 2.13705093e-02 -6.71371867e-03 9.99749082e-01 -2.42407767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232401008000004 meters Centerline goodness : 0.926329 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.48, Z:-0.23 [[ 0.99964639 0.0158077 -0.02138262 7.63713703] [-0.01546589 0.99975145 0.01605768 -0.48180222] [ 0.02163114 -0.0157213 0.9996424 -0.23296875] [ 0. 0. 0. 1. ]] SLAMing on 31.262401008 meters Centerline goodness : 0.929031 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.49, Z:-0.23 [[ 0.99958677 0.0176394 -0.02269657 7.64223336] [-0.0171116 0.9995834 0.02324247 -0.48522962] [ 0.02309709 -0.02284449 0.99947219 -0.22666022] [ 0. 0. 0. 1. ]] SLAMing on 31.292401008000002 meters Centerline goodness : 0.929226 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.48, Z:-0.23 [[ 0.9995856 0.01753329 -0.02283008 7.64272769] [-0.01700866 0.99959135 0.0229748 -0.48478005] [ 0.02322358 -0.02257697 0.99947534 -0.22707904] [ 0. 0. 0. 1. ]] SLAMing on 31.322401008000003 meters Centerline goodness : 0.932576 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.48, Z:-0.23 [[ 0.99965327 0.01880168 -0.01843451 7.65823311] [-0.01857006 0.99974746 0.01265603 -0.48154056] [ 0.01866781 -0.01230931 0.99974997 -0.23431333] [ 0. 0. 0. 1. ]] SLAMing on 31.352401008 meters Centerline goodness : 0.932253 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.48, Z:-0.24 [[ 9.99659582e-01 2.20643661e-02 -1.39241895e-02 7.67343887e+00] [-2.19969744e-02 9.99745661e-01 4.97465408e-03 -4.78532328e-01] [ 1.40304107e-02 -4.66667058e-03 9.99890679e-01 -2.39807208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382401008000002 meters Centerline goodness : 0.932867 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.48, Z:-0.24 [[ 9.99656552e-01 2.22246655e-02 -1.38867631e-02 7.67317912e+00] [-2.21630582e-02 9.99743903e-01 4.57467964e-03 -4.76772164e-01] [ 1.39848775e-02 -4.26533534e-03 9.99893109e-01 -2.39973762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412401008000003 meters Centerline goodness : 0.939565 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.48, Z:-0.24 [[ 9.99651117e-01 2.24682964e-02 -1.38859649e-02 7.67265284e+00] [-2.24081742e-02 9.99738911e-01 4.47025767e-03 -4.75441397e-01] [ 1.39827785e-02 -4.15753895e-03 9.99893593e-01 -2.39494599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442401008 meters Centerline goodness : 0.936962 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.48, Z:-0.24 [[ 0.99954872 0.02622759 -0.01464476 7.67382238] [-0.02608308 0.99961003 0.00997278 -0.47778164] [ 0.01490061 -0.0095863 0.99984302 -0.23629651] [ 0. 0. 0. 1. ]] SLAMing on 31.472401008000002 meters Centerline goodness : 0.942559 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.47, Z:-0.24 [[ 0.99953375 0.02688976 -0.0144647 7.67244959] [-0.02675725 0.99959891 0.00927752 -0.47449769] [ 0.01470837 -0.00888616 0.99985234 -0.23638967] [ 0. 0. 0. 1. ]] SLAMing on 31.502401008000003 meters Centerline goodness : 0.943421 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.47, Z:-0.24 [[ 0.99953302 0.02687399 -0.01454406 7.67268779] [-0.02675326 0.9996065 0.00843299 -0.47223512] [ 0.01476497 -0.00803995 0.99985867 -0.23733017] [ 0. 0. 0. 1. ]] SLAMing on 31.532401008 meters Centerline goodness : 0.946123 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.47, Z:-0.24 [[ 9.99534530e-01 2.67383423e-02 -1.46896229e-02 7.67314880e+00] [-2.66309376e-02 9.99617503e-01 7.45922992e-03 -4.69624066e-01] [ 1.48834516e-02 -7.06455944e-03 9.99864278e-01 -2.38362553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562401008000002 meters Centerline goodness : 0.943759 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.47, Z:-0.24 [[ 9.99537609e-01 2.65875552e-02 -1.47536366e-02 7.67356302e+00] [-2.64974613e-02 9.99629224e-01 6.26882975e-03 -4.66639643e-01] [ 1.49148392e-02 -5.87499719e-03 9.99871508e-01 -2.39777980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592401008000003 meters Centerline goodness : 0.943906 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 0.99943152 0.03006278 -0.01526008 7.67532101] [-0.02991769 0.9995058 0.00964863 -0.46469797] [ 0.01554261 -0.0091866 0.999837 -0.24008105] [ 0. 0. 0. 1. ]] SLAMing on 31.622401008 meters Centerline goodness : 0.944498 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 0.99943288 0.02997091 -0.01535103 7.67561638] [-0.02983649 0.99951507 0.00891156 -0.46286977] [ 0.01561068 -0.00844848 0.99984245 -0.24081926] [ 0. 0. 0. 1. ]] SLAMing on 31.652401008000002 meters Centerline goodness : 0.944269 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 9.99434200e-01 2.97581189e-02 -1.56758975e-02 7.67662900e+00] [-2.96335959e-02 9.99527871e-01 8.11691635e-03 -4.61310583e-01] [ 1.59100406e-02 -7.64779059e-03 9.99844179e-01 -2.41827001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682401008000003 meters Centerline goodness : 0.944269 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 9.99434200e-01 2.97581189e-02 -1.56758975e-02 7.67662900e+00] [-2.96335959e-02 9.99527871e-01 8.11691635e-03 -4.61310583e-01] [ 1.59100406e-02 -7.64779059e-03 9.99844179e-01 -2.41827001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712401008 meters Centerline goodness : 0.943770 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 9.99437299e-01 2.95108304e-02 -1.59435148e-02 7.67752806e+00] [-2.93947620e-02 9.99539998e-01 7.46596906e-03 -4.59900095e-01] [ 1.61565077e-02 -6.99311213e-03 9.99845020e-01 -2.42627836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742401008 meters Centerline goodness : 0.943206 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.24 [[ 9.99443899e-01 2.91083618e-02 -1.62664097e-02 7.67875495e+00] [-2.90028080e-02 9.99556957e-01 6.68777432e-03 -4.58461169e-01] [ 1.64538731e-02 -6.21228369e-03 9.99845327e-01 -2.43686710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772401008000003 meters Centerline goodness : 0.940003 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.25 [[ 9.99457417e-01 2.83965633e-02 -1.66885054e-02 7.68113037e+00] [-2.83178566e-02 9.99586793e-01 4.93380711e-03 -4.55566027e-01] [ 1.68217127e-02 -4.45854741e-03 9.99848564e-01 -2.46800346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802401008000004 meters Centerline goodness : 0.940716 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.45, Z:-0.25 [[ 9.99461994e-01 2.81389659e-02 -1.68499307e-02 7.68226854e+00] [-2.80720712e-02 9.99597105e-01 4.19352699e-03 -4.54744053e-01] [ 1.69611435e-02 -3.71825839e-03 9.99849236e-01 -2.48414386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832401008 meters Centerline goodness : 0.939633 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.46, Z:-0.25 [[ 0.99935849 0.03096003 -0.01800223 7.68597939] [-0.03080483 0.99948637 0.0088355 -0.4573401 ] [ 0.01826654 -0.00827527 0.99979891 -0.24733964] [ 0. 0. 0. 1. ]] SLAMing on 31.862401008000003 meters Centerline goodness : 0.939791 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99453640e-01 2.78465251e-02 -1.78042603e-02 7.68519518e+00] [-2.77793202e-02 9.99606033e-01 4.01093727e-03 -4.54644580e-01] [ 1.79089367e-02 -3.51415561e-03 9.99833446e-01 -2.49327937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892401008000004 meters Centerline goodness : 0.933604 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99443808e-01 2.80302758e-02 -1.80659515e-02 7.68587844e+00] [-2.79692703e-02 9.99602226e-01 3.62073726e-03 -4.54476657e-01] [ 1.81602556e-02 -3.11343195e-03 9.99830241e-01 -2.50289785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922401008 meters Centerline goodness : 0.931398 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99441084e-01 2.81056376e-02 -1.80995259e-02 7.68604562e+00] [-2.80516693e-02 9.99601260e-01 3.22881717e-03 -4.53865479e-01] [ 1.81830569e-02 -2.71929062e-03 9.99830977e-01 -2.50959215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952401008000002 meters Centerline goodness : 0.934480 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99431940e-01 2.83680225e-02 -1.81948522e-02 7.68598996e+00] [-2.83136987e-02 9.99593848e-01 3.23640736e-03 -4.53527959e-01] [ 1.82792728e-02 -2.71940532e-03 9.99829222e-01 -2.50903338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982401008000004 meters Centerline goodness : 0.933998 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.45, Z:-0.25 [[ 9.99411083e-01 2.94391443e-02 -1.76302215e-02 7.68349885e+00] [-2.93752048e-02 9.99560945e-01 3.87480519e-03 -4.54037018e-01] [ 1.77365518e-02 -3.35463189e-03 9.99837067e-01 -2.49767206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012401008000005 meters Centerline goodness : 0.936889 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.25 [[ 9.99413003e-01 2.91747083e-02 -1.79578944e-02 7.68407841e+00] [-2.91036687e-02 9.99567555e-01 4.20466790e-03 -4.55234023e-01] [ 1.80727985e-02 -3.67955917e-03 9.99829903e-01 -2.48973722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042401008 meters Centerline goodness : 0.939110 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.25 [[ 9.99411193e-01 2.90520673e-02 -1.82549771e-02 7.68449941e+00] [-2.89705004e-02 9.99569138e-01 4.71693244e-03 -4.56547428e-01] [ 1.83841483e-02 -4.18529926e-03 9.99822237e-01 -2.48000265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072401008 meters Centerline goodness : 0.941209 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.46, Z:-0.25 [[ 9.99412090e-01 2.87947830e-02 -1.86100852e-02 7.68522613e+00] [-2.87059370e-02 9.99575275e-01 5.02376192e-03 -4.57382954e-01] [ 1.87468392e-02 -4.48658847e-03 9.99814196e-01 -2.47278689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102401008 meters Centerline goodness : 0.941352 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.46, Z:-0.25 [[ 9.99506913e-01 2.57154982e-02 -1.80178997e-02 7.68291851e+00] [-2.57052066e-02 9.99669244e-01 8.02585639e-04 -4.55254473e-01] [ 1.80325791e-02 -3.39036059e-04 9.99837342e-01 -2.47439998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132401008 meters Centerline goodness : 0.942707 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.46, Z:-0.25 [[ 9.99515780e-01 2.49800004e-02 -1.85527818e-02 7.68507416e+00] [-2.49790905e-02 9.99687934e-01 2.80812146e-04 -4.55030781e-01] [ 1.85540068e-02 1.82755446e-04 9.99827843e-01 -2.48452478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162401008 meters Centerline goodness : 0.941800 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99521586e-01 2.45013701e-02 -1.88754089e-02 7.68682049e+00] [-2.45095400e-02 9.99699576e-01 -2.01585998e-04 -4.54755517e-01] [ 1.88647991e-02 6.64117145e-04 9.99821823e-01 -2.49819671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192401008000004 meters Centerline goodness : 0.936724 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99529719e-01 2.36603548e-02 -1.95071253e-02 7.68956821e+00] [-2.36832192e-02 9.99719070e-01 -9.41889507e-04 -4.54028367e-01] [ 1.94793597e-02 1.40343808e-03 9.99809274e-01 -2.51439303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222401008000006 meters Centerline goodness : 0.931886 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99527418e-01 2.34469371e-02 -1.98791744e-02 7.69075506e+00] [-2.34887557e-02 9.99722347e-01 -1.87273038e-03 -4.52389833e-01] [ 1.98297451e-02 2.33878243e-03 9.99800636e-01 -2.52674637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252401008 meters Centerline goodness : 0.934880 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99523125e-01 2.34613242e-02 -2.00770509e-02 7.69073581e+00] [-2.34965711e-02 9.99722760e-01 -1.52145905e-03 -4.53035093e-01] [ 2.00357893e-02 1.99247536e-03 9.99797278e-01 -2.51648053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282401008 meters Centerline goodness : 0.934205 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99526004e-01 2.30563006e-02 -2.04003653e-02 7.69176686e+00] [-2.30894313e-02 9.99732437e-01 -1.38994410e-03 -4.53386859e-01] [ 2.03628600e-02 1.86031811e-03 9.99790925e-01 -2.51338615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312401008 meters Centerline goodness : 0.933029 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.45, Z:-0.25 [[ 9.99536604e-01 2.20501183e-02 -2.09849929e-02 7.69455569e+00] [-2.20968278e-02 9.99753842e-01 -1.99655591e-03 -4.52961595e-01] [ 2.09358030e-02 2.45933249e-03 9.99777797e-01 -2.52761839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342401008 meters Centerline goodness : 0.932482 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.45, Z:-0.25 [[ 9.99547686e-01 2.10389039e-02 -2.14892355e-02 7.69718503e+00] [-2.10990030e-02 9.99774078e-01 -2.57379693e-03 -4.52987289e-01] [ 2.14302308e-02 3.02603422e-03 9.99765767e-01 -2.54283984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372401008000004 meters Centerline goodness : 0.926886 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.45, Z:-0.26 [[ 9.99608140e-01 1.51923478e-02 -2.35108332e-02 7.70861987e+00] [-1.52795841e-02 9.99877010e-01 -3.53527743e-03 -4.54178096e-01] [ 2.34542324e-02 3.89312784e-03 9.99717331e-01 -2.55355346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402401008000005 meters Centerline goodness : 0.925965 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.46, Z:-0.26 [[ 9.99597457e-01 1.38270893e-02 -2.47736730e-02 7.71252573e+00] [-1.39141514e-02 9.99897597e-01 -3.34536495e-03 -4.56462170e-01] [ 2.47248794e-02 3.68872294e-03 9.99687488e-01 -2.55177209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432401008 meters Centerline goodness : 0.925077 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.46, Z:-0.25 [[ 9.99584494e-01 1.27464577e-02 -2.58528075e-02 7.71574255e+00] [-1.28241020e-02 9.99913735e-01 -2.83974360e-03 -4.59007592e-01] [ 2.58143807e-02 3.17010271e-03 9.99661727e-01 -2.54548257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462401008 meters Centerline goodness : 0.923274 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.46, Z:-0.25 [[ 9.99567491e-01 1.18815820e-02 -2.69009211e-02 7.71838560e+00] [-1.19377670e-02 9.99926882e-01 -1.92895089e-03 -4.61816961e-01] [ 2.68760352e-02 2.24925353e-03 9.99636244e-01 -2.52957656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492401008 meters Centerline goodness : 0.925880 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.47, Z:-0.25 [[ 9.99557057e-01 1.02349206e-02 -2.79452268e-02 7.72141145e+00] [-1.02196027e-02 9.99947540e-01 6.90911079e-04 -4.66875831e-01] [ 2.79508322e-02 -4.05015929e-04 9.99609217e-01 -2.47940389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522401008 meters Centerline goodness : 0.927605 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.47, Z:-0.25 [[ 9.99546711e-01 9.80016632e-03 -2.84662803e-02 7.72262019e+00] [-9.77700350e-03 9.99951750e-01 9.52768261e-04 -4.66919092e-01] [ 2.84742441e-02 -6.74021459e-04 9.99594299e-01 -2.47053668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552401008000004 meters Centerline goodness : 0.928075 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.47, Z:-0.25 [[ 9.99539711e-01 9.20678616e-03 -2.89067576e-02 7.72424734e+00] [-9.19881440e-03 9.99957606e-01 4.08747378e-04 -4.65477046e-01] [ 2.89092954e-02 -1.42651337e-04 9.99582029e-01 -2.47688568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582401008000005 meters Centerline goodness : 0.926265 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.47, Z:-0.25 [[ 9.99473267e-01 1.21680392e-02 -3.00853487e-02 7.72736600e+00] [-1.20128080e-02 9.99913611e-01 5.33507331e-03 -4.66714419e-01] [ 3.01476671e-02 -4.97085363e-03 9.99533095e-01 -2.45538353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612401008 meters Centerline goodness : 0.920484 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.46, Z:-0.25 [[ 9.99483111e-01 1.14546797e-02 -3.00383381e-02 7.72837877e+00] [-1.13434963e-02 9.99928175e-01 3.86918715e-03 -4.62272969e-01] [ 3.00805009e-02 -3.52644743e-03 9.99541259e-01 -2.47351646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642401008 meters Centerline goodness : 0.923701 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.46, Z:-0.25 [[ 9.99476373e-01 1.09689160e-02 -3.04411322e-02 7.72965490e+00] [-1.08742674e-02 9.99935517e-01 3.27304947e-03 -4.60327965e-01] [ 3.04750711e-02 -2.94031060e-03 9.99531202e-01 -2.47785680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672401008 meters Centerline goodness : 0.922798 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.46, Z:-0.25 [[ 9.99471821e-01 1.04948000e-02 -3.07561069e-02 7.73010744e+00] [-1.04020966e-02 9.99940864e-01 3.17260395e-03 -4.58696519e-01] [ 3.07875839e-02 -2.85100025e-03 9.99521884e-01 -2.46646005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702401008 meters Centerline goodness : 0.923832 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.46, Z:-0.24 [[ 0.99938792 0.01264552 -0.03261705 7.73517149] [-0.01234451 0.99987949 0.00941332 -0.46144856] [ 0.03273216 -0.00900491 0.99942359 -0.24168566] [ 0. 0. 0. 1. ]] SLAMing on 32.732401008000004 meters Centerline goodness : 0.922020 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.46, Z:-0.24 [[ 0.99937559 0.01182089 -0.03329714 7.73724989] [-0.01153842 0.99989591 0.00866279 -0.46014233] [ 0.03339607 -0.00827319 0.99940795 -0.24224742] [ 0. 0. 0. 1. ]] SLAMing on 32.762401008000005 meters Centerline goodness : 0.920796 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.46, Z:-0.24 [[ 9.99367311e-01 1.09657042e-02 -3.38338796e-02 7.73944185e+00] [-1.07153510e-02 9.99913920e-01 7.57195844e-03 -4.58478099e-01] [ 3.39139990e-02 -7.20462585e-03 9.99398786e-01 -2.43721276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792401008 meters Centerline goodness : 0.917382 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.46, Z:-0.24 [[ 0.9992887 0.01195318 -0.03576608 7.74661495] [-0.01156683 0.99987271 0.01098955 -0.45725603] [ 0.03589289 -0.01056803 0.99929976 -0.24335391] [ 0. 0. 0. 1. ]] SLAMing on 32.822401008 meters Centerline goodness : 0.917505 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.45, Z:-0.24 [[ 0.99928083 0.01124994 -0.03621126 7.74825048] [-0.01089156 0.99988989 0.0100788 -0.45498973] [ 0.03632065 -0.00967716 0.99929333 -0.24426968] [ 0. 0. 0. 1. ]] SLAMing on 32.852401008 meters Centerline goodness : 0.915754 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.46, Z:-0.24 [[ 0.99920404 0.01425005 -0.03725875 7.75105216] [-0.01370456 0.99979573 0.0148552 -0.45640709] [ 0.03746283 -0.01433276 0.99919523 -0.24223147] [ 0. 0. 0. 1. ]] SLAMing on 32.882401008 meters Centerline goodness : 0.914160 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.46, Z:-0.24 [[ 0.99911917 0.01740946 -0.0381812 7.75352553] [-0.01665956 0.99966373 0.01987151 -0.45795458] [ 0.03851432 -0.01921792 0.99907323 -0.23985497] [ 0. 0. 0. 1. ]] SLAMing on 32.912401008 meters Centerline goodness : 0.916830 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.45, Z:-0.24 [[ 0.99912661 0.01725831 -0.03805479 7.75316356] [-0.01655669 0.9996885 0.01867588 -0.45371118] [ 0.03836525 -0.0180295 0.99910112 -0.24060315] [ 0. 0. 0. 1. ]] SLAMing on 32.942401008000004 meters Centerline goodness : 0.916906 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.45, Z:-0.24 [[ 0.99902652 0.02086523 -0.03886708 7.75510245] [-0.01997486 0.99953226 0.0231574 -0.45367736] [ 0.03933208 -0.02235849 0.99897602 -0.23905583] [ 0. 0. 0. 1. ]] SLAMing on 32.972401008000006 meters Centerline goodness : 0.917984 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.45, Z:-0.25 [[ 0.99912238 0.02298682 -0.03501537 7.77011126] [-0.02257668 0.99967232 0.01206387 -0.44843014] [ 0.0352812 -0.01126275 0.99931396 -0.24750628] [ 0. 0. 0. 1. ]] SLAMing on 33.002401008 meters Centerline goodness : 0.917913 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.45, Z:-0.25 [[ 0.99900755 0.02668945 -0.03565929 7.77181371] [-0.02613335 0.99953088 0.01597093 -0.447738 ] [ 0.03606882 -0.01502318 0.99923638 -0.24699193] [ 0. 0. 0. 1. ]] SLAMing on 33.032401008 meters Centerline goodness : 0.914931 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.44, Z:-0.25 [[ 0.99886641 0.03158183 -0.03561575 7.77073674] [-0.03089972 0.99933142 0.01954264 -0.4443356 ] [ 0.03620913 -0.01841997 0.99917446 -0.24646124] [ 0. 0. 0. 1. ]] SLAMing on 33.062401008 meters Centerline goodness : 0.914316 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.25 [[ 0.99891367 0.03422434 -0.03162556 7.78587941] [-0.03391285 0.99937137 0.01033381 -0.43996515] [ 0.03195935 -0.00925007 0.99944636 -0.25251276] [ 0. 0. 0. 1. ]] SLAMing on 33.092401008 meters Centerline goodness : 0.913253 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.25 [[ 0.99890142 0.0345267 -0.03168385 7.78559037] [-0.03423488 0.99936667 0.00970732 -0.43770093] [ 0.03199895 -0.00861196 0.9994508 -0.25288675] [ 0. 0. 0. 1. ]] SLAMing on 33.122401008000004 meters Centerline goodness : 0.916716 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.25 [[ 0.99889394 0.03483006 -0.03158727 7.78501827] [-0.03454876 0.99935873 0.00940818 -0.43634264] [ 0.03189471 -0.00830648 0.99945672 -0.25293945] [ 0. 0. 0. 1. ]] SLAMing on 33.152401008000005 meters Centerline goodness : 0.919676 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.43, Z:-0.25 [[ 0.99888487 0.0351326 -0.03153901 7.78449417] [-0.03486661 0.99935195 0.00894464 -0.43385779] [ 0.03183282 -0.00783501 0.9994625 -0.25306679] [ 0. 0. 0. 1. ]] SLAMing on 33.182401008 meters Centerline goodness : 0.920129 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.25 [[ 9.98883850e-01 3.50012942e-02 -3.17169255e-02 7.78501089e+00] [-3.47433475e-02 9.99358851e-01 8.64789099e-03 -4.33082616e-01] [ 3.19992776e-02 -7.53628649e-03 9.99459479e-01 -2.53390547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212401008 meters Centerline goodness : 0.922832 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.25 [[ 9.98881736e-01 3.48766590e-02 -3.19201437e-02 7.78543127e+00] [-3.46183824e-02 9.99363526e-01 8.60870072e-03 -4.33289989e-01] [ 3.22000701e-02 -7.49405018e-03 9.99453348e-01 -2.53268004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242401008 meters Centerline goodness : 0.922989 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.25 [[ 9.98879937e-01 3.48017347e-02 -3.20579252e-02 7.78570538e+00] [-3.45390143e-02 9.99365369e-01 8.71297961e-03 -4.33894751e-01] [ 3.23408071e-02 -7.59597139e-03 9.99448034e-01 -2.53035546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272401008 meters Centerline goodness : 0.924884 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.25 [[ 9.98879656e-01 3.46476426e-02 -3.22331245e-02 7.78628576e+00] [-3.43786717e-02 9.99369589e-01 8.86183462e-03 -4.34754685e-01] [ 3.25198461e-02 -7.74377431e-03 9.99441091e-01 -2.52945001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302401008000004 meters Centerline goodness : 0.926047 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.25 [[ 9.98885966e-01 3.43205020e-02 -3.23871868e-02 7.78722492e+00] [-3.40627528e-02 9.99383745e-01 8.47699574e-03 -4.34683302e-01] [ 3.26581628e-02 -7.36435534e-03 9.99439448e-01 -2.53764805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332401008000005 meters Centerline goodness : 0.926234 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.25 [[ 9.98883258e-01 3.40668739e-02 -3.27366005e-02 7.78839989e+00] [-3.38118964e-02 9.99393656e-01 8.31120076e-03 -4.35090765e-01] [ 3.29998874e-02 -7.19503275e-03 9.99429457e-01 -2.54264139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362401008 meters Centerline goodness : 0.925618 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.25 [[ 9.98882062e-01 3.38877192e-02 -3.29582906e-02 7.78932499e+00] [-3.36353355e-02 9.99400677e-01 8.18235034e-03 -4.35742293e-01] [ 3.32158191e-02 -7.06463982e-03 9.99423234e-01 -2.54862376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392401008 meters Centerline goodness : 0.924737 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.26 [[ 9.98877672e-01 3.39767750e-02 -3.29996205e-02 7.79010208e+00] [-3.37363505e-02 9.99400208e-01 7.81550765e-03 -4.36420465e-01] [ 3.32453733e-02 -6.69344932e-03 9.99424806e-01 -2.56490665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422401008 meters Centerline goodness : 0.923185 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.26 [[ 9.98877120e-01 3.36725459e-02 -3.33265482e-02 7.79163616e+00] [-3.34469923e-02 9.99413813e-01 7.30265003e-03 -4.36417057e-01] [ 3.35529115e-02 -6.17977723e-03 9.99417837e-01 -2.57862876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452401008 meters Centerline goodness : 0.923664 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.26 [[ 9.98876315e-01 3.35420144e-02 -3.34819295e-02 7.79265463e+00] [-3.33299083e-02 9.99420770e-01 6.87325795e-03 -4.36442719e-01] [ 3.36930787e-02 -5.74958494e-03 9.99415689e-01 -2.59124528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482401008000004 meters Centerline goodness : 0.919652 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.26 [[ 9.98847573e-01 3.46678668e-02 -3.31913499e-02 7.79146797e+00] [-3.44581502e-02 9.99382530e-01 6.86988561e-03 -4.36672049e-01] [ 3.34090195e-02 -5.71825605e-03 9.99425404e-01 -2.59875290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512401008000005 meters Centerline goodness : 0.916604 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.44, Z:-0.26 [[ 9.98834962e-01 3.50314787e-02 -3.31890655e-02 7.79141464e+00] [-3.48354626e-02 9.99372143e-01 6.46616287e-03 -4.35554521e-01] [ 3.33947467e-02 -5.30247309e-03 9.99428174e-01 -2.60640965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542401008 meters Centerline goodness : 0.913947 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.26 [[ 9.98819692e-01 3.53699309e-02 -3.32894987e-02 7.79154136e+00] [-3.51891936e-02 9.99362659e-01 5.99974982e-03 -4.34139105e-01] [ 3.34804927e-02 -4.82123766e-03 9.99427742e-01 -2.61380301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572401008 meters Centerline goodness : 0.913947 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.26 [[ 9.98819692e-01 3.53699309e-02 -3.32894987e-02 7.79154136e+00] [-3.51891936e-02 9.99362659e-01 5.99974982e-03 -4.34139105e-01] [ 3.34804927e-02 -4.82123766e-03 9.99427742e-01 -2.61380301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602401008 meters Centerline goodness : 0.913066 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.26 [[ 9.98813836e-01 3.55837168e-02 -3.32373199e-02 7.79169802e+00] [-3.54314196e-02 9.99358788e-01 5.16010175e-03 -4.32326922e-01] [ 3.33996233e-02 -3.97633560e-03 9.99434167e-01 -2.62859944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632401008 meters Centerline goodness : 0.909488 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.26 [[ 9.98649840e-01 3.94410304e-02 -3.38068219e-02 7.79410213e+00] [-3.91704003e-02 9.99195271e-01 8.63071457e-03 -4.31882946e-01] [ 3.41200208e-02 -7.29483498e-03 9.99391119e-01 -2.64346820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662401008 meters Centerline goodness : 0.907635 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.43, Z:-0.27 [[ 9.98662111e-01 3.90288851e-02 -3.39224860e-02 7.79561184e+00] [-3.87960472e-02 9.99219038e-01 7.49540146e-03 -4.30267192e-01] [ 3.41885310e-02 -6.16931508e-03 9.99396360e-01 -2.66717617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692401008000004 meters Centerline goodness : 0.912294 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.43, Z:-0.26 [[ 9.98808459e-01 3.45989474e-02 -3.44176605e-02 7.79506400e+00] [-3.44191024e-02 9.99390632e-01 5.80438498e-03 -4.34379246e-01] [ 3.45975131e-02 -4.61284383e-03 9.99390681e-01 -2.61713386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722401008000006 meters Centerline goodness : 0.915852 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.44, Z:-0.26 [[ 9.98937907e-01 3.00787078e-02 -3.49045845e-02 7.79500682e+00] [-2.99847804e-02 9.99545196e-01 3.21144420e-03 -4.37328575e-01] [ 3.49853058e-02 -2.16142705e-03 9.99385489e-01 -2.58494769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752401008 meters Centerline goodness : 0.911997 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.43, Z:-0.27 [[ 9.99451135e-01 1.76062740e-02 -2.80614838e-02 7.79387902e+00] [-1.75808994e-02 9.99844782e-01 1.15073530e-03 -4.34342326e-01] [ 2.80773883e-02 -6.56757583e-04 9.99605537e-01 -2.68137502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782401008 meters Centerline goodness : 0.905709 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.43, Z:-0.27 [[ 9.99457427e-01 1.57802672e-02 -2.89108175e-02 7.79884003e+00] [-1.57920099e-02 9.99875283e-01 -1.77871187e-04 -4.33367522e-01] [ 2.89044050e-02 6.34334595e-04 9.99581979e-01 -2.71471257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812401008 meters Centerline goodness : 0.905626 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.43, Z:-0.27 [[ 9.99454541e-01 1.47878228e-02 -2.95286528e-02 7.80211215e+00] [-1.48333910e-02 9.99889102e-01 -1.32472012e-03 -4.31279362e-01] [ 2.95057884e-02 1.76200760e-03 9.99563056e-01 -2.74041725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842401008 meters Centerline goodness : 0.904330 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.43, Z:-0.27 [[ 9.99451241e-01 1.51009566e-02 -2.94818145e-02 7.80195098e+00] [-1.51504403e-02 9.99884166e-01 -1.45577929e-03 -4.29363348e-01] [ 2.94564158e-02 1.90164289e-03 9.99564257e-01 -2.74291163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872401008000004 meters Centerline goodness : 0.906659 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.43, Z:-0.28 [[ 0.99955499 0.01821177 -0.02362522 7.81444043] [-0.01840482 0.99979877 -0.00798 -0.42754884] [ 0.02347513 0.00841127 0.99968904 -0.27658384] [ 0. 0. 0. 1. ]] SLAMing on 33.902401008000005 meters Centerline goodness : 0.907956 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.43, Z:-0.27 [[ 9.99541493e-01 1.88778718e-02 -2.36733869e-02 7.81290311e+00] [-1.90381168e-02 9.99797225e-01 -6.56196167e-03 -4.29358886e-01] [ 2.35447107e-02 7.00964967e-03 9.99698210e-01 -2.73569832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932401008 meters Centerline goodness : 0.907975 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.43, Z:-0.27 [[ 9.99526707e-01 1.94847094e-02 -2.38056135e-02 7.81152153e+00] [-1.96083221e-02 9.99795384e-01 -4.97021927e-03 -4.31485136e-01] [ 2.37038993e-02 5.43465504e-03 9.99704251e-01 -2.70147154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962401008 meters Centerline goodness : 0.909130 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.43, Z:-0.27 [[ 9.99517010e-01 1.99358056e-02 -2.38392657e-02 7.81064020e+00] [-2.00309823e-02 9.99792288e-01 -3.76030209e-03 -4.33337816e-01] [ 2.37593494e-02 4.23600981e-03 9.99708732e-01 -2.67966423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992401008 meters Centerline goodness : 0.908834 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.44, Z:-0.27 [[ 9.99432530e-01 2.26983228e-02 -2.48878409e-02 7.81413595e+00] [-2.26693216e-02 9.99741971e-01 1.44683502e-03 -4.36454604e-01] [ 2.49142598e-02 -8.81823512e-04 9.99689203e-01 -2.66072379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022401008 meters Centerline goodness : 0.907399 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.44, Z:-0.27 [[ 9.99440098e-01 2.24145662e-02 -2.48410392e-02 7.81483140e+00] [-2.23890333e-02 9.99748482e-01 1.30553601e-03 -4.36679196e-01] [ 2.48640542e-02 -7.48638182e-04 9.99690561e-01 -2.66878995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052401008000004 meters Centerline goodness : 0.908603 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.44, Z:-0.27 [[ 9.99443668e-01 2.17551125e-02 -2.52798271e-02 7.81682219e+00] [-2.17376263e-02 9.99763243e-01 9.66338990e-04 -4.37017554e-01] [ 2.52948647e-02 -4.16277952e-04 9.99679947e-01 -2.67901988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082401008000005 meters Centerline goodness : 0.907346 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.44, Z:-0.27 [[ 9.99446054e-01 2.02579563e-02 -2.64045387e-02 7.82110323e+00] [-2.02361538e-02 9.99794631e-01 1.09268490e-03 -4.40148556e-01] [ 2.64212515e-02 -5.57753307e-04 9.99650742e-01 -2.68554573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112401008 meters Centerline goodness : 0.906818 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.44, Z:-0.27 [[ 9.99437743e-01 1.94914075e-02 -2.72815496e-02 7.82350244e+00] [-1.94553692e-02 9.99809469e-01 1.58581555e-03 -4.42862536e-01] [ 2.73072614e-02 -1.05415130e-03 9.99626531e-01 -2.67916940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142401008 meters Centerline goodness : 0.906629 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.45, Z:-0.27 [[ 9.99428214e-01 1.85283772e-02 -2.82832864e-02 7.82627765e+00] [-1.84801692e-02 9.99827296e-01 1.96493365e-03 -4.45646624e-01] [ 2.83148088e-02 -1.44113021e-03 9.99598017e-01 -2.67346668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172401008 meters Centerline goodness : 0.905246 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.45, Z:-0.27 [[ 9.99418257e-01 1.76172458e-02 -2.92023962e-02 7.82905243e+00] [-1.75493580e-02 9.99842671e-01 2.57941998e-03 -4.48430768e-01] [ 2.92432441e-02 -2.06543611e-03 9.99570191e-01 -2.66640371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202401008 meters Centerline goodness : 0.908208 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.45, Z:-0.26 [[ 9.99440702e-01 1.28407076e-02 -3.08771574e-02 7.84495976e+00] [-1.26214924e-02 9.99893815e-01 7.28405524e-03 -4.51894650e-01] [ 3.09674112e-02 -6.89026547e-03 9.99496645e-01 -2.64158578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232401008000004 meters Centerline goodness : 0.909021 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.45, Z:-0.27 [[ 9.99432101e-01 1.17387619e-02 -3.15860131e-02 7.84807348e+00] [-1.15312747e-02 9.99910776e-01 6.74312739e-03 -4.52643676e-01] [ 3.16623508e-02 -6.37507099e-03 9.99478291e-01 -2.65664128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262401008000005 meters Centerline goodness : 0.901614 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.45, Z:-0.27 [[ 9.99420247e-01 1.08847096e-02 -3.22597826e-02 7.85059319e+00] [-1.06755072e-02 9.99920902e-01 6.65009439e-03 -4.53362293e-01] [ 3.23296153e-02 -6.30184943e-03 9.99457394e-01 -2.66088660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292401008 meters Centerline goodness : 0.902290 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.45, Z:-0.27 [[ 9.99402096e-01 1.00694338e-02 -3.30765240e-02 7.85304916e+00] [-9.85424976e-03 9.99929252e-01 6.66223420e-03 -4.54201699e-01] [ 3.31412688e-02 -6.33230650e-03 9.99430617e-01 -2.66001326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322401008 meters Centerline goodness : 0.900817 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.46, Z:-0.26 [[ 9.99380107e-01 8.92515182e-03 -3.40550130e-02 7.85597786e+00] [-8.67688835e-03 9.99934744e-01 7.43091185e-03 -4.56144822e-01] [ 3.41191127e-02 -7.13081393e-03 9.99392334e-01 -2.64396598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352401008 meters Centerline goodness : 0.900171 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.46, Z:-0.26 [[ 0.9993051 0.00979538 -0.0359633 7.8634359 ] [-0.00929357 0.99985748 0.01409413 -0.4591497 ] [ 0.03609623 -0.01375011 0.99925372 -0.25888484] [ 0. 0. 0. 1. ]] SLAMing on 34.382401008 meters Centerline goodness : 0.900648 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.46, Z:-0.25 [[ 0.99922336 0.01106586 -0.03781836 7.87018453] [-0.01028416 0.99973072 0.02080212 -0.46197907] [ 0.03803837 -0.02039703 0.99906809 -0.25317889] [ 0. 0. 0. 1. ]] SLAMing on 34.412401008 meters Centerline goodness : 0.905225 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.46, Z:-0.25 [[ 0.99913738 0.01277756 -0.0395124 7.87578584] [-0.01172618 0.99957399 0.02672713 -0.46461991] [ 0.03983708 -0.02624074 0.99886157 -0.24871302] [ 0. 0. 0. 1. ]] SLAMing on 34.442401008000004 meters Centerline goodness : 0.904455 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.47, Z:-0.24 [[ 0.99905823 0.01314727 -0.04134968 7.88397738] [-0.01171101 0.99932613 0.03478706 -0.46695536] [ 0.04177917 -0.03427005 0.99853896 -0.23994508] [ 0. 0. 0. 1. ]] SLAMing on 34.472401008000006 meters Centerline goodness : 0.902544 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.46, Z:-0.25 [[ 0.99925391 0.01176143 -0.036787 7.898665 ] [-0.01100695 0.99972628 0.02064512 -0.46176819] [ 0.03701975 -0.02022481 0.99910985 -0.24874915] [ 0. 0. 0. 1. ]] SLAMing on 34.502401008 meters Centerline goodness : 0.903289 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.46, Z:-0.24 [[ 0.99916363 0.0143604 -0.03828605 7.90272565] [-0.01333476 0.99954889 0.026911 -0.46352563] [ 0.03865523 -0.02637796 0.99890439 -0.24356883] [ 0. 0. 0. 1. ]] SLAMing on 34.532401008 meters Centerline goodness : 0.905598 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.46, Z:-0.25 [[ 0.99933575 0.01380767 -0.03372555 7.91728812] [-0.01334083 0.9998126 0.01402841 -0.45871716] [ 0.03391293 -0.01356916 0.99933267 -0.25123903] [ 0. 0. 0. 1. ]] SLAMing on 34.562401008 meters Centerline goodness : 0.903923 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.46, Z:-0.25 [[ 0.9992503 0.01707262 -0.03474703 7.91942428] [-0.01643257 0.99969153 0.01862323 -0.45791653] [ 0.03505425 -0.01803828 0.99922261 -0.24849936] [ 0. 0. 0. 1. ]] SLAMing on 34.592401008 meters Centerline goodness : 0.902159 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.45, Z:-0.25 [[ 0.99924653 0.01662465 -0.03507131 7.92063458] [-0.01602159 0.99972012 0.01740682 -0.45487322] [ 0.03535088 -0.01683181 0.99923321 -0.24980235] [ 0. 0. 0. 1. ]] SLAMing on 34.622401008000004 meters Centerline goodness : 0.904806 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.46, Z:-0.25 [[ 0.99914379 0.01983491 -0.036308 7.92359223] [-0.01905589 0.99958339 0.02167776 -0.45505437] [ 0.03672285 -0.02096732 0.9991055 -0.24834893] [ 0. 0. 0. 1. ]] SLAMing on 34.652401008000005 meters Centerline goodness : 0.902895 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.45, Z:-0.25 [[ 0.99913723 0.01908564 -0.03688533 7.92575208] [-0.01835114 0.99962853 0.02015017 -0.45189135] [ 0.03725621 -0.01945589 0.99911633 -0.25021072] [ 0. 0. 0. 1. ]] SLAMing on 34.682401008 meters Centerline goodness : 0.903518 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.45, Z:-0.25 [[ 0.99912697 0.01770058 -0.03784151 7.92972928] [-0.01706939 0.99971082 0.01693834 -0.44520699] [ 0.03813038 -0.01627762 0.99914019 -0.25474229] [ 0. 0. 0. 1. ]] SLAMing on 34.712401008 meters Centerline goodness : 0.900354 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.44, Z:-0.26 [[ 0.99912117 0.01662323 -0.03847793 7.93257468] [-0.01605147 0.99975682 0.01512095 -0.44148925] [ 0.03871993 -0.01449003 0.99914504 -0.25727059] [ 0. 0. 0. 1. ]] SLAMing on 34.742401008 meters Centerline goodness : 0.904446 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.44, Z:-0.26 [[ 0.99902122 0.01923528 -0.03983218 7.93677666] [-0.01847803 0.99964311 0.01929284 -0.44180182] [ 0.04018906 -0.01853794 0.99902011 -0.25624595] [ 0. 0. 0. 1. ]] SLAMing on 34.772401008 meters Centerline goodness : 0.904053 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.44, Z:-0.26 [[ 0.99907332 0.01511539 -0.04029928 7.93739942] [-0.01460751 0.99981051 0.01286755 -0.43587471] [ 0.04048614 -0.01226695 0.9991048 -0.25894225] [ 0. 0. 0. 1. ]] SLAMing on 34.802401008000004 meters Centerline goodness : 0.904490 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.44, Z:-0.26 [[ 0.99896977 0.01718422 -0.0420012 7.94254118] [-0.0164318 0.99969944 0.01819427 -0.43734786] [ 0.04230123 -0.01748537 0.99895188 -0.25552466] [ 0. 0. 0. 1. ]] SLAMing on 34.832401008000005 meters Centerline goodness : 0.905213 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.44, Z:-0.26 [[ 0.99895848 0.01620398 -0.04265416 7.94492404] [-0.01548259 0.99973238 0.01718894 -0.43530084] [ 0.04292127 -0.01651064 0.99894202 -0.25656331] [ 0. 0. 0. 1. ]] SLAMing on 34.862401008 meters Centerline goodness : 0.903988 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.43, Z:-0.26 [[ 0.99894409 0.0150823 -0.04339617 7.94763555] [-0.01439135 0.99976535 0.01619051 -0.43323889] [ 0.04363018 -0.01554888 0.99892674 -0.25758691] [ 0. 0. 0. 1. ]] SLAMing on 34.892401008 meters Centerline goodness : 0.902849 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.43, Z:-0.25 [[ 0.99895178 0.01340799 -0.04376719 7.96426098] [-0.01222347 0.99955472 0.02722045 -0.43382851] [ 0.04411268 -0.02665693 0.99867086 -0.2500161 ] [ 0. 0. 0. 1. ]] SLAMing on 34.922401008 meters Centerline goodness : 0.903795 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.43, Z:-0.25 [[ 0.99893706 0.01256238 -0.04435011 7.96623043] [-0.01139826 0.99958636 0.02640447 -0.43215282] [ 0.04466347 -0.02587089 0.99866705 -0.25071966] [ 0. 0. 0. 1. ]] SLAMing on 34.952401008 meters Centerline goodness : 0.905832 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.43, Z:-0.25 [[ 0.99884462 0.01534394 -0.04554115 7.96949362] [-0.01392373 0.99941178 0.03134032 -0.43343986] [ 0.04599524 -0.03067 0.99847072 -0.24816072] [ 0. 0. 0. 1. ]] SLAMing on 34.982401008000004 meters Centerline goodness : 0.909584 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.43, Z:-0.25 [[ 0.99901541 0.01564526 -0.04151433 7.98532978] [-0.01481353 0.99968485 0.02026744 -0.42920916] [ 0.04181833 -0.01963251 0.99893233 -0.2549385 ] [ 0. 0. 0. 1. ]] SLAMing on 35.012401008000005 meters Centerline goodness : 0.910307 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.43, Z:-0.25 [[ 0.99898633 0.01558638 -0.04223006 7.98639725] [-0.0147699 0.99969924 0.01957764 -0.42551005] [ 0.0425225 -0.01893406 0.99891608 -0.25459845] [ 0. 0. 0. 1. ]] SLAMing on 35.042401008000006 meters Centerline goodness : 0.911178 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.42, Z:-0.26 [[ 0.99913675 0.01669429 -0.03804016 8.00180116] [-0.01635082 0.99982285 0.00932253 -0.4216625 ] [ 0.03818906 -0.0086925 0.99923272 -0.26099016] [ 0. 0. 0. 1. ]] SLAMing on 35.072401008 meters Centerline goodness : 0.910118 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.42, Z:-0.26 [[ 0.99904413 0.02046628 -0.03862575 8.00283841] [-0.01996234 0.9997111 0.01338763 -0.42016094] [ 0.03888859 -0.01260378 0.99916406 -0.25959988] [ 0. 0. 0. 1. ]] SLAMing on 35.102401008 meters Centerline goodness : 0.915270 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.42, Z:-0.25 [[ 0.99892532 0.02401754 -0.03964053 8.01125259] [-0.02303482 0.99942042 0.0250643 -0.42261276] [ 0.04021954 -0.02412425 0.9988996 -0.25175492] [ 0. 0. 0. 1. ]] SLAMing on 35.132401008 meters Centerline goodness : 0.914251 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.42, Z:-0.25 [[ 0.9987965 0.0275277 -0.04059282 8.01347852] [-0.0263455 0.99922118 0.02937614 -0.42343032] [ 0.04136987 -0.02827135 0.99874384 -0.25060649] [ 0. 0. 0. 1. ]] SLAMing on 35.162401008 meters Centerline goodness : 0.914603 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.42, Z:-0.26 [[ 0.99891109 0.02867958 -0.03679843 8.02680607] [-0.02807697 0.99946475 0.01678971 -0.41922897] [ 0.03726026 -0.01573824 0.99918166 -0.25839346] [ 0. 0. 0. 1. ]] SLAMing on 35.192401008000004 meters Centerline goodness : 0.914348 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.41, Z:-0.26 [[ 0.99891503 0.03314263 -0.03271603 8.0430417 ] [-0.03281731 0.99940693 0.01043119 -0.41495094] [ 0.03304235 -0.00934622 0.99941025 -0.26400346] [ 0. 0. 0. 1. ]] SLAMing on 35.222401008000006 meters Centerline goodness : 0.914854 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.41, Z:-0.26 [[ 0.99890874 0.03305506 -0.03299547 8.0438549 ] [-0.03275887 0.99941835 0.00947753 -0.41192713] [ 0.03328956 -0.0083863 0.99941056 -0.26499557] [ 0. 0. 0. 1. ]] SLAMing on 35.252401008 meters Centerline goodness : 0.913949 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.41, Z:-0.26 [[ 0.99875906 0.0367548 -0.03360687 8.04536459] [-0.03630273 0.99924326 0.01396476 -0.41295014] [ 0.03409471 -0.01272741 0.99933756 -0.26369059] [ 0. 0. 0. 1. ]] SLAMing on 35.282401008 meters Centerline goodness : 0.917692 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.41, Z:-0.27 [[ 9.98800312e-01 3.94262681e-02 -2.90431617e-02 8.05962683e+00] [-3.92657540e-02 9.99210325e-01 6.07670725e-03 -4.11063395e-01] [ 2.92598090e-02 -4.92901546e-03 9.99559687e-01 -2.67890581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312401008 meters Centerline goodness : 0.915131 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.41, Z:-0.27 [[ 0.99862852 0.04309228 -0.02973423 8.06117061] [-0.04278249 0.9990241 0.01097792 -0.41315029] [ 0.03017828 -0.00969076 0.99949755 -0.26594147] [ 0. 0. 0. 1. ]] SLAMing on 35.342401008 meters Centerline goodness : 0.919036 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.41, Z:-0.27 [[ 0.99843628 0.0471279 -0.03006571 8.06214403] [-0.04669185 0.99879604 0.01504445 -0.41300047] [ 0.03073853 -0.0136171 0.9994347 -0.2655035 ] [ 0. 0. 0. 1. ]] SLAMing on 35.372401008000004 meters Centerline goodness : 0.917413 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.41, Z:-0.27 [[ 0.99843772 0.04698021 -0.03024861 8.06326821] [-0.04657447 0.99881697 0.0139814 -0.4104955 ] [ 0.03086967 -0.01255075 0.99944462 -0.26734011] [ 0. 0. 0. 1. ]] SLAMing on 35.402401008000005 meters Centerline goodness : 0.916169 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.41, Z:-0.27 [[ 0.99844069 0.04678586 -0.0304512 8.06439392] [-0.0464078 0.9988379 0.01300621 -0.40838311] [ 0.03102432 -0.01157276 0.99945163 -0.26895111] [ 0. 0. 0. 1. ]] SLAMing on 35.432401008 meters Centerline goodness : 0.915493 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.41, Z:-0.27 [[ 0.99843895 0.0465991 -0.0307927 8.06567762] [-0.04623025 0.99885154 0.01258424 -0.40807038] [ 0.03134375 -0.01114104 0.99944657 -0.26993736] [ 0. 0. 0. 1. ]] SLAMing on 35.462401008 meters Centerline goodness : 0.916451 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.41, Z:-0.27 [[ 0.99843227 0.04640115 -0.03130389 8.0669371 ] [-0.04600911 0.99885472 0.0131303 -0.41149556] [ 0.0318773 -0.01166945 0.99942366 -0.26963481] [ 0. 0. 0. 1. ]] SLAMing on 35.492401008 meters Centerline goodness : 0.916451 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.41, Z:-0.27 [[ 0.99843227 0.04640115 -0.03130389 8.0669371 ] [-0.04600911 0.99885472 0.0131303 -0.41149556] [ 0.0318773 -0.01166945 0.99942366 -0.26963481] [ 0. 0. 0. 1. ]] SLAMing on 35.522401008 meters Centerline goodness : 0.915621 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.41, Z:-0.27 [[ 0.99844049 0.04578919 -0.03193641 8.06887066] [-0.04538127 0.99888009 0.0133832 -0.41390161] [ 0.03251345 -0.01191302 0.9994003 -0.26964412] [ 0. 0. 0. 1. ]] SLAMing on 35.552401008000004 meters Centerline goodness : 0.920185 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.42, Z:-0.27 [[ 0.9984661 0.0446844 -0.03269168 8.07141042] [-0.04426205 0.99892832 0.01353109 -0.41658513] [ 0.03326127 -0.01206333 0.99937389 -0.2696387 ] [ 0. 0. 0. 1. ]] SLAMing on 35.582401008000005 meters Centerline goodness : 0.919006 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.42, Z:-0.27 [[ 0.99850107 0.04339985 -0.03334759 8.07398931] [-0.04294397 0.9989756 0.01426741 -0.42011337] [ 0.03393263 -0.01281394 0.99934197 -0.26878349] [ 0. 0. 0. 1. ]] SLAMing on 35.612401008 meters Centerline goodness : 0.923981 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.43, Z:-0.27 [[ 0.99874015 0.03691743 -0.03398854 8.07701938] [-0.03653958 0.99926404 0.0116719 -0.42606346] [ 0.03439442 -0.01041527 0.99935406 -0.2667765 ] [ 0. 0. 0. 1. ]] SLAMing on 35.642401008 meters Centerline goodness : 0.926794 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.43, Z:-0.26 [[ 0.99876255 0.03489808 -0.03543297 8.08195719] [-0.03438515 0.99929633 0.01498379 -0.43125486] [ 0.03593095 -0.01374688 0.99925972 -0.26144749] [ 0. 0. 0. 1. ]] SLAMing on 35.672401008 meters Centerline goodness : 0.924741 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.43, Z:-0.26 [[ 0.99877171 0.03389344 -0.03614273 8.08404655] [-0.03331203 0.99930764 0.01656944 -0.43482935] [ 0.0366793 -0.0153451 0.99920927 -0.25873052] [ 0. 0. 0. 1. ]] SLAMing on 35.702401008 meters Centerline goodness : 0.927161 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.44, Z:-0.25 [[ 0.99893263 0.02903474 -0.03592471 8.0969782 ] [-0.02823247 0.99934494 0.0226412 -0.43880208] [ 0.03655856 -0.02160279 0.99909799 -0.25335143] [ 0. 0. 0. 1. ]] SLAMing on 35.732401008000004 meters Centerline goodness : 0.928478 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.44, Z:-0.25 [[ 0.99893819 0.02803355 -0.03655982 8.09993942] [-0.02723817 0.99938519 0.02207523 -0.43818289] [ 0.03715619 -0.02105597 0.99908762 -0.25452275] [ 0. 0. 0. 1. ]] SLAMing on 35.762401008000005 meters Centerline goodness : 0.926301 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.44, Z:-0.26 [[ 0.99894673 0.02739251 -0.03681143 8.10172527] [-0.02661844 0.99941751 0.02135632 -0.43751805] [ 0.037375 -0.02035396 0.999094 -0.25610765] [ 0. 0. 0. 1. ]] SLAMing on 35.792401008000006 meters Centerline goodness : 0.925234 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.44, Z:-0.26 [[ 0.99883741 0.03000501 -0.03772966 8.10518731] [-0.02904688 0.99924783 0.02569137 -0.4397424 ] [ 0.03847215 -0.02456557 0.99895767 -0.25517343] [ 0. 0. 0. 1. ]] SLAMing on 35.822401008 meters Centerline goodness : 0.930015 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.44, Z:-0.25 [[ 0.99869772 0.03252281 -0.0393082 8.10946888] [-0.03128661 0.99900874 0.03166525 -0.44234166] [ 0.04029908 -0.0303942 0.99872528 -0.25044562] [ 0. 0. 0. 1. ]] SLAMing on 35.852401008 meters Centerline goodness : 0.928906 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.44, Z:-0.25 [[ 0.99881749 0.02831271 -0.03952219 8.1106464 ] [-0.02730756 0.9992955 0.0257448 -0.43782267] [ 0.04022326 -0.0246351 0.99888698 -0.25373351] [ 0. 0. 0. 1. ]] SLAMing on 35.882401008 meters Centerline goodness : 0.926317 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.44, Z:-0.26 [[ 0.99882515 0.02722562 -0.04008841 8.11352019] [-0.02627251 0.99936395 0.02411317 -0.43536014] [ 0.04071941 -0.02303162 0.99890514 -0.25638585] [ 0. 0. 0. 1. ]] SLAMing on 35.912401008 meters Centerline goodness : 0.922527 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.43, Z:-0.26 [[ 0.99882868 0.02597834 -0.04082161 8.11701625] [-0.02508276 0.99943662 0.02230001 -0.43217729] [ 0.04137793 -0.02124997 0.99891757 -0.25930529] [ 0. 0. 0. 1. ]] SLAMing on 35.942401008000004 meters Centerline goodness : 0.918163 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.43, Z:-0.26 [[ 0.99872 0.0268797 -0.04284666 8.12552692] [-0.02586043 0.99937337 0.02416819 -0.42901359] [ 0.04346944 -0.02302922 0.9987893 -0.26238993] [ 0. 0. 0. 1. ]] SLAMing on 35.972401008000006 meters Centerline goodness : 0.920244 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.43, Z:-0.26 [[ 0.9985881 0.02996357 -0.04386342 8.12869885] [-0.02875461 0.99919599 0.02793835 -0.42916528] [ 0.04466528 -0.02663762 0.99864681 -0.26212865] [ 0. 0. 0. 1. ]] SLAMing on 36.002401008 meters Centerline goodness : 0.921538 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.43, Z:-0.27 [[ 0.99869675 0.03179883 -0.0399203 8.14353508] [-0.03111652 0.99936082 0.01759848 -0.42513096] [ 0.0404544 -0.01633336 0.99904788 -0.26877314] [ 0. 0. 0. 1. ]] SLAMing on 36.032401008 meters Centerline goodness : 0.922147 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.43, Z:-0.27 [[ 0.99854248 0.03548738 -0.04066406 8.1450284 ] [-0.03462063 0.9991622 0.02182449 -0.42500097] [ 0.04140448 -0.02038486 0.9989345 -0.26714392] [ 0. 0. 0. 1. ]] SLAMing on 36.062401008 meters Centerline goodness : 0.919026 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.42, Z:-0.27 [[ 0.99860317 0.03825569 -0.03644466 8.15974962] [-0.03779259 0.99919693 0.0133124 -0.42114757] [ 0.03692467 -0.01191646 0.999247 -0.27219911] [ 0. 0. 0. 1. ]] SLAMing on 36.092401008 meters Centerline goodness : 0.919353 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.41, Z:-0.28 [[ 9.98558703e-01 4.28220230e-02 -3.23541461e-02 8.17468998e+00] [-4.26477336e-02 9.99071803e-01 6.05827126e-03 -4.14758099e-01] [ 3.25835425e-02 -4.66970849e-03 9.99458106e-01 -2.77388739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122401008000004 meters Centerline goodness : 0.917087 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.41, Z:-0.28 [[ 0.99839178 0.04609691 -0.03299894 8.17685866] [-0.04577457 0.99889705 0.01045824 -0.41484257] [ 0.03344464 -0.00893091 0.99940067 -0.27603377] [ 0. 0. 0. 1. ]] SLAMing on 36.152401008000005 meters Centerline goodness : 0.917111 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.41, Z:-0.28 [[ 0.99840563 0.04574844 -0.0330648 8.1773139 ] [-0.04544966 0.99891922 0.00973225 -0.41224413] [ 0.0334743 -0.00821395 0.99940582 -0.27643321] [ 0. 0. 0. 1. ]] SLAMing on 36.182401008 meters Centerline goodness : 0.917371 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.41, Z:-0.27 [[ 0.99824008 0.04859045 -0.03399574 8.18004427] [-0.04808835 0.99872382 0.01543493 -0.41440058] [ 0.03470234 -0.01377296 0.99930278 -0.27275042] [ 0. 0. 0. 1. ]] SLAMing on 36.212401008 meters Centerline goodness : 0.916112 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.42, Z:-0.26 [[ 0.99817948 0.04957359 -0.03435384 8.18540381] [-0.04872796 0.9984984 0.02503078 -0.41805756] [ 0.03554312 -0.02331122 0.99909623 -0.26178262] [ 0. 0. 0. 1. ]] SLAMing on 36.242401008 meters Centerline goodness : 0.915585 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.42, Z:-0.26 [[ 0.99818799 0.04918198 -0.03466797 8.18617637] [-0.04834115 0.99852571 0.02468889 -0.41658597] [ 0.03583111 -0.02296827 0.99909388 -0.26147556] [ 0. 0. 0. 1. ]] SLAMing on 36.272401008 meters Centerline goodness : 0.916778 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.42, Z:-0.26 [[ 0.99800911 0.05205946 -0.03560384 8.18926051] [-0.05104513 0.99828017 0.02882889 -0.41728167] [ 0.03704343 -0.0269541 0.99895008 -0.26055675] [ 0. 0. 0. 1. ]] SLAMing on 36.302401008000004 meters Centerline goodness : 0.911586 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.42, Z:-0.26 [[ 0.99782296 0.05500662 -0.0363815 8.19240488] [-0.05381724 0.99800862 0.0329014 -0.41727013] [ 0.03811885 -0.03087182 0.99879622 -0.25984069] [ 0. 0. 0. 1. ]] SLAMing on 36.332401008000005 meters Centerline goodness : 0.913736 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.42, Z:-0.26 [[ 0.9976349 0.05767812 -0.03738761 8.19602081] [-0.05632666 0.99775425 0.03624602 -0.41537417] [ 0.03939425 -0.03405437 0.99864328 -0.25944093] [ 0. 0. 0. 1. ]] SLAMing on 36.362401008 meters Centerline goodness : 0.914136 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.41, Z:-0.26 [[ 0.99765875 0.05731259 -0.0373134 8.19660752] [-0.05601906 0.99782179 0.03483588 -0.41253596] [ 0.03922866 -0.03266406 0.99869624 -0.26098552] [ 0. 0. 0. 1. ]] SLAMing on 36.392401008 meters Centerline goodness : 0.914275 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.41, Z:-0.26 [[ 0.99745255 0.06043121 -0.03790087 8.1988373 ] [-0.05894913 0.99749598 0.03907388 -0.41262962] [ 0.04016725 -0.03674012 0.99851728 -0.2597115 ] [ 0. 0. 0. 1. ]] SLAMing on 36.422401008 meters Centerline goodness : 0.915296 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.41, Z:-0.26 [[ 0.99726247 0.06313977 -0.03848297 8.20197915] [-0.06149079 0.99719707 0.04262483 -0.41216924] [ 0.04106643 -0.0401418 0.99834973 -0.25981662] [ 0. 0. 0. 1. ]] SLAMing on 36.452401008 meters Centerline goodness : 0.916273 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.41, Z:-0.26 [[ 0.99733284 0.06167645 -0.03902835 8.20507683] [-0.06013064 0.99740413 0.03961438 -0.40671942] [ 0.04137031 -0.03716192 0.99845255 -0.26387537] [ 0. 0. 0. 1. ]] SLAMing on 36.482401008000004 meters Centerline goodness : 0.916442 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.40, Z:-0.27 [[ 0.99736589 0.06074204 -0.03964438 8.20756927] [-0.05923367 0.99751396 0.03817413 -0.40437427] [ 0.04186459 -0.03572529 0.99848438 -0.26571895] [ 0. 0. 0. 1. ]] SLAMing on 36.512401008000005 meters Centerline goodness : 0.914181 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.40, Z:-0.27 [[ 0.99739933 0.05965835 -0.04044078 8.21086985] [-0.05823043 0.99766775 0.03561287 -0.40066276] [ 0.04247107 -0.03316537 0.99854708 -0.26942362] [ 0. 0. 0. 1. ]] SLAMing on 36.542401008000006 meters Centerline goodness : 0.914772 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.40, Z:-0.27 [[ 0.99739943 0.0593371 -0.04090836 8.21253584] [-0.05793371 0.99771794 0.03467863 -0.39847402] [ 0.04287274 -0.03221847 0.99856091 -0.2707777 ] [ 0. 0. 0. 1. ]] SLAMing on 36.572401008 meters Centerline goodness : 0.911671 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.40, Z:-0.27 [[ 0.99741612 0.05863942 -0.04150303 8.21487462] [-0.05727679 0.99780303 0.03329385 -0.39611114] [ 0.04336418 -0.03083066 0.99858351 -0.27285706] [ 0. 0. 0. 1. ]] SLAMing on 36.602401008 meters Centerline goodness : 0.914463 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99743759 0.05801891 -0.04185766 8.21661782] [-0.05670439 0.99788006 0.03193749 -0.39362584] [ 0.04362191 -0.02948214 0.998613 -0.27476362] [ 0. 0. 0. 1. ]] SLAMing on 36.632401008 meters Centerline goodness : 0.916072 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99721732 0.06131525 -0.04240352 8.2187257 ] [-0.05978288 0.99754354 0.03650882 -0.39451984] [ 0.0445379 -0.03387222 0.9984333 -0.27300017] [ 0. 0. 0. 1. ]] SLAMing on 36.662401008 meters Centerline goodness : 0.911270 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99723839 0.06090064 -0.04250531 8.21943487] [-0.05938161 0.9975813 0.0361301 -0.39425951] [ 0.04460285 -0.03350629 0.99844274 -0.27330865] [ 0. 0. 0. 1. ]] SLAMing on 36.692401008000004 meters Centerline goodness : 0.915579 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99726686 0.06002696 -0.04307647 8.2214445 ] [-0.05850847 0.99764884 0.03568682 -0.39450155] [ 0.04511736 -0.03306894 0.99843421 -0.27376394] [ 0. 0. 0. 1. ]] SLAMing on 36.722401008000006 meters Centerline goodness : 0.915818 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.28 [[ 0.99750552 0.05575004 -0.04329736 8.22194762] [-0.05444463 0.99804269 0.03076649 -0.39252569] [ 0.04492784 -0.02833244 0.99858838 -0.27512847] [ 0. 0. 0. 1. ]] SLAMing on 36.752401008 meters Centerline goodness : 0.915243 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99752295 0.05523851 -0.04355071 8.22251463] [-0.05389966 0.99805441 0.03134025 -0.39438263] [ 0.04519716 -0.02891525 0.99855952 -0.27407398] [ 0. 0. 0. 1. ]] SLAMing on 36.782401008 meters Centerline goodness : 0.915691 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.39, Z:-0.27 [[ 0.99776523 0.05103954 -0.04312206 8.22084312] [-0.04989371 0.9983829 0.02724344 -0.3931263 ] [ 0.04444282 -0.02503104 0.99869829 -0.27330136] [ 0. 0. 0. 1. ]] SLAMing on 36.812401008 meters Centerline goodness : 0.917786 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.39, Z:-0.27 [[ 0.99815076 0.04713916 -0.03837915 8.199517 ] [-0.04594671 0.99845085 0.03138139 -0.38995913] [ 0.03979899 -0.02955996 0.99877037 -0.27200826] [ 0. 0. 0. 1. ]] SLAMing on 36.842401008 meters Centerline goodness : 0.922334 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.39, Z:-0.27 [[ 0.99839927 0.04472891 -0.03461546 8.17225165] [-0.04359978 0.99851331 0.03271443 -0.38503846] [ 0.03602728 -0.03115284 0.99886512 -0.27104908] [ 0. 0. 0. 1. ]] SLAMing on 36.872401008000004 meters Centerline goodness : 0.918611 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.38, Z:-0.27 [[ 0.99855678 0.040908 -0.03479778 8.17209906] [-0.0399602 0.99882249 0.02751043 -0.38075228] [ 0.03588221 -0.0260802 0.99901566 -0.27216208] [ 0. 0. 0. 1. ]] SLAMing on 36.902401008000005 meters Centerline goodness : 0.920239 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.38, Z:-0.27 [[ 0.99855718 0.04078142 -0.03493475 8.17223413] [-0.03984823 0.99884075 0.02700501 -0.37885949] [ 0.03599555 -0.02557396 0.99902467 -0.27205945] [ 0. 0. 0. 1. ]] SLAMing on 36.932401008 meters Centerline goodness : 0.921108 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.38, Z:-0.27 [[ 0.99856507 0.04062999 -0.03488559 8.17229713] [-0.03972613 0.99886645 0.02622316 -0.37628431] [ 0.03591149 -0.02479966 0.99904722 -0.27256909] [ 0. 0. 0. 1. ]] SLAMing on 36.962401008 meters Centerline goodness : 0.921344 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.37, Z:-0.28 [[ 0.99869943 0.03915421 -0.03265561 8.15014745] [-0.03827741 0.99890079 0.02705635 -0.36670103] [ 0.03367908 -0.02577119 0.99910038 -0.27644686] [ 0. 0. 0. 1. ]] SLAMing on 36.992401008 meters Centerline goodness : 0.920229 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.36, Z:-0.28 [[ 0.99872982 0.03721416 -0.03396835 8.13012183] [-0.03620866 0.99890129 0.02975135 -0.36125937] [ 0.0350382 -0.02848361 0.99897998 -0.27721495] [ 0. 0. 0. 1. ]] SLAMing on 37.022401008 meters Centerline goodness : 0.919885 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.35, Z:-0.28 [[ 0.99885468 0.03375844 -0.03390713 8.10895896] [-0.03280864 0.99906407 0.02818824 -0.35418789] [ 0.03482699 -0.02704351 0.99902739 -0.28133091] [ 0. 0. 0. 1. ]] SLAMing on 37.052401008000004 meters Centerline goodness : 0.917193 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.35, Z:-0.29 [[ 0.99898595 0.03008262 -0.03349792 8.08667045] [-0.02921733 0.99923416 0.02602784 -0.34771969] [ 0.03425525 -0.02502273 0.99909982 -0.28506475] [ 0. 0. 0. 1. ]] SLAMing on 37.082401008000005 meters Centerline goodness : 0.918015 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.34, Z:-0.29 [[ 0.99908181 0.02665091 -0.03354502 8.08619991] [-0.02595929 0.99944477 0.02088708 -0.34262491] [ 0.03408305 -0.01999709 0.99921893 -0.28624124] [ 0. 0. 0. 1. ]] SLAMing on 37.112401008 meters Centerline goodness : 0.919537 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.34, Z:-0.29 [[ 0.99907546 0.02682982 -0.03359159 8.08600309] [-0.02619172 0.99947073 0.01929393 -0.33652019] [ 0.03409147 -0.01839627 0.99924939 -0.28721513] [ 0. 0. 0. 1. ]] SLAMing on 37.142401008 meters Centerline goodness : 0.920557 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99908272 0.02657889 -0.03357508 8.08644547] [-0.02598324 0.99949933 0.01805418 -0.33265891] [ 0.03403813 -0.01716523 0.99927312 -0.28840699] [ 0. 0. 0. 1. ]] SLAMing on 37.172401008 meters Centerline goodness : 0.923952 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99908269 0.02637405 -0.03373716 8.08708904] [-0.02581191 0.99952241 0.016991 -0.32917882] [ 0.03416917 -0.01610459 0.9992863 -0.28930118] [ 0. 0. 0. 1. ]] SLAMing on 37.202401008 meters Centerline goodness : 0.923708 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.999007 0.02879243 -0.03400006 8.08818028] [-0.02817571 0.99943213 0.01848079 -0.32832071] [ 0.03451286 -0.01750446 0.99925095 -0.28956819] [ 0. 0. 0. 1. ]] SLAMing on 37.232401008000004 meters Centerline goodness : 0.920062 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99886302 0.03309063 -0.0343173 8.08944747] [-0.03234739 0.99923471 0.02199181 -0.32697748] [ 0.03501876 -0.02085673 0.999169 -0.28991832] [ 0. 0. 0. 1. ]] SLAMing on 37.262401008000005 meters Centerline goodness : 0.919386 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99879272 0.03447957 -0.03498942 8.09098869] [-0.03370542 0.99917898 0.02247895 -0.3267705 ] [ 0.03573576 -0.02127248 0.99913484 -0.28991831] [ 0. 0. 0. 1. ]] SLAMing on 37.292401008000006 meters Centerline goodness : 0.920593 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99873235 0.03511372 -0.03606551 8.09370278] [-0.03435713 0.99918073 0.02138825 -0.32647873] [ 0.03678699 -0.02012203 0.99912052 -0.29036446] [ 0. 0. 0. 1. ]] SLAMing on 37.322401008 meters Centerline goodness : 0.921525 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.33, Z:-0.29 [[ 0.99870356 0.03568144 -0.03630476 8.0945479 ] [-0.0349231 0.99916273 0.02131248 -0.32626775] [ 0.03703482 -0.02001698 0.99911348 -0.29052488] [ 0. 0. 0. 1. ]] SLAMing on 37.352401008 meters Centerline goodness : 0.919422 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.33, Z:-0.30 [[ 0.99870029 0.04410115 -0.02555017 8.09777703] [-0.04355061 0.99881515 0.0217174 -0.32802752] [ 0.02647766 -0.02057644 0.99943761 -0.29713517] [ 0. 0. 0. 1. ]] SLAMing on 37.382401008 meters Centerline goodness : 0.920343 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.33, Z:-0.30 [[ 0.99864219 0.04524661 -0.02581694 8.09943536] [-0.04470099 0.99877259 0.02133403 -0.32706844] [ 0.02675055 -0.02015102 0.99943901 -0.29823477] [ 0. 0. 0. 1. ]] SLAMing on 37.412401008 meters Centerline goodness : 0.920343 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.33, Z:-0.30 [[ 0.99864219 0.04524661 -0.02581694 8.09943536] [-0.04470099 0.99877259 0.02133403 -0.32706844] [ 0.02675055 -0.02015102 0.99943901 -0.29823477] [ 0. 0. 0. 1. ]] SLAMing on 37.442401008000004 meters Centerline goodness : 0.918744 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.33, Z:-0.30 [[ 0.99853884 0.04655205 -0.02744261 8.10305317] [-0.04600687 0.99873739 0.02017413 -0.32674969] [ 0.02834711 -0.0188821 0.99941979 -0.29841121] [ 0. 0. 0. 1. ]] SLAMing on 37.472401008000006 meters Centerline goodness : 0.917961 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.30 [[ 0.99834103 0.04898669 -0.03025696 8.10825291] [-0.04849315 0.99868162 0.01683581 -0.32681585] [ 0.0310418 -0.01534063 0.99940036 -0.29754317] [ 0. 0. 0. 1. ]] SLAMing on 37.502401008 meters Centerline goodness : 0.917345 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.30 [[ 0.99832804 0.04933534 -0.03011897 8.1076037 ] [-0.04884398 0.99866449 0.01683755 -0.32615687] [ 0.03090943 -0.01533826 0.9994045 -0.29721374] [ 0. 0. 0. 1. ]] SLAMing on 37.532401008 meters Centerline goodness : 0.917130 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.32, Z:-0.30 [[ 0.99831562 0.04961498 -0.03007112 8.1071781 ] [-0.04912751 0.99865225 0.01673857 -0.32485592] [ 0.03086108 -0.01523306 0.9994076 -0.29688622] [ 0. 0. 0. 1. ]] SLAMing on 37.562401008 meters Centerline goodness : 0.918037 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.32, Z:-0.30 [[ 0.99822642 0.05098762 -0.03072912 8.10862081] [-0.05049597 0.99858681 0.01656903 -0.32416422] [ 0.03153051 -0.01498794 0.99939041 -0.29664298] [ 0. 0. 0. 1. ]] SLAMing on 37.592401008 meters Centerline goodness : 0.916830 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.32, Z:-0.30 [[ 0.99816768 0.05238452 -0.03028434 8.10620066] [-0.05190005 0.99851483 0.01656852 -0.32127014] [ 0.03110729 -0.0149664 0.99940399 -0.29567965] [ 0. 0. 0. 1. ]] SLAMing on 37.622401008000004 meters Centerline goodness : 0.919984 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.32, Z:-0.29 [[ 0.99794023 0.05632375 -0.03070712 8.10687171] [-0.05567094 0.99821299 0.02171575 -0.32312508] [ 0.03187536 -0.01996153 0.9992925 -0.29321078] [ 0. 0. 0. 1. ]] SLAMing on 37.652401008000005 meters Centerline goodness : 0.917950 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.29 [[ 0.99771839 0.05996264 -0.03102416 8.10808725] [-0.05914439 0.99789356 0.02665294 -0.32532287] [ 0.03255699 -0.02475723 0.99916321 -0.2913644 ] [ 0. 0. 0. 1. ]] SLAMing on 37.682401008 meters Centerline goodness : 0.921940 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.29 [[ 0.99750259 0.06339664 -0.0311359 8.10928224] [-0.06239704 0.99753536 0.0320908 -0.32853524] [ 0.03309361 -0.03006787 0.99899987 -0.28914704] [ 0. 0. 0. 1. ]] SLAMing on 37.712401008 meters Centerline goodness : 0.917045 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.29 [[ 0.99750315 0.06322253 -0.03147018 8.11042977] [-0.06218458 0.99752108 0.03293583 -0.33147336] [ 0.03347445 -0.03089663 0.99896189 -0.28871175] [ 0. 0. 0. 1. ]] SLAMing on 37.742401008 meters Centerline goodness : 0.916483 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.33, Z:-0.29 [[ 0.99749699 0.06320694 -0.03169608 8.11153353] [-0.06213727 0.99749957 0.03366835 -0.33347238] [ 0.0337449 -0.03161457 0.99893033 -0.28855098] [ 0. 0. 0. 1. ]] SLAMing on 37.772401008 meters Centerline goodness : 0.916153 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.34, Z:-0.29 [[ 0.99752475 0.0623477 -0.03251372 8.11447063] [-0.06125649 0.99755828 0.03354287 -0.3357111 ] [ 0.03452565 -0.03146816 0.99890827 -0.28960758] [ 0. 0. 0. 1. ]] SLAMing on 37.802401008000004 meters Centerline goodness : 0.913731 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.35, Z:-0.27 [[ 0.99777874 0.05970048 -0.02955391 8.13071055] [-0.05808032 0.99690732 0.05293841 -0.34940137] [ 0.03262296 -0.05110432 0.99816035 -0.27318291] [ 0. 0. 0. 1. ]] SLAMing on 37.832401008000005 meters Centerline goodness : 0.910939 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.35, Z:-0.27 [[ 0.99801504 0.05537043 -0.03000152 8.1320233 ] [-0.05388223 0.99737711 0.04832816 -0.34985802] [ 0.03259878 -0.04661569 0.99838084 -0.27481077] [ 0. 0. 0. 1. ]] SLAMing on 37.862401008 meters Centerline goodness : 0.911908 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.35, Z:-0.28 [[ 0.99804897 0.05436121 -0.03071018 8.13477881] [-0.05283351 0.99742291 0.04854028 -0.35302348] [ 0.03326975 -0.04682305 0.998349 -0.27507663] [ 0. 0. 0. 1. ]] SLAMing on 37.892401008 meters Centerline goodness : 0.909189 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.36, Z:-0.27 [[ 0.99807289 0.0537535 -0.03100098 8.13644238] [-0.05218378 0.99741508 0.04939655 -0.35620624] [ 0.03357608 -0.04768361 0.99829801 -0.27425585] [ 0. 0. 0. 1. ]] SLAMing on 37.922401008 meters Centerline goodness : 0.906643 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.36, Z:-0.27 [[ 0.99872237 0.0457016 -0.02156366 8.13553043] [-0.04424733 0.99698892 0.06368102 -0.36490514] [ 0.02440906 -0.06264552 0.99773731 -0.26516959] [ 0. 0. 0. 1. ]] SLAMing on 37.952401008 meters Centerline goodness : 0.908488 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.36, Z:-0.27 [[ 0.99904747 0.0382092 -0.02107646 8.13441749] [-0.03700725 0.99781468 0.05473879 -0.36294319] [ 0.02312192 -0.05390667 0.99827824 -0.26731134] [ 0. 0. 0. 1. ]] SLAMing on 37.982401008000004 meters Centerline goodness : 0.906863 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.36, Z:-0.27 [[ 0.99919432 0.03413915 -0.02110028 8.1343989 ] [-0.03302465 0.99814818 0.05108403 -0.36381684] [ 0.02280517 -0.05034605 0.99847143 -0.26712543] [ 0. 0. 0. 1. ]] SLAMing on 38.012401008000005 meters Centerline goodness : 0.910347 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.36, Z:-0.27 [[ 0.99933635 0.0296536 -0.02115459 8.13472492] [-0.0286328 0.99848319 0.04702641 -0.36393471] [ 0.02251701 -0.04638949 0.99866961 -0.26733173] [ 0. 0. 0. 1. ]] SLAMing on 38.042401008000006 meters Centerline goodness : 0.908663 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.36, Z:-0.27 [[ 0.99978406 0.01390552 -0.01544254 8.1047263 ] [-0.01312384 0.99868217 0.04961543 -0.36233614] [ 0.01611212 -0.04940205 0.99864901 -0.26770385] [ 0. 0. 0. 1. ]] SLAMing on 38.072401008 meters Centerline goodness : 0.907876 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.36, Z:-0.27 [[ 9.99871321e-01 5.33159356e-03 -1.51299863e-02 8.10503455e+00] [-4.72527985e-03 9.99195287e-01 3.98302640e-02 -3.59079994e-01] [ 1.53301698e-02 -3.97536452e-02 9.99091904e-01 -2.70507915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102401008 meters Centerline goodness : 0.905470 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.36, Z:-0.27 [[ 9.99854337e-01 -1.31460336e-03 -1.70169476e-02 8.08264776e+00] [ 1.94626548e-03 9.99307566e-01 3.71564226e-02 -3.56547616e-01] [ 1.69563186e-02 -3.71841298e-02 9.99164563e-01 -2.71149503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132401008 meters Centerline goodness : 0.905310 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.35, Z:-0.27 [[ 9.99794885e-01 -6.90983926e-03 -1.90379129e-02 8.05955667e+00] [ 7.55260676e-03 9.99396689e-01 3.39000991e-02 -3.52467128e-01] [ 1.87921829e-02 -3.40369315e-02 9.99243885e-01 -2.73449986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401008 meters Centerline goodness : 0.903689 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.34, Z:-0.28 [[ 0.99974388 -0.01231018 -0.01899033 8.06149685] [ 0.01279445 0.99959054 0.02559394 -0.34421854] [ 0.01866749 -0.02583036 0.99949203 -0.27937601] [ 0. 0. 0. 1. ]] SLAMing on 38.192401008000004 meters Centerline goodness : 0.904113 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.34, Z:-0.28 [[ 0.99973914 -0.01267796 -0.01899788 8.06167091] [ 0.01314 0.999616 0.0243967 -0.34020976] [ 0.01868129 -0.02463997 0.99952183 -0.28001266] [ 0. 0. 0. 1. ]] SLAMing on 38.222401008000006 meters Centerline goodness : 0.905238 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.34, Z:-0.28 [[ 0.99974394 -0.0125161 -0.01885223 8.06086214] [ 0.01295406 0.99964479 0.02329145 -0.33524757] [ 0.01855402 -0.0235297 0.99955095 -0.28024772] [ 0. 0. 0. 1. ]] SLAMing on 38.252401008 meters Centerline goodness : 0.900614 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.33, Z:-0.28 [[ 0.99977436 -0.00904776 -0.01921906 8.06124149] [ 0.00952175 0.99964917 0.02471574 -0.3254433 ] [ 0.01898869 -0.02489317 0.99950976 -0.28106953] [ 0. 0. 0. 1. ]] SLAMing on 38.282401008 meters Centerline goodness : 0.901092 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.32, Z:-0.29 [[ 9.99843790e-01 -6.60107085e-03 -1.63957942e-02 8.07457643e+00] [ 6.79350461e-03 9.99908370e-01 1.17089417e-02 -3.16835876e-01] [ 1.63170003e-02 -1.18184976e-02 9.99797019e-01 -2.90178430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312401008 meters Centerline goodness : 0.898415 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.31, Z:-0.29 [[ 9.99872233e-01 -4.16867216e-03 -1.54318111e-02 8.07314752e+00] [ 4.39223280e-03 9.99885490e-01 1.44815669e-02 -3.12343651e-01] [ 1.53696751e-02 -1.45474967e-02 9.99776047e-01 -2.90395279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342401008 meters Centerline goodness : 0.896543 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.31, Z:-0.30 [[ 9.99922841e-01 -2.24655829e-03 -1.22173988e-02 8.08733531e+00] [ 2.28184698e-03 9.99993263e-01 2.87522377e-03 -3.05183141e-01] [ 1.22108571e-02 -2.90288016e-03 9.99921231e-01 -2.98062912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372401008000004 meters Centerline goodness : 0.894319 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.30, Z:-0.30 [[ 9.99909373e-01 -3.50700943e-03 -1.29979506e-02 8.08999057e+00] [ 3.51853084e-03 9.99993437e-01 8.63639874e-04 -2.99613433e-01] [ 1.29948365e-02 -9.09295295e-04 9.99915150e-01 -2.99595687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402401008000005 meters Centerline goodness : 0.894510 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.29, Z:-0.30 [[ 9.99900306e-01 -1.21799942e-03 -1.40675236e-02 8.09248810e+00] [ 1.25815801e-03 9.99995158e-01 2.84620517e-03 -2.92334792e-01] [ 1.40639888e-02 -2.86362058e-03 9.99896997e-01 -2.99370749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432401008 meters Centerline goodness : 0.899503 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.29, Z:-0.30 [[ 9.99892225e-01 -1.88683911e-03 -1.45594616e-02 8.09375221e+00] [ 1.90550777e-03 9.99997380e-01 1.26846972e-03 -2.86392242e-01] [ 1.45570301e-02 -1.29607617e-03 9.99893201e-01 -2.99938493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters Centerline goodness : 0.900710 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.28, Z:-0.30 [[ 9.99886814e-01 -1.90614973e-03 -1.49239725e-02 8.09415376e+00] [ 1.91280624e-03 9.99998077e-01 4.31766855e-04 -2.80238639e-01] [ 1.49231208e-02 -4.60264653e-04 9.99888538e-01 -2.99635087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492401008 meters Centerline goodness : 0.905314 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.27, Z:-0.30 [[ 9.99854668e-01 4.52694514e-03 -1.64362248e-02 8.09710699e+00] [-4.43208907e-03 9.99973341e-01 5.80300575e-03 -2.70011704e-01] [ 1.64620565e-02 -5.72931557e-03 9.99848076e-01 -2.99137425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522401008 meters Centerline goodness : 0.912743 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.26, Z:-0.30 [[ 9.99826202e-01 8.03756354e-03 -1.68215423e-02 8.09796370e+00] [-7.90116997e-03 9.99935498e-01 8.15908173e-03 -2.63582807e-01] [ 1.68860365e-02 -8.02475383e-03 9.99825217e-01 -2.99414739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552401008000004 meters Centerline goodness : 0.911706 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.26, Z:-0.30 [[ 0.9997831 0.01181077 -0.01715399 8.098686 ] [-0.01163015 0.99987628 0.01059108 -0.25726098] [ 0.01727696 -0.01038928 0.99979676 -0.29975103] [ 0. 0. 0. 1. ]] SLAMing on 38.582401008000005 meters Centerline goodness : 0.912291 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.25, Z:-0.30 [[ 9.99753683e-01 1.79763669e-02 -1.30162806e-02 8.11247016e+00] [-1.79153904e-02 9.99828051e-01 4.78619085e-03 -2.50486435e-01] [ 1.31000808e-02 -4.55182019e-03 9.99903830e-01 -3.04099946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612401008000006 meters Centerline goodness : 0.916372 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.24, Z:-0.30 [[ 0.99954249 0.02752992 -0.01252667 8.10805553] [-0.02738762 0.99955997 0.01139268 -0.24033122] [ 0.0128348 -0.01104439 0.99985663 -0.29982582] [ 0. 0. 0. 1. ]] SLAMing on 38.642401008 meters Centerline goodness : 0.918216 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.24, Z:-0.30 [[ 0.99940833 0.03200871 -0.01258698 8.10743645] [-0.03182358 0.99938623 0.01464293 -0.23517515] [ 0.01304795 -0.0142337 0.99981356 -0.29864951] [ 0. 0. 0. 1. ]] SLAMing on 38.672401008 meters Centerline goodness : 0.918925 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.23, Z:-0.30 [[ 9.99229603e-01 3.84242635e-02 -7.98595677e-03 8.12065569e+00] [-3.83511127e-02 9.99222710e-01 9.11970095e-03 -2.28539651e-01] [ 8.33016715e-03 -8.80640484e-03 9.99926525e-01 -3.03037699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702401008 meters Centerline goodness : 0.922023 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.22, Z:-0.30 [[ 0.99906934 0.04235892 -0.00813481 8.12106944] [-0.04225961 0.99903443 0.01201382 -0.22337818] [ 0.00863585 -0.01165886 0.99989474 -0.3028255 ] [ 0. 0. 0. 1. ]] SLAMing on 38.732401008000004 meters Centerline goodness : 0.921556 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.22, Z:-0.31 [[ 9.98743508e-01 4.99366690e-02 -4.21130368e-03 8.13459627e+00] [-4.99045526e-02 9.98726469e-01 7.41459527e-03 -2.15245413e-01] [ 4.57620064e-03 -7.19511566e-03 9.99963644e-01 -3.06046879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762401008000005 meters Centerline goodness : 0.923623 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-0.31 [[ 9.98734659e-01 5.00838903e-02 -4.54803661e-03 8.13501988e+00] [-5.00526866e-02 9.98723880e-01 6.73353796e-03 -2.12521138e-01] [ 4.87947454e-03 -6.49737629e-03 9.99966987e-01 -3.06014325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792401008000006 meters Centerline goodness : 0.922093 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-0.31 [[ 9.98741468e-01 4.99233066e-02 -4.81074700e-03 8.13580327e+00] [-4.98935972e-02 9.98735852e-01 6.10958154e-03 -2.10945977e-01] [ 5.10967602e-03 -5.86186697e-03 9.99969764e-01 -3.06470576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822401008 meters Centerline goodness : 0.923669 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-0.31 [[ 9.98894426e-01 4.66973387e-02 -5.41152104e-03 8.13667170e+00] [-4.66886122e-02 9.98907998e-01 1.72789547e-03 -2.07704363e-01] [ 5.48629977e-03 -1.47332874e-03 9.99983865e-01 -3.07271520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852401008 meters Centerline goodness : 0.919851 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-0.31 [[ 9.98946536e-01 4.54957835e-02 -5.99593487e-03 8.13965603e+00] [-4.54926753e-02 9.98964458e-01 6.53825728e-04 -2.07664151e-01] [ 6.01947215e-03 -3.80365828e-04 9.99981810e-01 -3.09736285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882401008 meters Centerline goodness : 0.914284 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.21, Z:-0.31 [[ 9.98993667e-01 4.43397346e-02 -6.75587244e-03 8.14273849e+00] [-4.43412240e-02 9.99016442e-01 -7.07539602e-05 -2.08514639e-01] [ 6.74609043e-03 3.70246411e-04 9.99977176e-01 -3.11782617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912401008 meters Centerline goodness : 0.915528 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.21, Z:-0.31 [[ 9.99044096e-01 4.30695604e-02 -7.47713735e-03 8.14588267e+00] [-4.30757737e-02 9.99071582e-01 -6.71858228e-04 -2.10664354e-01] [ 7.44125880e-03 9.93299473e-04 9.99971820e-01 -3.13869853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942401008000004 meters Centerline goodness : 0.912471 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.21, Z:-0.32 [[ 9.99226540e-01 3.84816199e-02 -8.09235441e-03 8.14798831e+00] [-3.85254127e-02 9.99243421e-01 -5.32717019e-03 -2.10900901e-01] [ 7.88123376e-03 5.63481113e-03 9.99953066e-01 -3.15720501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972401008000006 meters Centerline goodness : 0.907327 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.22, Z:-0.32 [[ 0.99937968 0.03414622 -0.00861929 8.15008644] [-0.03422228 0.99937517 -0.00883774 -0.21594675] [ 0.00831213 0.00912723 0.9999238 -0.31739127] [ 0. 0. 0. 1. ]] SLAMing on 39.002401008 meters Centerline goodness : 0.908060 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.22, Z:-0.32 [[ 0.9994033 0.03323296 -0.00941312 8.15294682] [-0.03331822 0.99940382 -0.00905017 -0.21871307] [ 0.00910674 0.0093584 0.99991474 -0.31894596] [ 0. 0. 0. 1. ]] SLAMing on 39.032401008 meters Centerline goodness : 0.903475 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.22, Z:-0.32 [[ 0.99942002 0.03254826 -0.01001132 8.15520545] [-0.03264055 0.99942483 -0.00919767 -0.22069329] [ 0.00970619 0.00951911 0.99990758 -0.32018815] [ 0. 0. 0. 1. ]] SLAMing on 39.062401008 meters Centerline goodness : 0.902928 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.22, Z:-0.32 [[ 0.99942658 0.03222214 -0.01040388 8.15658138] [-0.0323154 0.99943789 -0.0089234 -0.22269836] [ 0.0101105 0.00925449 0.99990606 -0.32069143] [ 0. 0. 0. 1. ]] SLAMing on 39.092401008 meters Centerline goodness : 0.899929 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.23, Z:-0.32 [[ 0.99943236 0.03188958 -0.01086333 8.15790241] [-0.03198363 0.99945142 -0.0085967 -0.22512323] [ 0.01058323 0.00893927 0.99990404 -0.32094426] [ 0. 0. 0. 1. ]] SLAMing on 39.122401008000004 meters Centerline goodness : 0.898780 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.23, Z:-0.32 [[ 9.99448510e-01 3.12081400e-02 -1.13458177e-02 8.15921811e+00] [-3.12926653e-02 9.99483238e-01 -7.35027328e-03 -2.31582494e-01] [ 1.11105663e-02 7.70126056e-03 9.99908619e-01 -3.20135170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152401008000005 meters Centerline goodness : 0.895771 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.23, Z:-0.32 [[ 9.99467593e-01 3.04046160e-02 -1.18359610e-02 8.16113144e+00] [-3.04899855e-02 9.99509853e-01 -7.10031754e-03 -2.34699598e-01] [ 1.16142772e-02 7.45741556e-03 9.99904743e-01 -3.20784882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182401008 meters Centerline goodness : 0.895537 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.24, Z:-0.32 [[ 9.99491279e-01 2.93412206e-02 -1.25010316e-02 8.16376982e+00] [-2.94325995e-02 9.99540911e-01 -7.18949572e-03 -2.37594246e-01] [ 1.22843439e-02 7.55377613e-03 9.99896012e-01 -3.22006126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212401008 meters Centerline goodness : 0.894471 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.24, Z:-0.32 [[ 0.99962705 0.02390764 -0.01319827 8.16686515] [-0.02405698 0.99964701 -0.01127435 -0.24111969] [ 0.01292407 0.01158766 0.99984934 -0.32396912] [ 0. 0. 0. 1. ]] SLAMing on 39.242401008 meters Centerline goodness : 0.895306 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.24, Z:-0.33 [[ 0.99964836 0.02244671 -0.01411768 8.17014917] [-0.02260886 0.99967902 -0.01143241 -0.24397439] [ 0.01385653 0.01174757 0.99983498 -0.32509654] [ 0. 0. 0. 1. ]] SLAMing on 39.272401008 meters Centerline goodness : 0.892203 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.25, Z:-0.33 [[ 0.99967071 0.02071398 -0.01514597 8.17398311] [-0.02089608 0.99971006 -0.01196481 -0.24605993] [ 0.01489374 0.01227736 0.9998137 -0.32669009] [ 0. 0. 0. 1. ]] SLAMing on 39.302401008000004 meters Centerline goodness : 0.892203 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.25, Z:-0.33 [[ 0.99967071 0.02071398 -0.01514597 8.17398311] [-0.02089608 0.99971006 -0.01196481 -0.24605993] [ 0.01489374 0.01227736 0.9998137 -0.32669009] [ 0. 0. 0. 1. ]] SLAMing on 39.332401008000005 meters Centerline goodness : 0.892938 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 0.99975948 0.01487238 -0.01611791 8.17769827] [-0.01514232 0.99974492 -0.01675701 -0.24748368] [ 0.01586458 0.01699704 0.99972967 -0.32862392] [ 0. 0. 0. 1. ]] SLAMing on 39.362401008000006 meters Centerline goodness : 0.891835 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 0.99975806 0.01422578 -0.01677639 8.17895644] [-0.01449689 0.99976446 -0.01615135 -0.25011319] [ 0.01654268 0.01639064 0.99972881 -0.32758415] [ 0. 0. 0. 1. ]] SLAMing on 39.392401008 meters Centerline goodness : 0.892984 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 0.99975663 0.01368584 -0.01730237 8.17965927] [-0.01395367 0.9997832 -0.01545493 -0.25255335] [ 0.01708711 0.0156926 0.99973085 -0.32606003] [ 0. 0. 0. 1. ]] SLAMing on 39.422401008 meters Centerline goodness : 0.896460 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.32 [[ 0.99975546 0.01312789 -0.01779546 8.1803788 ] [-0.01339535 0.99979784 -0.01499469 -0.25426959] [ 0.01759501 0.0152294 0.9997292 -0.32485074] [ 0. 0. 0. 1. ]] SLAMing on 39.452401008 meters Centerline goodness : 0.893958 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.32 [[ 0.9997576 0.01243496 -0.01816897 8.18142664] [-0.01271108 0.99980425 -0.01516195 -0.25399034] [ 0.01797687 0.01538922 0.99971996 -0.32472052] [ 0. 0. 0. 1. ]] SLAMing on 39.482401008000004 meters Centerline goodness : 0.895018 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 9.99923789e-01 6.00456671e-03 -1.07870640e-02 8.18240082e+00] [-6.06987730e-03 9.99963385e-01 -6.03202703e-03 -2.50291915e-01] [ 1.07504493e-02 6.09704348e-03 9.99923624e-01 -3.26630264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512401008000005 meters Centerline goodness : 0.891412 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 9.99921260e-01 5.33675499e-03 -1.13575052e-02 8.18424981e+00] [-5.41380320e-03 9.99962469e-01 -6.76400549e-03 -2.48923083e-01] [ 1.13209811e-02 6.82496019e-03 9.99912624e-01 -3.27541937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008000006 meters Centerline goodness : 0.891252 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.25, Z:-0.33 [[ 9.99918126e-01 5.17912537e-03 -1.17012367e-02 8.18475429e+00] [-5.26035494e-03 9.99962207e-01 -6.92188449e-03 -2.48189898e-01] [ 1.16649452e-02 6.98287042e-03 9.99907580e-01 -3.27207798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572401008 meters Centerline goodness : 0.890563 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.25, Z:-0.33 [[ 9.99887674e-01 7.94237248e-03 -1.27105670e-02 8.18753541e+00] [-7.99636795e-03 9.99959196e-01 -4.20290784e-03 -2.45482229e-01] [ 1.26766673e-02 4.30407411e-03 9.99910385e-01 -3.27722292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters Centerline goodness : 0.890776 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.24, Z:-0.33 [[ 9.99884950e-01 8.14171699e-03 -1.27984041e-02 8.18785031e+00] [-8.20563250e-03 9.99954084e-01 -4.94946814e-03 -2.41115169e-01] [ 1.27575193e-02 5.05391771e-03 9.99905847e-01 -3.28270545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632401008 meters Centerline goodness : 0.892160 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.24, Z:-0.33 [[ 9.99842579e-01 1.14881393e-02 -1.35218108e-02 8.18974720e+00] [-1.15166926e-02 9.99931609e-01 -2.03567090e-03 -2.38026724e-01] [ 1.34975000e-02 2.19107698e-03 9.99906504e-01 -3.28727922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401008 meters Centerline goodness : 0.891729 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.23, Z:-0.33 [[ 9.99788887e-01 1.52418442e-02 -1.37792724e-02 8.19034466e+00] [-1.52317114e-02 9.99883638e-01 8.40017394e-04 -2.33789714e-01] [ 1.37904724e-02 -6.29958155e-04 9.99904708e-01 -3.28819347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692401008000004 meters Centerline goodness : 0.897737 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.22, Z:-0.33 [[ 9.99617684e-01 2.62975233e-02 -8.53968135e-03 8.20153223e+00] [-2.62969759e-02 9.99654159e-01 1.76404591e-04 -2.24561424e-01] [ 8.54136698e-03 4.82306461e-05 9.99963521e-01 -3.30591833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008000006 meters Centerline goodness : 0.893883 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.22, Z:-0.33 [[ 9.99570936e-01 2.79591734e-02 -8.73086100e-03 8.20001804e+00] [-2.79562758e-02 9.99609044e-01 4.53775339e-04 -2.19649607e-01] [ 8.74013480e-03 -2.09498283e-04 9.99961782e-01 -3.28671187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752401008 meters Centerline goodness : 0.894643 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.22, Z:-0.33 [[ 9.99538545e-01 2.90533590e-02 -8.86566215e-03 8.19868243e+00] [-2.90523044e-02 9.99577862e-01 2.47752864e-04 -2.15607421e-01] [ 8.86911767e-03 9.92937850e-06 9.99960669e-01 -3.27086189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782401008 meters Centerline goodness : 0.904455 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.21, Z:-0.33 [[ 9.99519692e-01 2.96077500e-02 -9.15244273e-03 8.19825445e+00] [-2.96120395e-02 9.99561412e-01 -3.33487042e-04 -2.11750399e-01] [ 9.13855477e-03 6.04349361e-04 9.99958060e-01 -3.26253203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812401008 meters Centerline goodness : 0.906360 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.21, Z:-0.33 [[ 9.99521112e-01 2.94811316e-02 -9.40260623e-03 8.19872475e+00] [-2.94964890e-02 9.99563760e-01 -1.49880926e-03 -2.07661961e-01] [ 9.35431785e-03 1.77543537e-03 9.99954671e-01 -3.26623971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842401008 meters Centerline goodness : 0.901790 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.20, Z:-0.33 [[ 9.99545896e-01 2.85425964e-02 -9.66030250e-03 8.20016256e+00] [-2.85736017e-02 9.99586925e-01 -3.08687575e-03 -2.01719517e-01] [ 9.56820462e-03 3.36150363e-03 9.99948574e-01 -3.27868354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872401008000004 meters Centerline goodness : 0.903604 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.20, Z:-0.33 [[ 9.99577085e-01 2.72321401e-02 -1.02010238e-02 8.20239824e+00] [-2.72778990e-02 9.99618320e-01 -4.37373886e-03 -1.99917594e-01] [ 1.00780240e-02 4.65015164e-03 9.99938403e-01 -3.29306681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902401008000005 meters Centerline goodness : 0.914923 Centerline is valid? [False, False] Translation: X:8.20, Y:-0.20, Z:-0.33 [[ 9.99600591e-01 2.60745175e-02 -1.08985379e-02 8.20463980e+00] [-2.61338250e-02 9.99644216e-01 -5.33523682e-03 -1.98971772e-01] [ 1.07555466e-02 5.61792636e-03 9.99926376e-01 -3.30268615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932401008 meters Centerline goodness : 0.906333 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.20, Z:-0.33 [[ 9.99616032e-01 2.53584297e-02 -1.11686355e-02 8.20516829e+00] [-2.54278957e-02 9.99657912e-01 -6.12225680e-03 -1.97013358e-01] [ 1.10095640e-02 6.40390095e-03 9.99918886e-01 -3.30026588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962401008 meters Centerline goodness : 0.905985 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.19, Z:-0.33 [[ 9.99619418e-01 2.50357847e-02 -1.15857269e-02 8.20629552e+00] [-2.51177840e-02 9.99660081e-01 -6.98705117e-03 -1.94802295e-01] [ 1.14068624e-02 7.27539981e-03 9.99908472e-01 -3.30573101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992401008 meters Centerline goodness : 0.908968 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.19, Z:-0.33 [[ 9.99614886e-01 2.51493129e-02 -1.17299831e-02 8.20676491e+00] [-2.52409192e-02 9.99651526e-01 -7.72802223e-03 -1.91935226e-01] [ 1.15315411e-02 8.02112161e-03 9.99901338e-01 -3.31101436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022401008 meters Centerline goodness : 0.910115 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.19, Z:-0.33 [[ 9.99520393e-01 2.84155640e-02 -1.23101095e-02 8.20901227e+00] [-2.84757060e-02 9.99583255e-01 -4.73812780e-03 -1.90467079e-01] [ 1.21703427e-02 5.08639442e-03 9.99913002e-01 -3.32205816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052401008000004 meters Centerline goodness : 0.904600 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.18, Z:-0.34 [[ 9.99392246e-01 3.23772035e-02 -1.29172725e-02 8.21152126e+00] [-3.24219053e-02 9.99468935e-01 -3.26629824e-03 -1.83267232e-01] [ 1.28046590e-02 3.68311572e-03 9.99911234e-01 -3.35275785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008000005 meters Centerline goodness : 0.904957 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.18, Z:-0.34 [[ 9.99359271e-01 3.31947941e-02 -1.33848186e-02 8.21264842e+00] [-3.32472095e-02 9.99440263e-01 -3.71266058e-03 -1.78766752e-01] [ 1.32540856e-02 4.15528964e-03 9.99903527e-01 -3.36103902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112401008000006 meters Centerline goodness : 0.903664 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.34 [[ 9.99339063e-01 3.37008766e-02 -1.36267170e-02 8.21330149e+00] [-3.37636761e-02 9.99420137e-01 -4.40500199e-03 -1.74934404e-01] [ 1.34703629e-02 4.86217862e-03 9.99897449e-01 -3.36819125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters Centerline goodness : 0.904563 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.34 [[ 9.99197365e-01 3.75753293e-02 -1.38823857e-02 8.21429326e+00] [-3.75883207e-02 9.99293081e-01 -6.75992398e-04 -1.74676690e-01] [ 1.38471713e-02 1.19726539e-03 9.99903407e-01 -3.37028005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172401008 meters Centerline goodness : 0.906222 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.34 [[ 9.99011777e-01 4.22670020e-02 -1.37466086e-02 8.21347454e+00] [-4.22224289e-02 9.99102046e-01 3.51682809e-03 -1.73951204e-01] [ 1.38829106e-02 -2.93293748e-03 9.99899326e-01 -3.35918078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401008 meters Centerline goodness : 0.902064 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.34 [[ 9.98999756e-01 4.25287679e-02 -1.38127041e-02 8.21340400e+00] [-4.24859493e-02 9.99091351e-01 3.37886435e-03 -1.72950048e-01] [ 1.39438521e-02 -2.78863882e-03 9.99898891e-01 -3.35738255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232401008000004 meters Centerline goodness : 0.906266 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.34 [[ 9.98995017e-01 4.25891106e-02 -1.39686675e-02 8.21352552e+00] [-4.25475423e-02 9.99089125e-01 3.25976057e-03 -1.72537469e-01] [ 1.40947741e-02 -2.66215210e-03 9.99897120e-01 -3.35568542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008000005 meters Centerline goodness : 0.905171 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.33 [[ 9.99104067e-01 3.99559100e-02 -1.39495341e-02 8.21205929e+00] [-3.99557965e-02 9.99201407e-01 2.86945607e-04 -1.73907009e-01] [ 1.39498593e-02 2.70676223e-04 9.99902659e-01 -3.34577407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292401008000006 meters Centerline goodness : 0.905787 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.17, Z:-0.33 [[ 9.99236964e-01 3.64421533e-02 -1.40520486e-02 8.21194135e+00] [-3.64952356e-02 9.99327558e-01 -3.53971991e-03 -1.74023128e-01] [ 1.39136044e-02 4.04985179e-03 9.99895000e-01 -3.34915257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters Centerline goodness : 0.903671 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.18, Z:-0.34 [[ 9.99250241e-01 3.58981018e-02 -1.45010743e-02 8.21375357e+00] [-3.59524683e-02 9.99347351e-01 -3.50592876e-03 -1.76814366e-01] [ 1.43657540e-02 4.02464958e-03 9.99888707e-01 -3.36040023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352401008 meters Centerline goodness : 0.905054 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.18, Z:-0.34 [[ 9.99260843e-01 3.53666583e-02 -1.50654365e-02 8.21564185e+00] [-3.54215935e-02 9.99366691e-01 -3.39526302e-03 -1.80444751e-01] [ 1.49358163e-02 3.92639515e-03 9.99880745e-01 -3.36988799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401008 meters Centerline goodness : 0.902795 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.18, Z:-0.34 [[ 9.99371499e-01 3.19558502e-02 -1.53437505e-02 8.21581977e+00] [-3.20634002e-02 9.99462601e-01 -6.81522731e-03 -1.82365715e-01] [ 1.51177184e-02 7.30291674e-03 9.99859051e-01 -3.37191590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412401008 meters Centerline goodness : 0.904887 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.19, Z:-0.34 [[ 9.99363434e-01 3.19047778e-02 -1.59628103e-02 8.21749968e+00] [-3.20024543e-02 9.99470368e-01 -5.90138143e-03 -1.89222562e-01] [ 1.57660736e-02 6.40847392e-03 9.99855171e-01 -3.37953094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442401008000004 meters Centerline goodness : 0.902877 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.19, Z:-0.34 [[ 9.99360924e-01 3.19559369e-02 -1.60175708e-02 8.21817895e+00] [-3.20482127e-02 9.99470983e-01 -5.53765448e-03 -1.90925849e-01] [ 1.58321363e-02 6.04745002e-03 9.99856376e-01 -3.38671227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472401008000006 meters Centerline goodness : 0.897302 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.19, Z:-0.34 [[ 9.99353561e-01 3.21214120e-02 -1.61454262e-02 8.21880511e+00] [-3.22066247e-02 9.99468496e-01 -5.04575244e-03 -1.92780781e-01] [ 1.59747681e-02 5.56248035e-03 9.99856923e-01 -3.39191413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters Centerline goodness : 0.898603 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.20, Z:-0.34 [[ 9.99346584e-01 3.21924210e-02 -1.64332959e-02 8.21960346e+00] [-3.22695619e-02 9.99469292e-01 -4.45073537e-03 -1.95636888e-01] [ 1.62812947e-02 4.97812245e-03 9.99855058e-01 -3.39448721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532401008 meters Centerline goodness : 0.889304 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.20, Z:-0.34 [[ 9.99449487e-01 2.84945474e-02 -1.69936121e-02 8.22081762e+00] [-2.86138364e-02 9.99567286e-01 -6.81824794e-03 -2.03347150e-01] [ 1.67919758e-02 7.30074685e-03 9.99832350e-01 -3.39964152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562401008 meters Centerline goodness : 0.888224 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.21, Z:-0.34 [[ 9.99474506e-01 2.70719774e-02 -1.78275272e-02 8.22391305e+00] [-2.72042769e-02 9.99603815e-01 -7.22081466e-03 -2.07949213e-01] [ 1.76249825e-02 7.70200515e-03 9.99815002e-01 -3.41637735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592401008 meters Centerline goodness : 0.885393 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.21, Z:-0.34 [[ 9.99507020e-01 2.53544619e-02 -1.85167128e-02 8.22709858e+00] [-2.55061319e-02 9.99642645e-01 -8.00122927e-03 -2.12034105e-01] [ 1.83072289e-02 8.46957454e-03 9.99796535e-01 -3.43747478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622401008000004 meters Centerline goodness : 0.886512 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.22, Z:-0.35 [[ 9.99529718e-01 2.39096643e-02 -1.92007839e-02 8.22996013e+00] [-2.40684069e-02 9.99677666e-01 -8.07938644e-03 -2.16589555e-01] [ 1.90014194e-02 8.53771913e-03 9.99783003e-01 -3.45151956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652401008000005 meters Centerline goodness : 0.884059 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.22, Z:-0.35 [[ 0.99968301 0.01545713 -0.01987374 8.23426283] [-0.01575394 0.99976538 -0.01486576 -0.2231102 ] [ 0.0196393 0.01517414 0.99969197 -0.34883826] [ 0. 0. 0. 1. ]] SLAMing on 40.682401008 meters Centerline goodness : 0.879089 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.23, Z:-0.35 [[ 0.99973559 0.01129012 -0.02003219 8.23476234] [-0.01165458 0.99976696 -0.01817154 -0.22633454] [ 0.01982236 0.0184002 0.99963419 -0.34903441] [ 0. 0. 0. 1. ]] SLAMing on 40.712401008 meters Centerline goodness : 0.882527 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.23, Z:-0.35 [[ 0.99973815 0.01035177 -0.02040781 8.23610207] [-0.01070937 0.99978965 -0.01749198 -0.23173348] [ 0.02022245 0.01770596 0.99963871 -0.34891987] [ 0. 0. 0. 1. ]] SLAMing on 40.742401008 meters Centerline goodness : 0.884921 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.24, Z:-0.35 [[ 9.99768879e-01 6.08742011e-03 -2.06187238e-02 8.23670355e+00] [-6.50345102e-03 9.99775398e-01 -2.01707479e-02 -2.37791440e-01] [ 2.04913049e-02 2.03001789e-02 9.99583918e-01 -3.48619697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772401008 meters Centerline goodness : 0.882563 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.24, Z:-0.35 [[ 9.99763922e-01 6.18147158e-03 -2.08300050e-02 8.23723568e+00] [-6.58640938e-03 9.99789565e-01 -1.94279206e-02 -2.40322222e-01] [ 2.07055285e-02 1.95605290e-02 9.99594251e-01 -3.48538085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802401008000004 meters Centerline goodness : 0.884218 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.24, Z:-0.35 [[ 0.99972569 0.00942946 -0.02143899 8.23921089] [-0.00975105 0.99984077 -0.01494512 -0.2439458 ] [ 0.02129465 0.01515007 0.99965845 -0.3485792 ] [ 0. 0. 0. 1. ]] SLAMing on 40.832401008000005 meters Centerline goodness : 0.882843 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.25, Z:-0.35 [[ 0.99967313 0.01275747 -0.02215561 8.24148371] [-0.01299512 0.9998592 -0.01061609 -0.24719988] [ 0.02201705 0.01090053 0.99969817 -0.34890928] [ 0. 0. 0. 1. ]] SLAMing on 40.862401008000006 meters Centerline goodness : 0.879479 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.25, Z:-0.35 [[ 9.99597398e-01 1.69208108e-02 -2.27755894e-02 8.24350156e+00] [-1.70653038e-02 9.99835371e-01 -6.16485212e-03 -2.50820981e-01] [ 2.26675256e-02 6.55104249e-03 9.99721595e-01 -3.49786396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892401008 meters Centerline goodness : 0.880570 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.25, Z:-0.35 [[ 9.99512643e-01 2.07662424e-02 -2.33074899e-02 8.24518639e+00] [-2.08170132e-02 9.99781425e-01 -1.93776447e-03 -2.53136108e-01] [ 2.32621554e-02 2.42201241e-03 9.99726466e-01 -3.50182098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922401008 meters Centerline goodness : 0.877663 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.25, Z:-0.36 [[ 9.99504761e-01 2.51462210e-02 -1.89182745e-02 8.25948666e+00] [-2.53019262e-02 9.99647551e-01 -8.03654070e-03 -2.52621727e-01] [ 1.87095182e-02 8.51122948e-03 9.99788734e-01 -3.55372429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952401008 meters Centerline goodness : 0.878158 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.36 [[ 0.99942054 0.03077169 -0.01454932 8.27353563] [-0.03095332 0.99944356 -0.01242806 -0.25423136] [ 0.01415879 0.01287121 0.99981691 -0.35967388] [ 0. 0. 0. 1. ]] SLAMing on 40.982401008000004 meters Centerline goodness : 0.877466 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.26, Z:-0.36 [[ 0.99939664 0.03148482 -0.01466481 8.27303611] [-0.03165276 0.99943432 -0.01136407 -0.25691015] [ 0.01429872 0.01182139 0.99982789 -0.35866693] [ 0. 0. 0. 1. ]] SLAMing on 41.012401008000005 meters Centerline goodness : 0.876540 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.26, Z:-0.36 [[ 0.9993745 0.03212112 -0.01479325 8.27221547] [-0.03227281 0.99942774 -0.01013233 -0.26006533] [ 0.01445932 0.01060341 0.99983923 -0.35700717] [ 0. 0. 0. 1. ]] SLAMing on 41.042401008000006 meters Centerline goodness : 0.878879 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.26, Z:-0.36 [[ 0.99940537 0.03070066 -0.01569635 8.27372882] [-0.03091826 0.99942645 -0.01381388 -0.26047304] [ 0.01526325 0.01429097 0.99978138 -0.35646727] [ 0. 0. 0. 1. ]] SLAMing on 41.072401008 meters Centerline goodness : 0.881556 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.26, Z:-0.36 [[ 0.99940373 0.0302271 -0.01668867 8.27619271] [-0.03049237 0.9994089 -0.01587628 -0.26184741] [ 0.01619891 0.01637569 0.99973468 -0.35723468] [ 0. 0. 0. 1. ]] SLAMing on 41.102401008 meters Centerline goodness : 0.876909 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.26, Z:-0.36 [[ 0.99937286 0.03113849 -0.0168604 8.27648726] [-0.03138524 0.99940111 -0.01457371 -0.26305426] [ 0.0163965 0.01509374 0.99975164 -0.35727522] [ 0. 0. 0. 1. ]] SLAMing on 41.132401008 meters Centerline goodness : 0.878700 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.27, Z:-0.36 [[ 0.99931231 0.0328106 -0.01727325 8.27722952] [-0.0330416 0.99936598 -0.01326216 -0.26505964] [ 0.01682716 0.01382378 0.99976285 -0.35712868] [ 0. 0. 0. 1. ]] SLAMing on 41.162401008 meters Centerline goodness : 0.877509 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.27, Z:-0.36 [[ 0.99924002 0.03395047 -0.01915064 8.28178312] [-0.03423096 0.99930856 -0.01451385 -0.2672988 ] [ 0.01864465 0.01515836 0.99971126 -0.35830941] [ 0. 0. 0. 1. ]] SLAMing on 41.192401008000004 meters Centerline goodness : 0.875926 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.27, Z:-0.36 [[ 0.99906235 0.03681289 -0.0227865 8.28848539] [-0.03721338 0.99915569 -0.01740877 -0.27254703] [ 0.0221264 0.01824041 0.99958877 -0.35773262] [ 0. 0. 0. 1. ]] SLAMing on 41.222401008000006 meters Centerline goodness : 0.875926 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.27, Z:-0.36 [[ 0.99906235 0.03681289 -0.0227865 8.28848539] [-0.03721338 0.99915569 -0.01740877 -0.27254703] [ 0.0221264 0.01824041 0.99958877 -0.35773262] [ 0. 0. 0. 1. ]] SLAMing on 41.252401008 meters Centerline goodness : 0.869101 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.28, Z:-0.36 [[ 0.99897607 0.03783296 -0.02480882 8.29295514] [-0.03831524 0.99908005 -0.0192613 -0.27560919] [ 0.02405729 0.02019213 0.99950664 -0.35839068] [ 0. 0. 0. 1. ]] SLAMing on 41.282401008 meters Centerline goodness : 0.870240 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.28, Z:-0.36 [[ 0.99892027 0.03837756 -0.02618142 8.29634069] [-0.03890301 0.99904552 -0.01986442 -0.27857185] [ 0.02539409 0.02086151 0.99945982 -0.35948946] [ 0. 0. 0. 1. ]] SLAMing on 41.312401008 meters Centerline goodness : 0.867592 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.28, Z:-0.36 [[ 0.99885045 0.03931375 -0.02742636 8.30026641] [-0.03984974 0.9990197 -0.01927803 -0.283762 ] [ 0.02664158 0.0203488 0.99943792 -0.36215304] [ 0. 0. 0. 1. ]] SLAMing on 41.342401008 meters Centerline goodness : 0.867709 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.29, Z:-0.36 [[ 0.99881744 0.03953983 -0.02828988 8.30278083] [-0.04010192 0.99900363 -0.01958506 -0.28664443] [ 0.0274873 0.02069638 0.99940788 -0.3634681 ] [ 0. 0. 0. 1. ]] SLAMing on 41.372401008000004 meters Centerline goodness : 0.864188 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.29, Z:-0.36 [[ 0.99876075 0.03966652 -0.03005895 8.30673876] [-0.0403345 0.99894507 -0.02195172 -0.28963478] [ 0.0291565 0.02313693 0.99930705 -0.36418243] [ 0. 0. 0. 1. ]] SLAMing on 41.402401008000005 meters Centerline goodness : 0.864077 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.30, Z:-0.36 [[ 0.99870519 0.040994 -0.03012356 8.30587701] [-0.04157972 0.99895296 -0.01908146 -0.29886927] [ 0.0293098 0.02030929 0.99936403 -0.36252799] [ 0. 0. 0. 1. ]] SLAMing on 41.432401008 meters Centerline goodness : 0.872339 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.30, Z:-0.36 [[ 0.99867496 0.04167354 -0.03019339 8.30548425] [-0.04221119 0.9989573 -0.01739355 -0.30390345] [ 0.02943706 0.01864501 0.99939273 -0.36140563] [ 0. 0. 0. 1. ]] SLAMing on 41.462401008 meters Centerline goodness : 0.863924 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.31, Z:-0.36 [[ 0.99865108 0.04233422 -0.03006378 8.3047737 ] [-0.0428264 0.99895568 -0.01592022 -0.30807562] [ 0.02935841 0.01718626 0.99942119 -0.36055216] [ 0. 0. 0. 1. ]] SLAMing on 41.492401008 meters Centerline goodness : 0.863360 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.32, Z:-0.36 [[ 0.99862828 0.04300346 -0.0298707 8.30419156] [-0.0434237 0.99896465 -0.01356523 -0.31509637] [ 0.02925642 0.01484372 0.99946172 -0.3594073 ] [ 0. 0. 0. 1. ]] SLAMing on 41.522401008 meters Centerline goodness : 0.860196 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.32, Z:-0.36 [[ 0.99860882 0.04323779 -0.03018156 8.30467426] [-0.04361579 0.99897655 -0.01198016 -0.3202003 ] [ 0.02963268 0.01327989 0.99947264 -0.35835005] [ 0. 0. 0. 1. ]] SLAMing on 41.552401008000004 meters Centerline goodness : 0.860840 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.33, Z:-0.36 [[ 0.99858093 0.04385127 -0.03021918 8.30403874] [-0.04417616 0.99897201 -0.01016831 -0.32604899] [ 0.02974222 0.01148885 0.99949157 -0.35691022] [ 0. 0. 0. 1. ]] SLAMing on 41.582401008000005 meters Centerline goodness : 0.862406 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.33, Z:-0.36 [[ 0.99855966 0.04410484 -0.03055098 8.30447593] [-0.04438721 0.99897716 -0.00862641 -0.33146825] [ 0.03013926 0.00997006 0.99949598 -0.35588092] [ 0. 0. 0. 1. ]] SLAMing on 41.612401008000006 meters Centerline goodness : 0.863707 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.34, Z:-0.35 [[ 9.98552657e-01 4.40391667e-02 -3.08730213e-02 8.30529188e+00] [-4.42498758e-02 9.99001410e-01 -6.17501885e-03 -3.41134306e-01] [ 3.05702492e-02 7.53220884e-03 9.99504240e-01 -3.54342965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642401008 meters Centerline goodness : 0.862592 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.35, Z:-0.35 [[ 9.98549377e-01 4.37276863e-02 -3.14170675e-02 8.30736075e+00] [-4.39185637e-02 9.99020460e-01 -5.41110440e-03 -3.45266429e-01] [ 3.11496782e-02 6.78304741e-03 9.99491715e-01 -3.54876868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672401008 meters Centerline goodness : 0.862900 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.35, Z:-0.36 [[ 9.98547225e-01 4.33846656e-02 -3.19563799e-02 8.30945840e+00] [-4.35563387e-02 9.99039938e-01 -4.69538621e-03 -3.49348209e-01] [ 3.17219921e-02 6.08046778e-03 9.99478235e-01 -3.55506214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702401008 meters Centerline goodness : 0.861874 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.35, Z:-0.36 [[ 9.98540848e-01 4.32322780e-02 -3.23596297e-02 8.31084904e+00] [-4.33734787e-02 9.99052172e-01 -3.67398916e-03 -3.53477348e-01] [ 3.21701234e-02 5.07217796e-03 9.99469537e-01 -3.55476437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732401008000004 meters Centerline goodness : 0.863371 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.36, Z:-0.35 [[ 9.98554672e-01 4.26274658e-02 -3.27332453e-02 8.31267338e+00] [-4.26785399e-02 9.99088483e-01 -8.62892334e-04 -3.63147077e-01] [ 3.26666255e-02 2.25865229e-03 9.99463751e-01 -3.53492879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762401008000005 meters Centerline goodness : 0.864101 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.37, Z:-0.35 [[ 9.98543780e-01 4.25629170e-02 -3.31468952e-02 8.31337760e+00] [-4.25569330e-02 9.99093650e-01 8.86338658e-04 -3.69285279e-01] [ 3.31545777e-02 5.25582243e-04 9.99450098e-01 -3.51736969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792401008000006 meters Centerline goodness : 0.872919 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.37, Z:-0.35 [[ 9.98690561e-01 3.91238611e-02 -3.29619025e-02 8.31214182e+00] [-3.92180919e-02 9.99228216e-01 -2.21687155e-03 -3.72270009e-01] [ 3.28497305e-02 3.50667161e-03 9.99454150e-01 -3.51174130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822401008 meters Centerline goodness : 0.877130 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.38, Z:-0.35 [[ 9.98674882e-01 3.92087527e-02 -3.33339828e-02 8.31283174e+00] [-3.92477975e-02 9.99229374e-01 -5.17552692e-04 -3.77507130e-01] [ 3.32880021e-02 1.82515228e-03 9.99444134e-01 -3.49604623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852401008 meters Centerline goodness : 0.881119 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.38, Z:-0.35 [[ 9.98668677e-01 3.91778854e-02 -3.35554276e-02 8.31439835e+00] [-3.91764876e-02 9.99232062e-01 6.99385002e-04 -3.83647537e-01] [ 3.35570595e-02 6.16129898e-04 9.99436613e-01 -3.50351875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882401008 meters Centerline goodness : 0.874798 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.39, Z:-0.35 [[ 9.98525381e-01 4.22627995e-02 -3.40722748e-02 8.31718660e+00] [-4.21069295e-02 9.99099160e-01 5.27965002e-03 -3.88227911e-01] [ 3.42647139e-02 -3.83718568e-03 9.99405426e-01 -3.50503192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912401008 meters Centerline goodness : 0.876582 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.39, Z:-0.35 [[ 9.98513946e-01 4.25627285e-02 -3.40339972e-02 8.31749144e+00] [-4.24005680e-02 9.99085703e-01 5.47261825e-03 -3.89998930e-01] [ 3.42358096e-02 -4.02142484e-03 9.99405692e-01 -3.51316430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942401008000004 meters Centerline goodness : 0.879370 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.39, Z:-0.35 [[ 9.98451156e-01 4.42932303e-02 -3.36659944e-02 8.31585769e+00] [-4.41043798e-02 9.99006862e-01 6.33196851e-03 -3.93104117e-01] [ 3.39130228e-02 -4.83734347e-03 9.99413081e-01 -3.51761918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972401008000006 meters Centerline goodness : 0.879655 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.40, Z:-0.35 [[ 0.99825078 0.04838442 -0.03397532 8.31706338] [-0.04802398 0.99878173 0.0113467 -0.39680061] [ 0.03448293 -0.00969522 0.99935826 -0.35092604] [ 0. 0. 0. 1. ]] SLAMing on 42.002401008 meters Centerline goodness : 0.877061 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.40, Z:-0.36 [[ 9.98291036e-01 5.03126361e-02 -2.97261899e-02 8.33117019e+00] [-5.02902535e-02 9.98733517e-01 1.50058783e-03 -3.95771623e-01] [ 2.97640407e-02 -3.08575592e-06 9.99556953e-01 -3.57155547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032401008 meters Centerline goodness : 0.878040 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.40, Z:-0.36 [[ 9.98424396e-01 4.79192686e-02 -2.91970639e-02 8.32832988e+00] [-4.79983028e-02 9.98845391e-01 -2.01170713e-03 -3.95889619e-01] [ 2.90669531e-02 3.40994699e-03 9.99571651e-01 -3.57039168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401008 meters Centerline goodness : 0.875783 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.40, Z:-0.36 [[ 9.98395383e-01 4.83788891e-02 -2.94302798e-02 8.32796637e+00] [-4.84125649e-02 9.98827331e-01 -4.32364569e-04 -4.00175019e-01] [ 2.93748505e-02 1.85646612e-03 9.99566742e-01 -3.55025326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092401008 meters Centerline goodness : 0.876334 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:-0.35 [[ 9.98558112e-01 4.51430326e-02 -2.90483017e-02 8.32629873e+00] [-4.52315645e-02 9.98973652e-01 -2.39757732e-03 -4.06460926e-01] [ 2.89102541e-02 3.70802041e-03 9.99575134e-01 -3.53724396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008000004 meters Centerline goodness : 0.878575 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.41, Z:-0.35 [[ 9.98583498e-01 4.40484845e-02 -2.98450642e-02 8.32946419e+00] [-4.41209644e-02 9.99024621e-01 -1.77404457e-03 -4.09994286e-01] [ 2.97378099e-02 3.08832465e-03 9.99552963e-01 -3.53951440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152401008000005 meters Centerline goodness : 0.874325 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.42, Z:-0.36 [[ 9.98801204e-01 3.78051937e-02 -3.10953682e-02 8.33954137e+00] [-3.79245978e-02 9.99275289e-01 -3.25894370e-03 -4.15435605e-01] [ 3.09496280e-02 4.43431622e-03 9.99511109e-01 -3.56713973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18240100800001 meters Centerline goodness : 0.869850 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.42, Z:-0.36 [[ 9.98826740e-01 3.64995780e-02 -3.18264793e-02 8.34304884e+00] [-3.66175346e-02 9.99324448e-01 -3.13110711e-03 -4.18897906e-01] [ 3.16906947e-02 4.29284071e-03 9.99488505e-01 -3.57938900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212401008 meters Centerline goodness : 0.872107 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.42, Z:-0.36 [[ 9.98824100e-01 3.57743169e-02 -3.27202496e-02 8.34582298e+00] [-3.58714031e-02 9.99353569e-01 -2.38478456e-03 -4.22751467e-01] [ 3.26137841e-02 3.55570156e-03 9.99461704e-01 -3.57709678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242401008 meters Centerline goodness : 0.870275 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-0.36 [[ 9.98812043e-01 3.55267975e-02 -3.33519099e-02 8.34719378e+00] [-3.55816516e-02 9.99366218e-01 -1.05243708e-03 -4.27192644e-01] [ 3.32933823e-02 2.23790287e-03 9.99443116e-01 -3.56149680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272401008 meters Centerline goodness : 0.873426 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.43, Z:-0.35 [[ 9.98786204e-01 3.58632730e-02 -3.37630592e-02 8.34704542e+00] [-3.58521416e-02 9.99356668e-01 9.35240766e-04 -4.32163962e-01] [ 3.37748791e-02 2.76372404e-04 9.99429428e-01 -3.53095247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302401008000004 meters Centerline goodness : 0.876583 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-0.35 [[ 9.98740442e-01 3.66797897e-02 -3.42362628e-02 8.34658036e+00] [-3.65620966e-02 9.99323145e-01 4.05763479e-03 -4.40520339e-01] [ 3.43619230e-02 -2.80077442e-03 9.99405530e-01 -3.48897657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332401008000005 meters Centerline goodness : 0.878993 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-0.35 [[ 9.98736964e-01 3.66698258e-02 -3.43482190e-02 8.34730436e+00] [-3.65527485e-02 9.99323597e-01 4.03051932e-03 -4.41543703e-01] [ 3.44727842e-02 -2.76990682e-03 9.99401798e-01 -3.49695065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362401008000006 meters Centerline goodness : 0.878986 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-0.35 [[ 9.98586751e-01 4.01365754e-02 -3.48361320e-02 8.34987476e+00] [-3.98648699e-02 9.99169268e-01 8.45965716e-03 -4.44263194e-01] [ 3.51467341e-02 -7.05896369e-03 9.99357232e-01 -3.50078274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392401008 meters Centerline goodness : 0.876698 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-0.35 [[ 9.98594387e-01 4.03095608e-02 -3.44149502e-02 8.35017611e+00] [-4.00836087e-02 9.99170166e-01 7.23069020e-03 -4.41651828e-01] [ 3.46778574e-02 -5.84105126e-03 9.99381473e-01 -3.53134109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422401008 meters Centerline goodness : 0.871970 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.44, Z:-0.35 [[ 0.99833026 0.046737 -0.03394618 8.34720911] [-0.04638273 0.99886151 0.0111501 -0.43782687] [ 0.03442866 -0.00955697 0.99936146 -0.35287834] [ 0. 0. 0. 1. ]] SLAMing on 42.452401008 meters Centerline goodness : 0.873105 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.43, Z:-0.36 [[ 9.98334951e-01 4.96469447e-02 -2.93684719e-02 8.36141309e+00] [-4.96021820e-02 9.98766517e-01 2.25119397e-03 -4.34744678e-01] [ 2.94440112e-02 -7.90705332e-04 9.99566118e-01 -3.59028788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482401008000004 meters Centerline goodness : 0.869628 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.43, Z:-0.36 [[ 9.98283311e-01 5.08001163e-02 -2.91509739e-02 8.35959820e+00] [-5.07593149e-02 9.98708626e-01 2.13843579e-03 -4.33051450e-01] [ 2.92219618e-02 -6.55081296e-04 9.99572733e-01 -3.58709447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512401008000005 meters Centerline goodness : 0.871387 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.43, Z:-0.36 [[ 9.98271824e-01 5.09006819e-02 -2.93681279e-02 8.35952435e+00] [-5.08507817e-02 9.98703272e-01 2.44397374e-03 -4.33607942e-01] [ 2.94544454e-02 -9.46357856e-04 9.99565676e-01 -3.57738295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542401008000006 meters Centerline goodness : 0.871672 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.43, Z:-0.36 [[ 9.98445631e-01 4.77256732e-02 -2.87851180e-02 8.35719794e+00] [-4.77911338e-02 9.98856085e-01 -1.59004446e-03 -4.33011931e-01] [ 2.86763044e-02 2.96324637e-03 9.99584358e-01 -3.58024535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572401008 meters Centerline goodness : 0.874714 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:-0.36 [[ 9.98455049e-01 4.71799168e-02 -2.93525197e-02 8.35893610e+00] [-4.72307810e-02 9.98883461e-01 -1.04158495e-03 -4.35080049e-01] [ 2.92706046e-02 2.42631818e-03 9.99568579e-01 -3.57483481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602401008 meters Centerline goodness : 0.872202 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:-0.36 [[ 9.98499864e-01 4.58772126e-02 -2.98881719e-02 8.36223137e+00] [-4.59433120e-02 9.98942880e-01 -1.52822869e-03 -4.36483992e-01] [ 2.97864656e-02 2.89909774e-03 9.99552081e-01 -3.59510155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632401008 meters Centerline goodness : 0.870384 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:-0.36 [[ 9.98514450e-01 4.53301867e-02 -3.02335512e-02 8.36389746e+00] [-4.54142427e-02 9.98966036e-01 -2.09901703e-03 -4.35477096e-01] [ 3.01071420e-02 3.46893267e-03 9.99540658e-01 -3.60575952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662401008 meters Centerline goodness : 0.870077 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:-0.36 [[ 9.98516468e-01 4.51903955e-02 -3.03758184e-02 8.36458296e+00] [-4.52796428e-02 9.98971803e-01 -2.25633728e-03 -4.35562915e-01] [ 3.02426212e-02 3.62839614e-03 9.99536002e-01 -3.61126666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692401008000004 meters Centerline goodness : 0.871659 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.44, Z:-0.36 [[ 9.98518121e-01 4.48070444e-02 -3.08851084e-02 8.36599859e+00] [-4.48898117e-02 9.98989960e-01 -1.99134705e-03 -4.36458635e-01] [ 3.07646869e-02 3.37482282e-03 9.99520958e-01 -3.60790803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722401008000006 meters Centerline goodness : 0.873113 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.44, Z:-0.36 [[ 9.98486893e-01 4.51861533e-02 -3.13390396e-02 8.36558614e+00] [-4.52111451e-02 9.98977449e-01 -8.89517567e-05 -4.40110478e-01] [ 3.13029745e-02 1.50569103e-03 9.99508808e-01 -3.57262555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752401008 meters Centerline goodness : 0.873506 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.44, Z:-0.36 [[ 9.98489572e-01 4.46800712e-02 -3.19729060e-02 8.36698475e+00] [-4.46709659e-02 9.99001254e-01 9.99393637e-04 -4.43038170e-01] [ 3.19856261e-02 4.30376468e-04 9.99488236e-01 -3.55447250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782401008 meters Centerline goodness : 0.875168 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.45, Z:-0.35 [[ 9.98501109e-01 4.37385022e-02 -3.29010376e-02 8.36930261e+00] [-4.36714710e-02 9.99042152e-01 2.75356308e-03 -4.46933410e-01] [ 3.29899601e-02 -1.31259908e-03 9.99454821e-01 -3.52451440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812401008 meters Centerline goodness : 0.877017 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.45, Z:-0.35 [[ 9.98676546e-01 3.96252762e-02 -3.27871113e-02 8.36861648e+00] [-3.96844009e-02 9.99211597e-01 -1.15426011e-03 -4.46945504e-01] [ 3.27155240e-02 2.45386937e-03 9.99461692e-01 -3.52162475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842401008 meters Centerline goodness : 0.873843 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.45, Z:-0.35 [[ 9.98693921e-01 3.87931936e-02 -3.32496608e-02 8.37041590e+00] [-3.88372199e-02 9.99245320e-01 -6.79053097e-04 -4.48381690e-01] [ 3.31982253e-02 1.96949059e-03 9.99446846e-01 -3.51562935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872401008000004 meters Centerline goodness : 0.873647 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98745680e-01 3.68208254e-02 -3.39307147e-02 8.37958753e+00] [-3.67637978e-02 9.99321329e-01 2.30327840e-03 -4.49627090e-01] [ 3.39924955e-02 -1.05296742e-03 9.99421533e-01 -3.52224912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902401008000005 meters Centerline goodness : 0.873886 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98759819e-01 3.63076938e-02 -3.40672151e-02 8.38092417e+00] [-3.62604857e-02 9.99340366e-01 2.00274319e-03 -4.49471205e-01] [ 3.41174582e-02 -7.64965662e-04 9.99417537e-01 -3.53244548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93240100800001 meters Centerline goodness : 0.871743 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98762460e-01 3.58407213e-02 -3.44817626e-02 8.38257174e+00] [-3.58064704e-02 9.99357445e-01 1.61050991e-03 -4.49203691e-01] [ 3.45173281e-02 -3.73846628e-04 9.99404030e-01 -3.54068156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962401008 meters Centerline goodness : 0.870324 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98760269e-01 3.58435504e-02 -3.45422293e-02 8.38284848e+00] [-3.58157667e-02 9.99357397e-01 1.42296761e-03 -4.49270423e-01] [ 3.45710366e-02 -1.84047092e-04 9.99402226e-01 -3.54461918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992401008 meters Centerline goodness : 0.873030 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98722614e-01 3.69079635e-02 -3.45100444e-02 8.38125916e+00] [-3.68547651e-02 9.99318262e-01 2.17660018e-03 -4.51454527e-01] [ 3.45668515e-02 -9.01960240e-04 9.99401981e-01 -3.53200388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022401008 meters Centerline goodness : 0.875503 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98709669e-01 3.70703880e-02 -3.47099909e-02 8.38148529e+00] [-3.70237766e-02 9.99312414e-01 1.98488356e-03 -4.51139051e-01] [ 3.47597052e-02 -6.97227458e-04 9.99395456e-01 -3.53404213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052401008000004 meters Centerline goodness : 0.875998 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.45, Z:-0.35 [[ 9.98710920e-01 3.70685241e-02 -3.46759694e-02 8.38186370e+00] [-3.70405961e-02 9.99312713e-01 1.44767631e-03 -4.50256486e-01] [ 3.47058003e-02 -1.61391563e-04 9.99397559e-01 -3.54549113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082401008000005 meters Centerline goodness : 0.877685 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.36 [[ 9.98725350e-01 3.59228116e-02 -3.54573975e-02 8.38526032e+00] [-3.59119727e-02 9.99354512e-01 9.42719000e-04 -4.50676865e-01] [ 3.54683753e-02 3.31827728e-04 9.99370744e-01 -3.56065424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112401008000006 meters Centerline goodness : 0.877685 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.36 [[ 9.98725350e-01 3.59228116e-02 -3.54573975e-02 8.38526032e+00] [-3.59119727e-02 9.99354512e-01 9.42719000e-04 -4.50676865e-01] [ 3.54683753e-02 3.31827728e-04 9.99370744e-01 -3.56065424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142401008 meters Centerline goodness : 0.876358 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.36 [[ 9.98735495e-01 3.53697187e-02 -3.57266438e-02 8.38685855e+00] [-3.53685043e-02 9.99374117e-01 6.66191415e-04 -4.50738618e-01] [ 3.57278461e-02 5.98248942e-04 9.99361378e-01 -3.57025938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172401008 meters Centerline goodness : 0.876793 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.36 [[ 9.98743230e-01 3.47451634e-02 -3.61211056e-02 8.38860114e+00] [-3.47442479e-02 9.99396023e-01 6.53240416e-04 -4.50931272e-01] [ 3.61219862e-02 6.02581205e-04 9.99347206e-01 -3.57366991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401008 meters Centerline goodness : 0.877681 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.36 [[ 9.98755648e-01 3.37644381e-02 -3.67031120e-02 8.39082115e+00] [-3.37313665e-02 9.99429780e-01 1.52009224e-03 -4.53347988e-01] [ 3.67335082e-02 -2.80154583e-04 9.99325058e-01 -3.56168035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232401008000004 meters Centerline goodness : 0.881259 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.35 [[ 9.98741840e-01 3.38720412e-02 -3.69786568e-02 8.39060066e+00] [-3.38009268e-02 9.99425341e-01 2.54677834e-03 -4.54837091e-01] [ 3.70436712e-02 -1.29366122e-03 9.99312810e-01 -3.53924612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008000005 meters Centerline goodness : 0.879264 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.46, Z:-0.35 [[ 9.98730359e-01 3.38443449e-02 -3.73125986e-02 8.39056156e+00] [-3.37482668e-02 9.99425236e-01 3.20196937e-03 -4.55856222e-01] [ 3.73995212e-02 -1.93866848e-03 9.99298513e-01 -3.52095570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292401008000006 meters Centerline goodness : 0.882482 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.46, Z:-0.35 [[ 9.98722827e-01 3.37516622e-02 -3.75970691e-02 8.39083805e+00] [-3.36380503e-02 9.99427414e-01 3.65048939e-03 -4.56516342e-01] [ 3.76987516e-02 -2.38113498e-03 9.99286312e-01 -3.50896082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters Centerline goodness : 0.883056 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.46, Z:-0.35 [[ 9.98719318e-01 3.35953488e-02 -3.78295598e-02 8.39134999e+00] [-3.34770765e-02 9.99432429e-01 3.75573893e-03 -4.56689979e-01] [ 3.79342642e-02 -2.48450595e-03 9.99277148e-01 -3.50482532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352401008 meters Centerline goodness : 0.883803 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.46, Z:-0.35 [[ 9.98731774e-01 3.37394769e-02 -3.73696542e-02 8.39088265e+00] [-3.36341754e-02 9.99428280e-01 3.44310703e-03 -4.55638943e-01] [ 3.74644578e-02 -2.18184289e-03 9.99295579e-01 -3.51534875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382401008 meters Centerline goodness : 0.882141 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.35 [[ 9.98739432e-01 3.31728100e-02 -3.76710969e-02 8.39247760e+00] [-3.30916307e-02 9.99448465e-01 2.77659886e-03 -4.54550839e-01] [ 3.77424275e-02 -1.52650074e-03 9.99286335e-01 -3.52741509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412401008 meters Centerline goodness : 0.885140 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.35 [[ 9.98744411e-01 3.29999482e-02 -3.76909097e-02 8.39306823e+00] [-3.29264393e-02 9.99454475e-01 2.56955130e-03 -4.54328642e-01] [ 3.77551434e-02 -1.32529755e-03 9.99286142e-01 -3.53437131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442401008000004 meters Centerline goodness : 0.880395 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.45, Z:-0.35 [[ 9.98742210e-01 3.24283015e-02 -3.82413723e-02 8.39468657e+00] [-3.23566422e-02 9.99473281e-01 2.49145030e-03 -4.54740328e-01] [ 3.83020234e-02 -1.25095417e-03 9.99265425e-01 -3.53298859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472401008000006 meters Centerline goodness : 0.886178 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.46, Z:-0.35 [[ 9.98738112e-01 3.18011425e-02 -3.88699191e-02 8.39652283e+00] [-3.17192206e-02 9.99493111e-01 2.72262789e-03 -4.55866706e-01] [ 3.89367990e-02 -1.48626870e-03 9.99240570e-01 -3.52807344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters Centerline goodness : 0.887758 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.45, Z:-0.35 [[ 9.98870721e-01 2.76044218e-02 -3.86688337e-02 8.39637788e+00] [-2.77132665e-02 9.99613310e-01 -2.28150358e-03 -4.53726917e-01] [ 3.85909013e-02 3.35056682e-03 9.99249476e-01 -3.54554495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532401008 meters Centerline goodness : 0.883282 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.45, Z:-0.35 [[ 9.98870201e-01 2.70988646e-02 -3.90381053e-02 8.39756612e+00] [-2.72104932e-02 9.99627008e-01 -2.33089797e-03 -4.53230357e-01] [ 3.89603798e-02 3.39051063e-03 9.99235004e-01 -3.54293337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401008 meters Centerline goodness : 0.883461 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.45, Z:-0.35 [[ 9.98924115e-01 2.23831424e-02 -4.06153516e-02 8.41388714e+00] [-2.22791688e-02 9.99747255e-01 3.01083578e-03 -4.54019546e-01] [ 4.06724782e-02 -2.10272020e-03 9.99170320e-01 -3.50287743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592401008 meters Centerline goodness : 0.879822 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.45, Z:-0.35 [[ 9.98914613e-01 2.07134248e-02 -4.17198980e-02 8.41814194e+00] [-2.06280386e-02 9.99784153e-01 2.47614788e-03 -4.54094870e-01] [ 4.17621824e-02 -1.61286063e-03 9.99126278e-01 -3.51158252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622401008000004 meters Centerline goodness : 0.880115 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.46, Z:-0.34 [[ 0.9990241 0.01725373 -0.0406591 8.43931341] [-0.01654531 0.99970651 0.01769617 -0.45837912] [ 0.04095249 -0.01700619 0.99901636 -0.33841102] [ 0. 0. 0. 1. ]] SLAMing on 43.652401008000005 meters Centerline goodness : 0.882810 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.46, Z:-0.34 [[ 0.99900824 0.0158043 -0.04162642 8.44278267] [-0.01508382 0.99973192 0.01756582 -0.45884161] [ 0.04189287 -0.01692051 0.99897882 -0.33827995] [ 0. 0. 0. 1. ]] SLAMing on 43.68240100800001 meters Centerline goodness : 0.880801 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.46, Z:-0.34 [[ 0.99899284 0.01324969 -0.04286909 8.44768347] [-0.01248415 0.99975867 0.0180763 -0.46009288] [ 0.04309825 -0.01752291 0.99891716 -0.3364227 ] [ 0. 0. 0. 1. ]] SLAMing on 43.712401008 meters Centerline goodness : 0.882360 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.46, Z:-0.34 [[ 0.99898882 0.01275379 -0.04311248 8.44871237] [-0.01200022 0.99977145 0.01769294 -0.45934167] [ 0.04332828 -0.01715769 0.99891355 -0.33676273] [ 0. 0. 0. 1. ]] SLAMing on 43.742401008 meters Centerline goodness : 0.880159 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.46, Z:-0.34 [[ 0.99899141 0.01239965 -0.04315559 8.44932705] [-0.01167973 0.99978906 0.01689418 -0.45734947] [ 0.04335597 -0.01637309 0.99892551 -0.33776339] [ 0. 0. 0. 1. ]] SLAMing on 43.772401008 meters Centerline goodness : 0.884151 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.45, Z:-0.34 [[ 0.99899105 0.01270327 -0.04307554 8.44888997] [-0.01205778 0.99981159 0.01521187 -0.45139917] [ 0.04326067 -0.01467713 0.998956 -0.33950928] [ 0. 0. 0. 1. ]] SLAMing on 43.802401008000004 meters Centerline goodness : 0.885862 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.45, Z:-0.34 [[ 0.99900242 0.013025 -0.0427144 8.44790948] [-0.01241836 0.99981866 0.01443692 -0.44796818] [ 0.04289469 -0.01389207 0.99898301 -0.34021503] [ 0. 0. 0. 1. ]] SLAMing on 43.832401008000005 meters Centerline goodness : 0.886051 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.44, Z:-0.34 [[ 0.99900597 0.0127889 -0.04270257 8.44832121] [-0.01224541 0.99984097 0.01296473 -0.44415719] [ 0.04286159 -0.01242893 0.99900371 -0.34197651] [ 0. 0. 0. 1. ]] SLAMing on 43.862401008000006 meters Centerline goodness : 0.885124 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.44, Z:-0.34 [[ 0.99901514 0.01275735 -0.04249712 8.44821226] [-0.01225978 0.99985346 0.01194831 -0.44062592] [ 0.04264332 -0.01141554 0.99902514 -0.34324557] [ 0. 0. 0. 1. ]] SLAMing on 43.892401008 meters Centerline goodness : 0.885771 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.44, Z:-0.34 [[ 0.99893289 0.01605112 -0.04330634 8.45018181] [-0.01537792 0.99975638 0.01583357 -0.43884905] [ 0.04354993 -0.01515072 0.99893636 -0.3419098 ] [ 0. 0. 0. 1. ]] SLAMing on 43.922401008 meters Centerline goodness : 0.888066 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.44, Z:-0.34 [[ 0.99892579 0.01570742 -0.04359521 8.45079713] [-0.01505323 0.99976972 0.01529386 -0.43708212] [ 0.0438254 -0.01462118 0.99893221 -0.34182102] [ 0. 0. 0. 1. ]] SLAMing on 43.952401008 meters Centerline goodness : 0.887357 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.44, Z:-0.34 [[ 0.99882139 0.01865795 -0.04480744 8.45374452] [-0.01774141 0.99962693 0.02076651 -0.43884814] [ 0.04517818 -0.01994708 0.99877978 -0.33800681] [ 0. 0. 0. 1. ]] SLAMing on 43.982401008000004 meters Centerline goodness : 0.888686 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.43, Z:-0.35 [[ 0.99900262 0.01904081 -0.04038817 8.46895647] [-0.01867506 0.99978129 0.00941381 -0.43442821] [ 0.04055859 -0.00865017 0.99913972 -0.34502062] [ 0. 0. 0. 1. ]] SLAMing on 44.012401008000005 meters Centerline goodness : 0.886386 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.43, Z:-0.35 [[ 0.99890833 0.02216253 -0.04112134 8.47151153] [-0.02167387 0.99968953 0.01229139 -0.4304873 ] [ 0.04138098 -0.01138671 0.99907855 -0.34560364] [ 0. 0. 0. 1. ]] SLAMing on 44.042401008000006 meters Centerline goodness : 0.884117 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.43, Z:-0.35 [[ 0.99879569 0.02513325 -0.04213664 8.47474532] [-0.02447718 0.99957211 0.01601428 -0.4299103 ] [ 0.0425211 -0.01496361 0.99898351 -0.34536493] [ 0. 0. 0. 1. ]] SLAMing on 44.072401008 meters Centerline goodness : 0.885370 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.43, Z:-0.34 [[ 0.99867692 0.0283851 -0.04288005 8.47720063] [-0.02754974 0.99942137 0.01994841 -0.42987983] [ 0.04342148 -0.01874068 0.99888106 -0.34491764] [ 0. 0. 0. 1. ]] SLAMing on 44.102401008 meters Centerline goodness : 0.885285 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.42, Z:-0.35 [[ 0.9987447 0.03143141 -0.03900121 8.49408188] [-0.03099878 0.99945154 0.01164854 -0.4241119 ] [ 0.03934595 -0.01042492 0.99917127 -0.35164591] [ 0. 0. 0. 1. ]] SLAMing on 44.132401008 meters Centerline goodness : 0.881240 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.42, Z:-0.35 [[ 0.99859935 0.03480299 -0.03985077 8.49638018] [-0.0341945 0.99928949 0.01585069 -0.42431737] [ 0.04037411 -0.01446581 0.99907991 -0.35052836] [ 0. 0. 0. 1. ]] SLAMing on 44.162401008 meters Centerline goodness : 0.879153 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.42, Z:-0.36 [[ 9.98701976e-01 3.57950286e-02 -3.62364307e-02 8.51245313e+00] [-3.56249956e-02 9.99351029e-01 5.32737741e-03 -4.20406035e-01] [ 3.64036079e-02 -4.02953966e-03 9.99329045e-01 -3.57023347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192401008000004 meters Centerline goodness : 0.883435 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 0.99854363 0.03909291 -0.03718023 8.51501083] [-0.03874292 0.99919829 0.01008808 -0.42233116] [ 0.0375448 -0.00863292 0.99925765 -0.3553026 ] [ 0. 0. 0. 1. ]] SLAMing on 44.222401008000006 meters Centerline goodness : 0.887816 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98544576e-01 3.89380724e-02 -3.73169755e-02 8.51525087e+00] [-3.86102143e-02 9.99209503e-01 9.46678893e-03 -4.20392622e-01] [ 3.76560951e-02 -8.01219431e-03 9.99258637e-01 -3.55556059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252401008 meters Centerline goodness : 0.886964 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98550647e-01 3.83564609e-02 -3.77543013e-02 8.51667470e+00] [-3.80468761e-02 9.99236456e-01 8.88485053e-03 -4.19196992e-01] [ 3.80662657e-02 -7.43554002e-03 9.99247553e-01 -3.56033694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282401008 meters Centerline goodness : 0.887060 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98555549e-01 3.79112937e-02 -3.80729605e-02 8.51773193e+00] [-3.76167342e-02 9.99256735e-01 8.42374296e-03 -4.18569783e-01] [ 3.83640171e-02 -6.97939483e-03 9.99239456e-01 -3.56426404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312401008 meters Centerline goodness : 0.887458 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98553566e-01 3.73343147e-02 -3.86901119e-02 8.51919718e+00] [-3.70361804e-02 9.99278669e-01 8.39424551e-03 -4.18704790e-01] [ 3.89755969e-02 -6.94916983e-03 9.99215999e-01 -3.55908763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342401008 meters Centerline goodness : 0.883310 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98555977e-01 3.70584793e-02 -3.88925323e-02 8.51986286e+00] [-3.67626104e-02 9.99289596e-01 8.29538423e-03 -4.18764816e-01] [ 3.91723173e-02 -6.85361450e-03 9.99208966e-01 -3.55947546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372401008000004 meters Centerline goodness : 0.886294 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98558868e-01 3.67163319e-02 -3.91420344e-02 8.52084478e+00] [-3.64236558e-02 9.99303085e-01 8.16460568e-03 -4.18979389e-01] [ 3.94145301e-02 -6.72714342e-03 9.99200300e-01 -3.56233473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402401008000005 meters Centerline goodness : 0.882878 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98689617e-01 3.31492562e-02 -3.89894271e-02 8.52000668e+00] [-3.30178116e-02 9.99446717e-01 4.01056469e-03 -4.18617748e-01] [ 3.91008021e-02 -2.71796375e-03 9.99231575e-01 -3.56886630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43240100800001 meters Centerline goodness : 0.887833 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98682782e-01 3.27943950e-02 -3.94617452e-02 8.52142359e+00] [-3.26585786e-02 9.99458232e-01 4.08162315e-03 -4.19747160e-01] [ 3.95742205e-02 -2.78748225e-03 9.99212746e-01 -3.56994234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462401008 meters Centerline goodness : 0.885158 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98676766e-01 3.25125829e-02 -3.98453188e-02 8.52262008e+00] [-3.23735014e-02 9.99467304e-01 4.13097404e-03 -4.20368408e-01] [ 3.99584020e-02 -2.83557531e-03 9.99197321e-01 -3.57090528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492401008 meters Centerline goodness : 0.886393 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.42, Z:-0.36 [[ 9.98677515e-01 3.22825982e-02 -4.00131854e-02 8.52357609e+00] [-3.21512974e-02 9.99475323e-01 3.92077047e-03 -4.20482626e-01] [ 4.01187640e-02 -2.62910949e-03 9.99191459e-01 -3.57773088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522401008 meters Centerline goodness : 0.882707 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.42, Z:-0.35 [[ 0.99853088 0.03490277 -0.04144724 8.52844001] [-0.03450751 0.99935224 0.01021394 -0.42338926] [ 0.04177689 -0.0087687 0.99908849 -0.35390304] [ 0. 0. 0. 1. ]] SLAMing on 44.552401008000004 meters Centerline goodness : 0.880788 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.43, Z:-0.35 [[ 0.99837713 0.03776119 -0.04262873 8.53276719] [-0.03718171 0.99920612 0.01430591 -0.42612038] [ 0.0431351 -0.01269769 0.99898855 -0.35432528] [ 0. 0. 0. 1. ]] SLAMing on 44.582401008000005 meters Centerline goodness : 0.879706 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.43, Z:-0.35 [[ 0.99837223 0.0372131 -0.04322123 8.53471615] [-0.03664133 0.99923115 0.01394685 -0.42661416] [ 0.043707 -0.01234046 0.99896817 -0.35499569] [ 0. 0. 0. 1. ]] SLAMing on 44.612401008000006 meters Centerline goodness : 0.885886 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.43, Z:-0.36 [[ 0.99836789 0.03642241 -0.04398814 8.53725829] [-0.03585547 0.99926431 0.01360955 -0.42709931] [ 0.04445147 -0.01201012 0.99893935 -0.35557829] [ 0. 0. 0. 1. ]] SLAMing on 44.642401008 meters Centerline goodness : 0.884456 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.43, Z:-0.35 [[ 0.99835789 0.03561583 -0.04486689 8.53981204] [-0.03501535 0.99928731 0.01409942 -0.42880122] [ 0.04533707 -0.01250524 0.99889347 -0.35485758] [ 0. 0. 0. 1. ]] SLAMing on 44.672401008 meters Centerline goodness : 0.879408 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.43, Z:-0.35 [[ 0.9983536 0.03514228 -0.04533322 8.5411631 ] [-0.03452078 0.99929994 0.01442057 -0.42975116] [ 0.04580826 -0.01283189 0.99886783 -0.35425782] [ 0. 0. 0. 1. ]] SLAMing on 44.702401008 meters Centerline goodness : 0.881329 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.43, Z:-0.35 [[ 0.9983398 0.035026 -0.04572561 8.54162147] [-0.03434903 0.99928957 0.01550785 -0.4315369 ] [ 0.0462363 -0.01391147 0.99883366 -0.35213994] [ 0. 0. 0. 1. ]] SLAMing on 44.732401008000004 meters Centerline goodness : 0.882339 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.43, Z:-0.35 [[ 0.99848261 0.03077056 -0.04566883 8.54097011] [-0.03025802 0.99947161 0.01187216 -0.43276352] [ 0.04601001 -0.0104723 0.99888608 -0.35123574] [ 0. 0. 0. 1. ]] SLAMing on 44.762401008000005 meters Centerline goodness : 0.879186 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.44, Z:-0.35 [[ 0.99844413 0.0305959 -0.04661762 8.54846671] [-0.02974603 0.99938036 0.01881681 -0.43633525] [ 0.04716445 -0.01740085 0.99873556 -0.34510728] [ 0. 0. 0. 1. ]] SLAMing on 44.792401008000006 meters Centerline goodness : 0.876433 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-0.34 [[ 0.99834944 0.03116131 -0.04824273 8.55628178] [-0.02994844 0.99922195 0.02566296 -0.4395863 ] [ 0.04900488 -0.0241758 0.99850591 -0.33938133] [ 0. 0. 0. 1. ]] SLAMing on 44.822401008 meters Centerline goodness : 0.874931 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-0.34 [[ 0.99834667 0.03014794 -0.04893893 8.55900825] [-0.02894836 0.99926727 0.02503833 -0.43931733] [ 0.04965792 -0.02358023 0.99848789 -0.34039812] [ 0. 0. 0. 1. ]] SLAMing on 44.852401008 meters Centerline goodness : 0.874620 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.44, Z:-0.34 [[ 0.99833594 0.02902677 -0.04982772 8.56202829] [-0.02783906 0.99931538 0.02436724 -0.43872551] [ 0.05050091 -0.02293954 0.99846053 -0.34115541] [ 0. 0. 0. 1. ]] SLAMing on 44.882401008 meters Centerline goodness : 0.879946 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.44, Z:-0.34 [[ 0.99820495 0.03150785 -0.05093269 8.56601846] [-0.03008055 0.99913962 0.0285513 -0.44067249] [ 0.05178846 -0.02696797 0.99829389 -0.34023991] [ 0. 0. 0. 1. ]] SLAMing on 44.912401008 meters Centerline goodness : 0.875636 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.44, Z:-0.34 [[ 0.9983195 0.02752275 -0.05099681 8.56648152] [-0.02644732 0.99941586 0.02164438 -0.43534229] [ 0.05156273 -0.02025927 0.99846424 -0.34498748] [ 0. 0. 0. 1. ]] SLAMing on 44.942401008000004 meters Centerline goodness : 0.871008 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.43, Z:-0.35 [[ 0.99830904 0.02681823 -0.0515736 8.56861104] [-0.02578885 0.99945673 0.02052252 -0.43322854] [ 0.05209596 -0.01915779 0.99845831 -0.34640133] [ 0. 0. 0. 1. ]] SLAMing on 44.972401008000006 meters Centerline goodness : 0.873829 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-0.35 [[ 0.99844855 0.02803916 -0.04810721 8.58541566] [-0.02757412 0.99956666 0.01030334 -0.42921839] [ 0.04837526 -0.00896084 0.99878904 -0.35290949] [ 0. 0. 0. 1. ]] SLAMing on 45.002401008 meters Centerline goodness : 0.873829 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-0.35 [[ 0.99844857 0.02804047 -0.04810591 8.5854126 ] [-0.02757549 0.99956663 0.01030251 -0.429216 ] [ 0.04837395 -0.00895998 0.99878911 -0.35291005] [ 0. 0. 0. 1. ]] SLAMing on 45.032401008 meters Centerline goodness : 0.873321 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-0.35 [[ 0.99829833 0.03135729 -0.04916473 8.58804951] [-0.03064382 0.9994148 0.01519921 -0.43073802] [ 0.04961256 -0.01366675 0.99867503 -0.35070967] [ 0. 0. 0. 1. ]] SLAMing on 45.062401008 meters Centerline goodness : 0.873363 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-0.35 [[ 0.99815437 0.03444288 -0.05001548 8.5911047 ] [-0.03348042 0.99924013 0.0199553 -0.43135502] [ 0.05066479 -0.01824393 0.99854907 -0.34887282] [ 0. 0. 0. 1. ]] SLAMing on 45.092401008 meters Centerline goodness : 0.870877 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.43, Z:-0.35 [[ 0.99815815 0.03396863 -0.05026378 8.59239741] [-0.03306295 0.99927753 0.01874181 -0.42831913] [ 0.0508641 -0.01704542 0.99856011 -0.3504269 ] [ 0. 0. 0. 1. ]] SLAMing on 45.122401008000004 meters Centerline goodness : 0.876253 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.42, Z:-0.36 [[ 9.98270738e-01 3.57140982e-02 -4.66908682e-02 8.60809831e+00] [-3.53402620e-02 9.99336522e-01 8.80800290e-03 -4.23841419e-01] [ 4.69744597e-02 -7.14270404e-03 9.98870553e-01 -3.56201143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152401008000005 meters Centerline goodness : 0.872252 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.43, Z:-0.35 [[ 0.99809871 0.03913007 -0.04762153 8.61044547] [-0.0385234 0.99916526 0.01359171 -0.42542476] [ 0.04811362 -0.01173133 0.99877298 -0.35412905] [ 0. 0. 0. 1. ]] SLAMing on 45.18240100800001 meters Centerline goodness : 0.871994 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.43, Z:-0.35 [[ 0.99792287 0.04233333 -0.04855756 8.61313071] [-0.04150522 0.99897725 0.01793804 -0.42637928] [ 0.04926728 -0.01588538 0.9986593 -0.35270009] [ 0. 0. 0. 1. ]] SLAMing on 45.212401008 meters Centerline goodness : 0.868357 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.42, Z:-0.36 [[ 9.98040534e-01 4.43020575e-02 -4.41862065e-02 8.62900530e+00] [-4.39191381e-02 9.98988964e-01 9.59997712e-03 -4.23400003e-01] [ 4.45668314e-02 -7.64054618e-03 9.98977187e-01 -3.57758491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242401008 meters Centerline goodness : 0.873542 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.42, Z:-0.36 [[ 0.99784503 0.04787357 -0.04487119 8.63093259] [-0.04729329 0.99878424 0.01390625 -0.4240862 ] [ 0.04548238 -0.01175417 0.99889599 -0.35665714] [ 0. 0. 0. 1. ]] SLAMing on 45.272401008 meters Centerline goodness : 0.876261 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.42, Z:-0.36 [[ 0.99762004 0.05249193 -0.04470858 8.63054233] [-0.05176936 0.99851146 0.01716989 -0.42034582] [ 0.04554331 -0.0148145 0.99885251 -0.35703228] [ 0. 0. 0. 1. ]] SLAMing on 45.302401008000004 meters Centerline goodness : 0.871479 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.42, Z:-0.36 [[ 0.99759676 0.05292796 -0.044714 8.6306646 ] [-0.05227178 0.99850916 0.01571983 -0.41612573] [ 0.04547936 -0.01334477 0.99887614 -0.35914189] [ 0. 0. 0. 1. ]] SLAMing on 45.332401008000005 meters Centerline goodness : 0.873936 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.41, Z:-0.36 [[ 9.97577524e-01 5.63003461e-02 -4.08577382e-02 8.64591133e+00] [-5.60444165e-02 9.98400976e-01 7.38342905e-03 -4.12375279e-01] [ 4.12080953e-02 -5.07569477e-03 9.99137693e-01 -3.64943741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362401008000006 meters Centerline goodness : 0.874324 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97374591e-01 6.22160178e-02 -3.70552719e-02 8.65900902e+00] [-6.22481093e-02 9.98060664e-01 2.88151988e-04 -4.09057040e-01] [ 3.70013370e-02 2.01922514e-03 9.99313176e-01 -3.69853062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392401008 meters Centerline goodness : 0.874370 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97337856e-01 6.28717129e-02 -3.69370865e-02 8.65770049e+00] [-6.28966228e-02 9.98019928e-01 4.88382034e-04 -4.08515184e-01] [ 3.68946538e-02 1.83613610e-03 9.99317474e-01 -3.68832196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422401008 meters Centerline goodness : 0.878930 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97302612e-01 6.33523323e-02 -3.70672660e-02 8.65694907e+00] [-6.33594561e-02 9.97990286e-01 9.83648892e-04 -4.08820453e-01] [ 3.70550879e-02 1.36756620e-03 9.99312289e-01 -3.67435153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452401008 meters Centerline goodness : 0.881301 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97295521e-01 6.35578931e-02 -3.69058026e-02 8.65657820e+00] [-6.35513554e-02 9.97977655e-01 1.35141329e-03 -4.09370888e-01] [ 3.69170593e-02 9.97655355e-04 9.99317835e-01 -3.67162891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482401008000004 meters Centerline goodness : 0.880422 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97085787e-01 6.63461008e-02 -3.76580314e-02 8.65986009e+00] [-6.61578347e-02 9.97789752e-01 6.22504081e-03 -4.12266168e-01] [ 3.79878051e-02 -3.71552590e-03 9.99271295e-01 -3.65965446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512401008000005 meters Centerline goodness : 0.880805 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97110345e-01 6.58509625e-02 -3.78762542e-02 8.66151919e+00] [-6.56761717e-02 9.97823888e-01 5.84200237e-03 -4.12625081e-01] [ 3.81785328e-02 -3.33755362e-03 9.99265360e-01 -3.67376935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542401008000006 meters Centerline goodness : 0.884374 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.41, Z:-0.37 [[ 9.97132128e-01 6.52685091e-02 -3.83085014e-02 8.66356121e+00] [-6.51014254e-02 9.97862971e-01 5.59420216e-03 -4.13143643e-01] [ 3.85917603e-02 -3.08422065e-03 9.99250301e-01 -3.68420642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572401008 meters Centerline goodness : 0.881019 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.42, Z:-0.37 [[ 9.97101738e-01 6.54564012e-02 -3.87760582e-02 8.66464251e+00] [-6.52678205e-02 9.97849072e-01 6.11077718e-03 -4.16380694e-01] [ 3.90926432e-02 -3.56223775e-03 9.99229241e-01 -3.68626112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602401008 meters Centerline goodness : 0.884569 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97078401e-01 6.55959803e-02 -3.91385837e-02 8.66527545e+00] [-6.53972990e-02 9.97839186e-01 6.33659196e-03 -4.18346851e-01] [ 3.94696675e-02 -3.75852132e-03 9.99213700e-01 -3.68646223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632401008 meters Centerline goodness : 0.884907 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97057667e-01 6.56886475e-02 -3.95096166e-02 8.66601259e+00] [-6.54783400e-02 9.97832197e-01 6.59501650e-03 -4.19889528e-01] [ 3.98571852e-02 -3.98858766e-03 9.99197426e-01 -3.68567024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662401008 meters Centerline goodness : 0.886101 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97021535e-01 6.63569881e-02 -3.93040572e-02 8.66605243e+00] [-6.61515883e-02 9.97788380e-01 6.50501753e-03 -4.21168793e-01] [ 3.96487849e-02 -3.88561676e-03 9.99206123e-01 -3.70423634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692401008000004 meters Centerline goodness : 0.884059 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97026664e-01 6.63360528e-02 -3.92091756e-02 8.66676957e+00] [-6.61530897e-02 9.97791763e-01 5.94689434e-03 -4.21029630e-01] [ 3.95170860e-02 -3.33540411e-03 9.99213328e-01 -3.72253531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722401008000006 meters Centerline goodness : 0.885466 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97020680e-01 6.64009655e-02 -3.92514388e-02 8.66741512e+00] [-6.62229466e-02 9.97787880e-01 5.81969397e-03 -4.21762639e-01] [ 3.95510432e-02 -3.20300930e-03 9.99212418e-01 -3.73334812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75240100800001 meters Centerline goodness : 0.885163 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.42, Z:-0.37 [[ 9.97011626e-01 6.64845701e-02 -3.93397886e-02 8.66788494e+00] [-6.63027832e-02 9.97782052e-01 5.90915784e-03 -4.23109925e-01] [ 3.96454028e-02 -3.28316159e-03 9.99208418e-01 -3.73877112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782401008 meters Centerline goodness : 0.883391 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.43, Z:-0.37 [[ 9.97268590e-01 6.23104607e-02 -3.96581017e-02 8.66845891e+00] [-6.22521997e-02 9.98056789e-01 2.70348107e-03 -4.27439909e-01] [ 3.97494929e-02 -2.27292684e-04 9.99209651e-01 -3.74040762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812401008 meters Centerline goodness : 0.884007 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.43, Z:-0.37 [[ 9.97528204e-01 5.76645637e-02 -4.01532213e-02 8.66971526e+00] [-5.77560325e-02 9.98330098e-01 -1.12075230e-03 -4.29778229e-01] [ 4.00215417e-02 3.43707278e-03 9.99192906e-01 -3.74476666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842401008 meters Centerline goodness : 0.884035 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.43, Z:-0.37 [[ 9.97748700e-01 5.35724054e-02 -4.03426414e-02 8.66966749e+00] [-5.38030533e-02 9.98540728e-01 -4.65259069e-03 -4.31909759e-01] [ 4.00345200e-02 6.81267359e-03 9.99175072e-01 -3.74266628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872401008000004 meters Centerline goodness : 0.888581 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.44, Z:-0.37 [[ 9.97752123e-01 5.30071181e-02 -4.09993429e-02 8.67153295e+00] [-5.31933141e-02 9.98578228e-01 -3.46317666e-03 -4.35992813e-01] [ 4.07574781e-02 5.63628279e-03 9.99153172e-01 -3.73013279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902401008000005 meters Centerline goodness : 0.889376 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.44, Z:-0.38 [[ 9.97989115e-01 4.80152352e-02 -4.13795102e-02 8.67416385e+00] [-4.83671004e-02 9.98801137e-01 -7.54403068e-03 -4.38966750e-01] [ 4.09676735e-02 9.53026742e-03 9.99115020e-01 -3.75480829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93240100800001 meters Centerline goodness : 0.886816 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.44, Z:-0.38 [[ 9.98006343e-01 4.71683151e-02 -4.19343404e-02 8.67660867e+00] [-4.74956771e-02 9.98847995e-01 -6.84427381e-03 -4.42298046e-01] [ 4.15631990e-02 8.82232857e-03 9.99096926e-01 -3.75490913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962401008 meters Centerline goodness : 0.884166 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.45, Z:-0.38 [[ 9.98032805e-01 4.61005223e-02 -4.24883837e-02 8.67934351e+00] [-4.64146646e-02 9.98901522e-01 -6.43648769e-03 -4.45411410e-01] [ 4.21449857e-02 8.39590993e-03 9.99076228e-01 -3.75910209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992401008 meters Centerline goodness : 0.885643 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.45, Z:-0.38 [[ 0.99821763 0.04112522 -0.04324666 8.68194495] [-0.04161903 0.99907753 -0.01058055 -0.44787406] [ 0.04277164 0.01236158 0.9990084 -0.3772654 ] [ 0. 0. 0. 1. ]] SLAMing on 46.022401008 meters Centerline goodness : 0.887233 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.45, Z:-0.38 [[ 0.99819516 0.04082163 -0.04404565 8.68321031] [-0.04127701 0.99910278 -0.00947891 -0.45061448] [ 0.04361918 0.01127987 0.99898455 -0.37511238] [ 0. 0. 0. 1. ]] SLAMing on 46.052401008000004 meters Centerline goodness : 0.889393 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.45, Z:-0.37 [[ 9.98177965e-01 4.01940178e-02 -4.50021291e-02 8.68531119e+00] [-4.06166008e-02 9.99138520e-01 -8.51524990e-03 -4.53157970e-01] [ 4.46210985e-02 1.03275683e-02 9.98950599e-01 -3.73296618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082401008000005 meters Centerline goodness : 0.889958 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.45, Z:-0.37 [[ 9.98177269e-01 3.98983218e-02 -4.52798274e-02 8.68617023e+00] [-4.03078415e-02 9.99153930e-01 -8.16712609e-03 -4.54230823e-01] [ 4.49156629e-02 9.97737172e-03 9.98940957e-01 -3.72835646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112401008000006 meters Centerline goodness : 0.886447 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.46, Z:-0.37 [[ 9.98193671e-01 3.84558365e-02 -4.61578052e-02 8.69425267e+00] [-3.86537185e-02 9.99246875e-01 -3.40186732e-03 -4.55018300e-01] [ 4.59922209e-02 5.17989324e-03 9.98928368e-01 -3.68957306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142401008 meters Centerline goodness : 0.891284 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.46, Z:-0.36 [[ 9.98234349e-01 3.72228495e-02 -4.62886917e-02 8.69497535e+00] [-3.72264780e-02 9.99306547e-01 7.83953378e-04 -4.58031546e-01] [ 4.62857737e-02 9.40595774e-04 9.98927796e-01 -3.59946422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172401008 meters Centerline goodness : 0.892961 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.46, Z:-0.36 [[ 9.98249732e-01 3.58263834e-02 -4.70525463e-02 8.69705620e+00] [-3.57857268e-02 9.99358029e-01 1.70642768e-03 -4.58422279e-01] [ 4.70834750e-02 -1.96314096e-05 9.98890958e-01 -3.56985246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202401008 meters Centerline goodness : 0.887333 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.46, Z:-0.35 [[ 0.99873894 0.02543458 -0.04328518 8.71635366] [-0.02459022 0.99949896 0.0199287 -0.45612551] [ 0.04377037 -0.01883918 0.99886397 -0.35159501] [ 0. 0. 0. 1. ]] SLAMing on 46.232401008000004 meters Centerline goodness : 0.883434 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.45, Z:-0.35 [[ 0.99865158 0.02435602 -0.04584541 8.72835229] [-0.02329102 0.99944959 0.02362281 -0.45409369] [ 0.04639553 -0.02252317 0.9986692 -0.35064263] [ 0. 0. 0. 1. ]] SLAMing on 46.262401008000005 meters Centerline goodness : 0.876655 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.45, Z:-0.35 [[ 0.99864415 0.02285036 -0.046773 8.73243058] [-0.02186272 0.99952936 0.02151951 -0.45041455] [ 0.04724271 -0.02046775 0.99867372 -0.35386119] [ 0. 0. 0. 1. ]] SLAMing on 46.292401008000006 meters Centerline goodness : 0.879815 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.45, Z:-0.36 [[ 0.99863074 0.02205046 -0.04743858 8.73474963] [-0.02110873 0.99957185 0.02026189 -0.44715315] [ 0.04786505 -0.01923278 0.99866863 -0.35525314] [ 0. 0. 0. 1. ]] SLAMing on 46.322401008 meters Centerline goodness : 0.877156 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.44, Z:-0.36 [[ 0.99862155 0.0225134 -0.04741466 8.73340583] [-0.02164978 0.99959166 0.01864959 -0.44138276] [ 0.04781516 -0.01759737 0.99870118 -0.35579141] [ 0. 0. 0. 1. ]] SLAMing on 46.352401008 meters Centerline goodness : 0.882882 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.44, Z:-0.36 [[ 0.99860278 0.02276706 -0.04768802 8.73328397] [-0.02195288 0.99960535 0.01752776 -0.43746845] [ 0.04806826 -0.01645639 0.99870848 -0.35632253] [ 0. 0. 0. 1. ]] SLAMing on 46.382401008 meters Centerline goodness : 0.883734 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.43, Z:-0.36 [[ 9.98702651e-01 2.59547535e-02 -4.38105706e-02 8.74857185e+00] [-2.55872311e-02 9.99632716e-01 8.92901470e-03 -4.32180989e-01] [ 4.40262301e-02 -7.79643945e-03 9.98999953e-01 -3.61833030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412401008 meters Centerline goodness : 0.885112 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.42, Z:-0.37 [[ 9.98657761e-01 3.42027246e-02 -3.88953786e-02 8.76019291e+00] [-3.40665672e-02 9.99410916e-01 4.15819740e-03 -4.24485045e-01] [ 3.90146876e-02 -2.82758407e-03 9.99234637e-01 -3.65975469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442401008000004 meters Centerline goodness : 0.885107 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.42, Z:-0.37 [[ 9.98600990e-01 3.61860215e-02 -3.85568968e-02 8.75763900e+00] [-3.60543925e-02 9.99341402e-01 4.10399710e-03 -4.19891488e-01] [ 3.86800106e-02 -2.70811008e-03 9.99247979e-01 -3.65788460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472401008000006 meters Centerline goodness : 0.884481 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.42, Z:-0.36 [[ 9.98429266e-01 4.06425414e-02 -3.85640426e-02 8.75720150e+00] [-4.03575103e-02 9.99152136e-01 8.14133178e-03 -4.17870572e-01] [ 3.88622299e-02 -6.57219516e-03 9.99222965e-01 -3.64706879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50240100800001 meters Centerline goodness : 0.887272 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.41, Z:-0.37 [[ 9.98390590e-01 4.53382960e-02 -3.40685996e-02 8.77182634e+00] [-4.53276053e-02 9.98971585e-01 1.08647762e-03 -4.13548846e-01] [ 3.40828220e-02 4.59519003e-04 9.99418906e-01 -3.70212903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532401008 meters Centerline goodness : 0.884352 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.98131436e-01 5.38229035e-02 -2.89263272e-02 8.78305119e+00] [-5.39411742e-02 9.98538584e-01 -3.32346851e-03 -4.09227658e-01] [ 2.87051751e-02 4.87757845e-03 9.99576021e-01 -3.74558055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562401008 meters Centerline goodness : 0.885996 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.98066103e-01 5.51984426e-02 -2.85864543e-02 8.78100443e+00] [-5.53105464e-02 9.98464246e-01 -3.14519951e-03 -4.07382259e-01] [ 2.83689424e-02 4.72024943e-03 9.99586376e-01 -3.73975822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592401008 meters Centerline goodness : 0.885931 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.97809677e-01 5.95446710e-02 -2.88145916e-02 8.78105133e+00] [-5.95181848e-02 9.98225640e-01 1.77676193e-03 -4.08891396e-01] [ 2.88692608e-02 -5.78780622e-05 9.99583194e-01 -3.71916112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622401008000004 meters Centerline goodness : 0.883993 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.97760569e-01 6.05055894e-02 -2.85117736e-02 8.77935453e+00] [-6.04769572e-02 9.98167849e-01 1.86627474e-03 -4.07913755e-01] [ 2.85724557e-02 -1.37790041e-04 9.99591715e-01 -3.71409058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652401008000005 meters Centerline goodness : 0.889516 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.97727101e-01 6.11916952e-02 -2.82171725e-02 8.77805862e+00] [-6.11649706e-02 9.98126029e-01 1.81006468e-03 -4.06895310e-01] [ 2.82750552e-02 -8.00480614e-05 9.99600177e-01 -3.71250541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68240100800001 meters Centerline goodness : 0.892090 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.97677038e-01 6.21644001e-02 -2.78588380e-02 8.77723074e+00] [-6.21522456e-02 9.98065830e-01 1.30283066e-03 -4.05557955e-01] [ 2.78859440e-02 4.31685105e-04 9.99611018e-01 -3.73005326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712401008 meters Centerline goodness : 0.887693 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.37 [[ 9.97680812e-01 6.21576269e-02 -2.77385287e-02 8.77796592e+00] [-6.21597803e-02 9.98065902e-01 7.85472846e-04 -4.05212824e-01] [ 2.77337028e-02 9.40569663e-04 9.99614904e-01 -3.74945635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742401008 meters Centerline goodness : 0.890172 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.38 [[ 9.97707460e-01 6.15614084e-02 -2.81072501e-02 8.78010960e+00] [-6.15782719e-02 9.98102222e-01 2.66027905e-04 -4.05393633e-01] [ 2.80702858e-02 1.46537786e-03 9.99604878e-01 -3.76717267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772401008 meters Centerline goodness : 0.887293 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.38 [[ 9.97713742e-01 6.13663269e-02 -2.83101289e-02 8.78106836e+00] [-6.13791716e-02 9.98114434e-01 4.15883356e-04 -4.07158355e-01] [ 2.82822695e-02 1.32271972e-03 9.99599101e-01 -3.77299859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802401008000004 meters Centerline goodness : 0.890827 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.38 [[ 9.97928448e-01 5.78284515e-02 -2.81901372e-02 8.78023845e+00] [-5.79511372e-02 9.98313095e-01 -3.55400961e-03 -4.07317692e-01] [ 2.79370602e-02 5.18029780e-03 9.99596261e-01 -3.77937098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832401008000005 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.41, Z:-0.38 [[ 9.98149278e-01 5.36379138e-02 -2.86529879e-02 8.78070794e+00] [-5.38353083e-02 9.98530814e-01 -6.16216103e-03 -4.12759453e-01] [ 2.82803659e-02 7.69329902e-03 9.99570425e-01 -3.76835494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862401008000006 meters Centerline goodness : 0.892122 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.42, Z:-0.38 [[ 9.98180164e-01 5.28753697e-02 -2.89923312e-02 8.78237590e+00] [-5.30536293e-02 9.98576990e-01 -5.41360125e-03 -4.16755325e-01] [ 2.86648286e-02 6.94189777e-03 9.99564974e-01 -3.76663334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892401008 meters Centerline goodness : 0.892122 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.42, Z:-0.38 [[ 9.98180164e-01 5.28753697e-02 -2.89923312e-02 8.78237590e+00] [-5.30536293e-02 9.98576990e-01 -5.41360125e-03 -4.16755325e-01] [ 2.86648286e-02 6.94189777e-03 9.99564974e-01 -3.76663334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922401008 meters Centerline goodness : 0.894501 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.42, Z:-0.38 [[ 9.98208531e-01 5.18279571e-02 -2.98929991e-02 8.78542430e+00] [-5.19932858e-02 9.98635996e-01 -4.77964388e-03 -4.20483762e-01] [ 2.96045057e-02 6.32531654e-03 9.99541677e-01 -3.76508781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952401008 meters Centerline goodness : 0.896154 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.42, Z:-0.38 [[ 0.99843179 0.04687087 -0.03061193 8.78835306] [-0.0471684 0.99884577 -0.00907046 -0.42326627] [ 0.03015145 0.01050016 0.99949019 -0.37890062] [ 0. 0. 0. 1. ]] SLAMing on 46.982401008000004 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.43, Z:-0.38 [[ 9.98445188e-01 4.58777733e-02 -3.16612697e-02 8.79161353e+00] [-4.61758629e-02 9.98895016e-01 -8.74851241e-03 -4.25322728e-01] [ 3.12249222e-02 1.01968966e-02 9.99460368e-01 -3.78837799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012401008000005 meters Centerline goodness : 0.894918 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.43, Z:-0.38 [[ 9.98450171e-01 4.54409778e-02 -3.21305816e-02 8.79308298e+00] [-4.57270440e-02 9.98920112e-01 -8.22482009e-03 -4.27465833e-01] [ 3.17221403e-02 9.68130955e-03 9.99449838e-01 -3.78512275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042401008000006 meters Centerline goodness : 0.894901 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.43, Z:-0.38 [[ 9.98493342e-01 4.35611637e-02 -3.33686982e-02 8.79781511e+00] [-4.38527093e-02 9.99005532e-01 -8.05529595e-03 -4.30693940e-01] [ 3.29846160e-02 9.50646720e-03 9.99410647e-01 -3.78964050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072401008 meters Centerline goodness : 0.893763 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.43, Z:-0.38 [[ 9.98505347e-01 4.26054624e-02 -3.42322514e-02 8.80081366e+00] [-4.29056172e-02 9.99046443e-01 -8.08163355e-03 -4.31736957e-01] [ 3.38552873e-02 9.53831019e-03 9.99381229e-01 -3.79409649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102401008 meters Centerline goodness : 0.895085 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.43, Z:-0.38 [[ 9.98517252e-01 4.14837132e-02 -3.52476919e-02 8.80411019e+00] [-4.17929381e-02 9.99093608e-01 -8.08157900e-03 -4.32583503e-01] [ 3.48804897e-02 9.54270066e-03 9.99345930e-01 -3.79519296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132401008 meters Centerline goodness : 0.892556 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.43, Z:-0.38 [[ 9.98523086e-01 4.08697607e-02 -3.57953911e-02 8.80565517e+00] [-4.11786789e-02 9.99120285e-01 -7.93550523e-03 -4.33460791e-01] [ 3.54395791e-02 9.39779209e-03 9.99327633e-01 -3.79182136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162401008 meters Centerline goodness : 0.892653 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.43, Z:-0.38 [[ 9.98527891e-01 3.98133591e-02 -3.68367728e-02 8.80832780e+00] [-4.01145580e-02 9.99167137e-01 -7.47364526e-03 -4.34578511e-01] [ 3.65085419e-02 8.94033410e-03 9.99293349e-01 -3.77863195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192401008000004 meters Centerline goodness : 0.893326 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.43, Z:-0.38 [[ 9.98530266e-01 3.92077943e-02 -3.74173253e-02 8.80998785e+00] [-3.95115977e-02 9.99191603e-01 -7.41440822e-03 -4.34235537e-01] [ 3.70963747e-02 8.88192932e-03 9.99272220e-01 -3.77426361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222401008000006 meters Centerline goodness : 0.894333 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.43, Z:-0.38 [[ 9.98536117e-01 3.89685024e-02 -3.75110527e-02 8.81029668e+00] [-3.92749699e-02 9.99200534e-01 -7.46786482e-03 -4.33346841e-01] [ 3.71900524e-02 8.93017820e-03 9.99268308e-01 -3.77142415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25240100800001 meters Centerline goodness : 0.894535 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.43, Z:-0.38 [[ 9.98404373e-01 4.11553597e-02 -3.86645083e-02 8.81454898e+00] [-4.13002550e-02 9.99142408e-01 -2.95594083e-03 -4.34611264e-01] [ 3.85096971e-02 4.54807830e-03 9.99247876e-01 -3.75570752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282401008 meters Centerline goodness : 0.890415 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.43, Z:-0.38 [[ 9.98410911e-01 4.03832560e-02 -3.93045331e-02 8.81662644e+00] [-4.05479431e-02 9.99171804e-01 -3.40159402e-03 -4.33218200e-01] [ 3.91346138e-02 4.98990656e-03 9.99221488e-01 -3.75868136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312401008 meters Centerline goodness : 0.890188 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.43, Z:-0.37 [[ 9.98405118e-01 4.02765489e-02 -3.95603378e-02 8.81685210e+00] [-4.04284070e-02 9.99177795e-01 -3.04585552e-03 -4.32769942e-01] [ 3.94051346e-02 4.64035918e-03 9.99212541e-01 -3.74650296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342401008 meters Centerline goodness : 0.891650 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.43, Z:-0.37 [[ 9.98400631e-01 4.00852882e-02 -3.98666603e-02 8.81653739e+00] [-4.01983485e-02 9.99189641e-01 -2.03808758e-03 -4.33036617e-01] [ 3.97526567e-02 3.63740183e-03 9.99202930e-01 -3.71572095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372401008000004 meters Centerline goodness : 0.894421 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.44, Z:-0.37 [[ 9.98271833e-01 4.16027037e-02 -4.15037701e-02 8.82254781e+00] [-4.14262966e-02 9.99128537e-01 5.10178787e-03 -4.36526866e-01] [ 4.16798493e-02 -3.37362363e-03 9.99125322e-01 -3.65139952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402401008000005 meters Centerline goodness : 0.892942 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.44, Z:-0.36 [[ 9.98271298e-01 4.10233922e-02 -4.20891603e-02 8.82393278e+00] [-4.08429689e-02 9.99152367e-01 5.13804320e-03 -4.35952683e-01] [ 4.22642641e-02 -3.41011479e-03 9.99100647e-01 -3.64332124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43240100800001 meters Centerline goodness : 0.895300 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.43, Z:-0.36 [[ 9.98275475e-01 4.06987072e-02 -4.23047419e-02 8.82404491e+00] [-4.05177916e-02 9.99165671e-01 5.12551110e-03 -4.33939432e-01] [ 4.24780475e-02 -3.40257731e-03 9.99091606e-01 -3.62988268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462401008 meters Centerline goodness : 0.893281 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.44, Z:-0.36 [[ 9.98111654e-01 4.36680007e-02 -4.31999091e-02 8.82675208e+00] [-4.32668242e-02 9.99011699e-01 1.01787741e-02 -4.35665418e-01] [ 4.36017012e-02 -8.29043020e-03 9.99014595e-01 -3.60437777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492401008 meters Centerline goodness : 0.897152 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.44, Z:-0.36 [[ 0.99795292 0.04634262 -0.04407199 8.83001485] [-0.04572517 0.99884268 0.01491689 -0.43688657] [ 0.04471227 -0.01287115 0.99891699 -0.35845899] [ 0. 0. 0. 1. ]] SLAMing on 47.522401008 meters Centerline goodness : 0.895965 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.44, Z:-0.36 [[ 0.99777036 0.04895708 -0.04535981 8.83387033] [-0.04808764 0.99864156 0.0200653 -0.43861484] [ 0.04628053 -0.01783931 0.99876918 -0.35559127] [ 0. 0. 0. 1. ]] SLAMing on 47.552401008000004 meters Centerline goodness : 0.896624 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.44, Z:-0.35 [[ 0.99777304 0.04790049 -0.04641667 8.83678567] [-0.04701207 0.99869314 0.02004689 -0.43841709] [ 0.04731626 -0.0178201 0.99872099 -0.35478484] [ 0. 0. 0. 1. ]] SLAMing on 47.582401008000005 meters Centerline goodness : 0.899012 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.44, Z:-0.36 [[ 0.99794992 0.04357973 -0.04686973 8.83764358] [-0.04293608 0.99897036 0.01465337 -0.43552776] [ 0.04746006 -0.01261092 0.99879353 -0.35664284] [ 0. 0. 0. 1. ]] SLAMing on 47.612401008000006 meters Centerline goodness : 0.902013 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.44, Z:-0.35 [[ 0.99777506 0.04630107 -0.04797018 8.84110002] [-0.04539385 0.99877228 0.01983275 -0.43892789] [ 0.04882957 -0.01761107 0.99865185 -0.35418929] [ 0. 0. 0. 1. ]] SLAMing on 47.642401008 meters Centerline goodness : 0.899047 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.44, Z:-0.36 [[ 0.99778048 0.0452498 -0.04885253 8.84419052] [-0.04438811 0.99884153 0.01858222 -0.4372663 ] [ 0.04963677 -0.0163725 0.99863313 -0.35596956] [ 0. 0. 0. 1. ]] SLAMing on 47.672401008 meters Centerline goodness : 0.903153 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.44, Z:-0.35 [[ 0.99758548 0.04841424 -0.04979236 8.84726534] [-0.04730429 0.99861027 0.02323426 -0.43912286] [ 0.05084803 -0.02082277 0.9984893 -0.35467322] [ 0. 0. 0. 1. ]] SLAMing on 47.702401008 meters Centerline goodness : 0.900452 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.44, Z:-0.36 [[ 0.99759378 0.04791541 -0.05010757 8.84897766] [-0.04685774 0.99865763 0.02207459 -0.437374 ] [ 0.05109802 -0.01967355 0.99849985 -0.35673963] [ 0. 0. 0. 1. ]] SLAMing on 47.732401008000004 meters Centerline goodness : 0.898126 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.44, Z:-0.36 [[ 0.99759228 0.04737049 -0.05065252 8.85112422] [-0.04636206 0.99870599 0.02090249 -0.43533005] [ 0.05157713 -0.01850381 0.99849758 -0.35866816] [ 0. 0. 0. 1. ]] SLAMing on 47.762401008000005 meters Centerline goodness : 0.898390 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.43, Z:-0.36 [[ 0.99758202 0.04728903 -0.05092988 8.85215758] [-0.04632477 0.99872718 0.01995071 -0.43329079] [ 0.05180851 -0.01754315 0.99850294 -0.36017763] [ 0. 0. 0. 1. ]] SLAMing on 47.792401008000006 meters Centerline goodness : 0.899079 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.43, Z:-0.37 [[ 9.97538448e-01 5.18188576e-02 -4.72424767e-02 8.86543551e+00] [-5.13603189e-02 9.98621034e-01 1.08696312e-02 -4.29658945e-01] [ 4.77405828e-02 -8.41648633e-03 9.98824309e-01 -3.66695528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822401008 meters Centerline goodness : 0.895959 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.43, Z:-0.36 [[ 0.99729025 0.05599115 -0.04771954 8.86628998] [-0.05530463 0.99834783 0.01558863 -0.43084293] [ 0.04851352 -0.01290728 0.99873913 -0.36492354] [ 0. 0. 0. 1. ]] SLAMing on 47.852401008 meters Centerline goodness : 0.897671 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.43, Z:-0.36 [[ 0.99725098 0.05671481 -0.04768554 8.86533347] [-0.05603681 0.99830935 0.01543779 -0.42938073] [ 0.04848047 -0.01272321 0.99874309 -0.36475946] [ 0. 0. 0. 1. ]] SLAMing on 47.882401008 meters Centerline goodness : 0.897877 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.43, Z:-0.36 [[ 0.99713742 0.05937417 -0.04681535 8.86089393] [-0.05868792 0.99814974 0.01590063 -0.42710995] [ 0.04767282 -0.01310761 0.998777 -0.36411096] [ 0. 0. 0. 1. ]] SLAMing on 47.912401008 meters Centerline goodness : 0.898501 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.43, Z:-0.36 [[ 0.99711998 0.059707 -0.04676336 8.86051645] [-0.05904016 0.99813504 0.01551478 -0.42527877] [ 0.04760249 -0.01270919 0.9987855 -0.36440861] [ 0. 0. 0. 1. ]] SLAMing on 47.942401008000004 meters Centerline goodness : 0.896760 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.42, Z:-0.36 [[ 0.99710154 0.06017348 -0.04655819 8.85964129] [-0.05951648 0.99810895 0.01537257 -0.42429005] [ 0.04739517 -0.01255704 0.99879729 -0.36442307] [ 0. 0. 0. 1. ]] SLAMing on 47.972401008000006 meters Centerline goodness : 0.900557 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.42, Z:-0.36 [[ 0.99707767 0.06062444 -0.04648433 8.85880733] [-0.05996397 0.99808058 0.01547508 -0.42392937] [ 0.04733328 -0.01264247 0.99879914 -0.36393465] [ 0. 0. 0. 1. ]] SLAMing on 48.00240100800001 meters Centerline goodness : 0.899529 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.42, Z:-0.37 [[ 9.97225362e-01 6.15234437e-02 -4.19099390e-02 8.87327260e+00] [-6.13603044e-02 9.98102296e-01 5.16914664e-03 -4.21642262e-01] [ 4.21484301e-02 -2.58319751e-03 9.99108021e-01 -3.69658513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032401008 meters Centerline goodness : 0.900368 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.42, Z:-0.37 [[ 9.97353437e-01 6.26183885e-02 -3.69467022e-02 8.88644103e+00] [-6.28167870e-02 9.98016100e-01 -4.23254250e-03 -4.21922061e-01] [ 3.66083687e-02 6.54221393e-03 9.99308274e-01 -3.73545407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062401008 meters Centerline goodness : 0.903052 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.42, Z:-0.37 [[ 9.97317294e-01 6.31758643e-02 -3.69733053e-02 8.88545277e+00] [-6.33328721e-02 9.97987676e-01 -3.08965164e-03 -4.24604940e-01] [ 3.67037116e-02 5.42298862e-03 9.99311477e-01 -3.71824816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092401008 meters Centerline goodness : 0.902766 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97299506e-01 6.33756011e-02 -3.71110244e-02 8.88528947e+00] [-6.34971235e-02 9.97979804e-01 -2.10395684e-03 -4.27163635e-01] [ 3.69027133e-02 4.45471842e-03 9.99308934e-01 -3.70537540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122401008000004 meters Centerline goodness : 0.901095 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97332939e-01 6.25540074e-02 -3.76032451e-02 8.88735438e+00] [-6.26696791e-02 9.98032507e-01 -1.90415723e-03 -4.30171895e-01] [ 3.74101484e-02 4.25566203e-03 9.99290934e-01 -3.71048071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152401008000005 meters Centerline goodness : 0.899767 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97355257e-01 6.18951048e-02 -3.80984007e-02 8.88934184e+00] [-6.20142677e-02 9.98073352e-01 -1.95286855e-03 -4.30842683e-01] [ 3.79041255e-02 4.31034813e-03 9.99272084e-01 -3.71581488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18240100800001 meters Centerline goodness : 0.902604 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97361666e-01 6.16892593e-02 -3.82641087e-02 8.89010265e+00] [-6.18024005e-02 9.98086817e-01 -1.77996265e-03 -4.31824222e-01] [ 3.80810979e-02 4.14008028e-03 9.99266076e-01 -3.71774485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212401008 meters Centerline goodness : 0.900721 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97380151e-01 6.11732149e-02 -3.86092170e-02 8.89160081e+00] [-6.12941847e-02 9.98117827e-01 -1.95618832e-03 -4.32294460e-01] [ 3.84168815e-02 4.31758388e-03 9.99252471e-01 -3.72385472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242401008 meters Centerline goodness : 0.900452 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97397061e-01 6.06978069e-02 -3.89214345e-02 8.89320395e+00] [-6.08273298e-02 9.98145985e-01 -2.15119764e-03 -4.33390806e-01] [ 3.87187006e-02 4.51308514e-03 9.99239958e-01 -3.73459987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272401008 meters Centerline goodness : 0.900441 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97397348e-01 6.04580467e-02 -3.92855587e-02 8.89426669e+00] [-6.05902106e-02 9.98160342e-01 -2.18122869e-03 -4.33814471e-01] [ 3.90814138e-02 4.55587198e-03 9.99225644e-01 -3.73617506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302401008000004 meters Centerline goodness : 0.899547 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97381058e-01 6.07043761e-02 -3.93192529e-02 8.89396453e+00] [-6.08287651e-02 9.98146264e-01 -1.97388813e-03 -4.34319136e-01] [ 3.91265417e-02 4.36046023e-03 9.99224750e-01 -3.73260197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332401008000005 meters Centerline goodness : 0.897318 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97371369e-01 6.09085978e-02 -3.92491430e-02 8.89358355e+00] [-6.10338859e-02 9.98133689e-01 -2.00073030e-03 -4.34119240e-01] [ 3.90540302e-02 4.39099883e-03 9.99227453e-01 -3.73181368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362401008000006 meters Centerline goodness : 0.895450 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97341712e-01 6.14642469e-02 -3.91363849e-02 8.89323606e+00] [-6.16063186e-02 9.98097560e-01 -2.43344895e-03 -4.32149223e-01] [ 3.89123602e-02 4.83802874e-03 9.99230915e-01 -3.74101295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392401008 meters Centerline goodness : 0.895450 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97341712e-01 6.14642469e-02 -3.91363849e-02 8.89323606e+00] [-6.16063186e-02 9.98097560e-01 -2.43344895e-03 -4.32149223e-01] [ 3.89123602e-02 4.83802874e-03 9.99230915e-01 -3.74101295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422401008 meters Centerline goodness : 0.900408 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97058234e-01 6.60268730e-02 -3.89272325e-02 8.89278252e+00] [-6.59976570e-02 9.97817700e-01 2.03649824e-03 -4.32227873e-01] [ 3.89767452e-02 5.38598796e-04 9.99239973e-01 -3.73172323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452401008 meters Centerline goodness : 0.896086 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97027892e-01 6.66604377e-02 -3.86234113e-02 8.89146771e+00] [-6.66301086e-02 9.97775591e-01 2.07337763e-03 -4.31170004e-01] [ 3.86757093e-02 5.06266760e-04 9.99251687e-01 -3.72838520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482401008000004 meters Centerline goodness : 0.898024 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97007415e-01 6.70593224e-02 -3.84611794e-02 8.89061845e+00] [-6.70255774e-02 9.97748903e-01 2.16758129e-03 -4.30687888e-01] [ 3.85199561e-02 4.16788143e-04 9.99257744e-01 -3.72418742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512401008000005 meters Centerline goodness : 0.897498 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.96995765e-01 6.72283623e-02 -3.84680733e-02 8.89037215e+00] [-6.71918594e-02 9.97737553e-01 2.24244473e-03 -4.30735658e-01] [ 3.85317972e-02 3.49033471e-04 9.99257314e-01 -3.72140056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542401008000006 meters Centerline goodness : 0.896249 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.96976287e-01 6.76293161e-02 -3.82695521e-02 8.88979264e+00] [-6.75923554e-02 9.97710461e-01 2.26029750e-03 -4.31083452e-01] [ 3.83347948e-02 3.33266154e-04 9.99264896e-01 -3.72528216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572401008 meters Centerline goodness : 0.898425 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.96978151e-01 6.75210715e-02 -3.84118590e-02 8.89021168e+00] [-6.74750987e-02 9.97717843e-01 2.49346541e-03 -4.32022725e-01] [ 3.84925585e-02 1.05913437e-04 9.99258881e-01 -3.72335157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602401008 meters Centerline goodness : 0.897107 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.96984343e-01 6.72220082e-02 -3.87739783e-02 8.89091365e+00] [-6.71585719e-02 9.97737990e-01 2.93770871e-03 -4.33743714e-01] [ 3.88837498e-02 -3.24844578e-04 9.99243688e-01 -3.71505306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632401008 meters Centerline goodness : 0.898451 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97239182e-01 6.34435388e-02 -3.85866826e-02 8.88958834e+00] [-6.35240289e-02 9.97979937e-01 -8.62260373e-04 -4.34686689e-01] [ 3.84540302e-02 3.31106137e-03 9.99254885e-01 -3.71416088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662401008 meters Centerline goodness : 0.896299 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.44, Z:-0.37 [[ 9.97266078e-01 6.26177686e-02 -3.92349872e-02 8.89176806e+00] [-6.26896938e-02 9.98032884e-01 -6.04382803e-04 -4.35904530e-01] [ 3.91199623e-02 3.06235980e-03 9.99229829e-01 -3.71136612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692401008000004 meters Centerline goodness : 0.898085 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.43, Z:-0.37 [[ 9.97526503e-01 5.83095406e-02 -3.92539522e-02 8.89195755e+00] [-5.85657960e-02 9.98268896e-01 -5.40921405e-03 -4.34069131e-01] [ 3.88705908e-02 7.69477333e-03 9.99214625e-01 -3.72608351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722401008000006 meters Centerline goodness : 0.895638 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.44, Z:-0.37 [[ 9.97661018e-01 5.49855240e-02 -4.06089264e-02 8.89838572e+00] [-5.52364108e-02 9.98460374e-01 -5.08132028e-03 -4.36923841e-01] [ 4.02670048e-02 7.31252651e-03 9.99162197e-01 -3.71901210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75240100800001 meters Centerline goodness : 0.897652 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.44, Z:-0.37 [[ 9.97703776e-01 5.36936004e-02 -4.12816213e-02 8.90132838e+00] [-5.39536492e-02 9.98529847e-01 -5.21047620e-03 -4.38352297e-01] [ 4.09411618e-02 7.42580589e-03 9.99133964e-01 -3.72485004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782401008 meters Centerline goodness : 0.897755 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.44, Z:-0.37 [[ 9.97734218e-01 5.26503264e-02 -4.18852444e-02 8.90389188e+00] [-5.29291432e-02 9.98582708e-01 -5.57503634e-03 -4.38569252e-01] [ 4.15323533e-02 7.77935462e-03 9.99106874e-01 -3.73282440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812401008 meters Centerline goodness : 0.898865 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.44, Z:-0.37 [[ 9.97741314e-01 5.20470856e-02 -4.24661135e-02 8.90567073e+00] [-5.23489707e-02 9.98610663e-01 -6.02730315e-03 -4.37418837e-01] [ 4.20934102e-02 8.23674669e-03 9.99079727e-01 -3.73582416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842401008 meters Centerline goodness : 0.898865 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.44, Z:-0.37 [[ 9.97741314e-01 5.20470856e-02 -4.24661135e-02 8.90567073e+00] [-5.23489707e-02 9.98610663e-01 -6.02730315e-03 -4.37418837e-01] [ 4.20934102e-02 8.23674669e-03 9.99079727e-01 -3.73582416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872401008000004 meters Centerline goodness : 0.896244 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.44, Z:-0.37 [[ 9.97754044e-01 5.15894575e-02 -4.27246497e-02 8.90661421e+00] [-5.19040406e-02 9.98632293e-01 -6.28602357e-03 -4.36577006e-01] [ 4.23419223e-02 8.48948739e-03 9.99067110e-01 -3.73655058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902401008000005 meters Centerline goodness : 0.890168 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.44, Z:-0.38 [[ 9.97824244e-01 4.90964108e-02 -4.40036342e-02 8.91226576e+00] [-4.94660029e-02 9.98748768e-01 -7.34932872e-03 -4.35165754e-01] [ 4.35877498e-02 9.51002227e-03 9.99004338e-01 -3.75163099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93240100800001 meters Centerline goodness : 0.891779 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.44, Z:-0.38 [[ 9.97843019e-01 4.78074411e-02 -4.49862071e-02 8.91567406e+00] [-4.81874006e-02 9.98810905e-01 -7.39932926e-03 -4.35591855e-01] [ 4.45789712e-02 9.55113743e-03 9.98960205e-01 -3.75207387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962401008 meters Centerline goodness : 0.890951 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.44, Z:-0.37 [[ 9.97813189e-01 4.67705694e-02 -4.67049558e-02 8.92591372e+00] [-4.68966809e-02 9.98898452e-01 -1.60748208e-03 -4.38284904e-01] [ 4.65783252e-02 3.79427422e-03 9.98907435e-01 -3.70981887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992401008 meters Centerline goodness : 0.894475 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.44, Z:-0.37 [[ 9.97853472e-01 4.41730393e-02 -4.83445089e-02 8.93231341e+00] [-4.43136118e-02 9.99015976e-01 -1.83928724e-03 -4.39471924e-01] [ 4.82156899e-02 3.97765896e-03 9.98829027e-01 -3.71333703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022401008 meters Centerline goodness : 0.893404 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.44, Z:-0.37 [[ 9.97856018e-01 4.36391802e-02 -4.87748878e-02 8.93368793e+00] [-4.37712540e-02 9.99040229e-01 -1.64249701e-03 -4.39747322e-01] [ 4.86563979e-02 3.77391353e-03 9.98808446e-01 -3.70858022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052401008000004 meters Centerline goodness : 0.891772 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.44, Z:-0.37 [[ 9.97689473e-01 4.61145413e-02 -4.98915330e-02 8.93773948e+00] [-4.59523661e-02 9.98933971e-01 4.39333024e-03 -4.43136985e-01] [ 5.00409435e-02 -2.09054534e-03 9.98744979e-01 -3.66947360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082401008000005 meters Centerline goodness : 0.890859 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.45, Z:-0.36 [[ 9.97498995e-01 4.91590427e-02 -5.07852717e-02 8.94046022e+00] [-4.86902364e-02 9.98759487e-01 1.04281890e-02 -4.46031394e-01] [ 5.12349117e-02 -7.92936120e-03 9.98655150e-01 -3.62735353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112401008000006 meters Centerline goodness : 0.895075 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.44, Z:-0.36 [[ 9.97488262e-01 4.92828583e-02 -5.08759973e-02 8.94003689e+00] [-4.88096586e-02 9.98752878e-01 1.05026928e-02 -4.44929265e-01] [ 5.13301515e-02 -7.99307275e-03 9.98649752e-01 -3.61777503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142401008 meters Centerline goodness : 0.897254 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.45, Z:-0.36 [[ 0.99725344 0.05347745 -0.05124205 8.94022407] [-0.05270686 0.99847741 0.01627421 -0.44681186] [ 0.05203433 -0.0135287 0.99855366 -0.35785793] [ 0. 0. 0. 1. ]] SLAMing on 49.172401008 meters Centerline goodness : 0.895712 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.44, Z:-0.36 [[ 9.97300121e-01 5.77243391e-02 -4.53912843e-02 8.95002524e+00] [-5.73754935e-02 9.98312533e-01 8.95203933e-03 -4.43430421e-01] [ 4.58314386e-02 -6.32352257e-03 9.98929173e-01 -3.60086301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202401008 meters Centerline goodness : 0.895767 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.44, Z:-0.36 [[ 9.97371732e-01 6.00086944e-02 -4.06027638e-02 8.96414672e+00] [-6.00266174e-02 9.98196473e-01 7.78659678e-04 -4.41482853e-01] [ 4.05762620e-02 1.66063342e-03 9.99175064e-01 -3.64086601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232401008000004 meters Centerline goodness : 0.896922 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.44, Z:-0.36 [[ 9.97362728e-01 6.01730565e-02 -4.05806861e-02 8.96384880e+00] [-6.01870960e-02 9.98186728e-01 8.76775479e-04 -4.40997444e-01] [ 4.05598606e-02 1.56797047e-03 9.99175880e-01 -3.63679674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262401008000005 meters Centerline goodness : 0.903285 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.45, Z:-0.36 [[ 9.97138645e-01 6.32887253e-02 -4.13407670e-02 8.96608020e+00] [-6.30218677e-02 9.97982225e-01 7.72803953e-03 -4.45574330e-01] [ 4.17464484e-02 -5.10055452e-03 9.99115218e-01 -3.58292804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292401008000006 meters Centerline goodness : 0.898498 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.45, Z:-0.36 [[ 9.97158573e-01 6.27468520e-02 -4.16846956e-02 8.96748637e+00] [-6.24944356e-02 9.98018377e-01 7.33240741e-03 -4.45409626e-01] [ 4.20621777e-02 -4.70651138e-03 9.99103909e-01 -3.58981494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32240100800001 meters Centerline goodness : 0.896541 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.44, Z:-0.36 [[ 9.97178854e-01 6.20254392e-02 -4.22750364e-02 8.96975554e+00] [-6.17959239e-02 9.98066212e-01 6.71570143e-03 -4.44791599e-01] [ 4.26098297e-02 -4.08433052e-03 9.99083440e-01 -3.60161637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352401008 meters Centerline goodness : 0.896591 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.44, Z:-0.36 [[ 9.97196328e-01 6.13139178e-02 -4.28962381e-02 8.97217022e+00] [-6.11105174e-02 9.98112741e-01 6.03826828e-03 -4.44445751e-01] [ 4.31855116e-02 -3.39992765e-03 9.99061285e-01 -3.61564625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382401008 meters Centerline goodness : 0.893523 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.36 [[ 9.97214075e-01 6.01894630e-02 -4.40603776e-02 8.97644536e+00] [-6.00439482e-02 9.98185044e-01 4.61983173e-03 -4.44129072e-01] [ 4.42584752e-02 -1.96140219e-03 9.99018188e-01 -3.64554562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412401008 meters Centerline goodness : 0.896747 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97224640e-01 5.95167688e-02 -4.47299886e-02 8.97881574e+00] [-5.93930777e-02 9.98226293e-01 4.09038587e-03 -4.43679002e-01] [ 4.48940972e-02 -1.42238188e-03 9.98990739e-01 -3.65548283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442401008000004 meters Centerline goodness : 0.894859 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97238408e-01 5.91368350e-02 -4.49265258e-02 8.97994240e+00] [-5.90377681e-02 9.98249509e-01 3.52991113e-03 -4.43243199e-01] [ 4.50566301e-02 -8.67801150e-04 9.98984057e-01 -3.66692189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472401008000006 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97236746e-01 5.89339541e-02 -4.52289811e-02 8.98083866e+00] [-5.88361371e-02 9.98261546e-01 3.49205863e-03 -4.42948206e-01] [ 4.53561535e-02 -8.21310653e-04 9.98970543e-01 -3.66679706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50240100800001 meters Centerline goodness : 0.894119 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.45, Z:-0.37 [[ 9.97004357e-01 6.23211791e-02 -4.58081095e-02 8.98281219e+00] [-6.20101004e-02 9.98041982e-01 8.18223796e-03 -4.45214502e-01] [ 4.62283431e-02 -5.31716142e-03 9.98916747e-01 -3.65202115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532401008 meters Centerline goodness : 0.892960 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97008273e-01 6.21355321e-02 -4.59747605e-02 8.98332360e+00] [-6.18331469e-02 9.98054665e-01 7.97173370e-03 -4.44391358e-01] [ 4.63806521e-02 -5.10512033e-03 9.98910793e-01 -3.65283386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562401008 meters Centerline goodness : 0.895489 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.96998369e-01 6.25128803e-02 -4.56770370e-02 8.98229483e+00] [-6.22333630e-02 9.98033314e-01 7.51746904e-03 -4.42349815e-01] [ 4.60571433e-02 -4.65226875e-03 9.98927973e-01 -3.65545127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592401008 meters Centerline goodness : 0.895340 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97000605e-01 6.24324558e-02 -4.57381954e-02 8.98273956e+00] [-6.21815678e-02 9.98041078e-01 6.88909434e-03 -4.40858222e-01] [ 4.60787010e-02 -4.02435852e-03 9.98929706e-01 -3.66448377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622401008000004 meters Centerline goodness : 0.893114 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97004665e-01 6.20863178e-02 -4.61192683e-02 8.98394428e+00] [-6.18670932e-02 9.98065343e-01 6.16708834e-03 -4.39261494e-01] [ 4.64129352e-02 -3.29535078e-03 9.98916904e-01 -3.67236058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652401008000005 meters Centerline goodness : 0.894451 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97001094e-01 6.21479055e-02 -4.61135256e-02 8.98380262e+00] [-6.19419676e-02 9.98062415e-01 5.88285649e-03 -4.38635376e-01] [ 4.63897839e-02 -3.00885184e-03 9.98918883e-01 -3.67411433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68240100800001 meters Centerline goodness : 0.893835 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.37 [[ 9.97002008e-01 6.18184711e-02 -4.65346473e-02 8.98464343e+00] [-6.16060770e-02 9.98082591e-01 5.98602221e-03 -4.39042277e-01] [ 4.68154681e-02 -3.10125910e-03 9.98898741e-01 -3.66793013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712401008 meters Centerline goodness : 0.892875 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.44, Z:-0.37 [[ 9.97018391e-01 6.10599464e-02 -4.71806112e-02 8.98687127e+00] [-6.08435154e-02 9.98129216e-01 6.01120992e-03 -4.40169392e-01] [ 4.74593906e-02 -3.12265260e-03 9.98868287e-01 -3.67024399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742401008 meters Centerline goodness : 0.894869 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.44, Z:-0.37 [[ 9.97052498e-01 5.98687502e-02 -4.79796661e-02 8.98997001e+00] [-5.96575007e-02 9.98201914e-01 5.82415482e-03 -4.41459796e-01] [ 4.82420795e-02 -2.94464115e-03 9.98831333e-01 -3.67750682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772401008 meters Centerline goodness : 0.892224 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.44, Z:-0.37 [[ 9.97089812e-01 5.83570801e-02 -4.90546428e-02 8.99385172e+00] [-5.81401819e-02 9.98291358e-01 5.83809533e-03 -4.43208161e-01] [ 4.93115201e-02 -2.96905952e-03 9.98779034e-01 -3.68022994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802401008000004 meters Centerline goodness : 0.891726 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.45, Z:-0.37 [[ 9.97405304e-01 5.14100691e-02 -5.03950924e-02 8.99935549e+00] [-5.13997833e-02 9.98677030e-01 1.50091374e-03 -4.45332588e-01] [ 5.04055833e-02 1.09327751e-03 9.98728232e-01 -3.68835902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832401008000005 meters Centerline goodness : 0.890493 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.45, Z:-0.37 [[ 9.97444860e-01 4.95278888e-02 -5.14853291e-02 9.00305916e+00] [-4.94313445e-02 9.98772564e-01 3.14761495e-03 -4.49433987e-01] [ 5.15780289e-02 -5.94583311e-04 9.98668791e-01 -3.65770759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862401008000006 meters Centerline goodness : 0.892426 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.46, Z:-0.35 [[ 0.99763552 0.04672729 -0.0503978 9.01343423] [-0.04612333 0.99885009 0.0130817 -0.45521066] [ 0.05095112 -0.01072626 0.99864355 -0.35488579] [ 0. 0. 0. 1. ]] SLAMing on 49.892401008 meters Centerline goodness : 0.894154 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.46, Z:-0.35 [[ 0.99829825 0.0362288 -0.04569539 9.01869364] [-0.03487723 0.99894013 0.03003643 -0.46118316] [ 0.04673514 -0.02839158 0.99850375 -0.34503186] [ 0. 0. 0. 1. ]] SLAMing on 49.922401008 meters Centerline goodness : 0.892988 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.46, Z:-0.35 [[ 0.9984555 0.03134591 -0.04586987 9.01996473] [-0.0302533 0.99924627 0.02432329 -0.45903318] [ 0.04659774 -0.02289801 0.99865126 -0.34783413] [ 0. 0. 0. 1. ]] SLAMing on 49.952401008 meters Centerline goodness : 0.894338 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.46, Z:-0.35 [[ 0.99845645 0.03082723 -0.04619945 9.02101031] [-0.02972722 0.99926236 0.02431117 -0.45921941] [ 0.04691482 -0.02290027 0.99863636 -0.3475737 ] [ 0. 0. 0. 1. ]] SLAMing on 49.982401008000004 meters Centerline goodness : 0.891217 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.46, Z:-0.34 [[ 0.99861734 0.02815031 -0.04439548 8.97655167] [-0.02659522 0.99902501 0.03523813 -0.45723377] [ 0.04534416 -0.0340087 0.99839237 -0.34420242] [ 0. 0. 0. 1. ]] SLAMing on 50.012401008000005 meters Centerline goodness : 0.891208 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.45, Z:-0.35 [[ 0.99861213 0.0277779 -0.04474589 8.97813569] [-0.02633291 0.99912265 0.03256542 -0.45200544] [ 0.04561123 -0.03134194 0.99846747 -0.34827587] [ 0. 0. 0. 1. ]] SLAMing on 50.042401008000006 meters Centerline goodness : 0.889870 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.45, Z:-0.35 [[ 0.99861606 0.0275632 -0.04479098 8.97877442] [-0.0261899 0.99917734 0.03096325 -0.44832322] [ 0.04560758 -0.02974733 0.99851642 -0.35044893] [ 0. 0. 0. 1. ]] SLAMing on 50.07240100800001 meters Centerline goodness : 0.892518 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.45, Z:-0.35 [[ 0.99859786 0.0280955 -0.04486607 8.97819579] [-0.0267505 0.99918276 0.03030226 -0.4450683 ] [ 0.04568076 -0.02905959 0.99853333 -0.35061021] [ 0. 0. 0. 1. ]] SLAMing on 50.102401008 meters Centerline goodness : 0.893923 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.44, Z:-0.35 [[ 0.99859431 0.0280871 -0.04495026 8.97826569] [-0.02679662 0.99921846 0.02905875 -0.44146125] [ 0.04573131 -0.02781339 0.9985665 -0.35173055] [ 0. 0. 0. 1. ]] SLAMing on 50.132401008 meters Centerline goodness : 0.891500 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.44, Z:-0.36 [[ 0.99869291 0.03095468 -0.04067286 8.99380576] [-0.03011455 0.99932354 0.02110863 -0.43781405] [ 0.04129876 -0.01985619 0.99894952 -0.35705022] [ 0. 0. 0. 1. ]] SLAMing on 50.162401008 meters Centerline goodness : 0.892813 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.43, Z:-0.36 [[ 0.99879084 0.03336541 -0.03610548 9.00844882] [-0.0329524 0.99938519 0.01197436 -0.43331896] [ 0.03648281 -0.01077012 0.99927624 -0.3631955 ] [ 0. 0. 0. 1. ]] SLAMing on 50.192401008000004 meters Centerline goodness : 0.888796 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.43, Z:-0.36 [[ 0.99864294 0.03739904 -0.03624352 9.00830558] [-0.03685439 0.99919917 0.01558116 -0.4296717 ] [ 0.03679721 -0.01422429 0.99922151 -0.36195493] [ 0. 0. 0. 1. ]] SLAMing on 50.222401008000006 meters Centerline goodness : 0.889400 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.43, Z:-0.36 [[ 0.99847414 0.04109949 -0.03688127 9.00974388] [-0.0403816 0.99898408 0.02000356 -0.42964648] [ 0.03766594 -0.01848371 0.99911943 -0.36037662] [ 0. 0. 0. 1. ]] SLAMing on 50.25240100800001 meters Centerline goodness : 0.889609 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.43, Z:-0.36 [[ 0.99830082 0.04460319 -0.037497 9.01139951] [-0.04371418 0.99875084 0.02420381 -0.42943169] [ 0.03852973 -0.02252353 0.99900358 -0.35915104] [ 0. 0. 0. 1. ]] SLAMing on 50.282401008 meters Centerline goodness : 0.887112 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.43, Z:-0.36 [[ 0.99829349 0.04467619 -0.03760515 9.01126061] [-0.04381823 0.99876688 0.02333833 -0.42644303] [ 0.03860145 -0.02165071 0.99902011 -0.35954407] [ 0. 0. 0. 1. ]] SLAMing on 50.312401008 meters Centerline goodness : 0.889107 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.42, Z:-0.36 [[ 0.99834307 0.04699933 -0.03319901 9.02309792] [-0.04658407 0.99882751 0.01317329 -0.42237382] [ 0.03377922 -0.01160492 0.99936194 -0.36328413] [ 0. 0. 0. 1. ]] SLAMing on 50.342401008 meters Centerline goodness : 0.888652 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.42, Z:-0.36 [[ 0.99833199 0.04708561 -0.03340943 9.02295476] [-0.04667522 0.99882605 0.01295945 -0.42124345] [ 0.03398041 -0.01137844 0.99935773 -0.36270539] [ 0. 0. 0. 1. ]] SLAMing on 50.372401008000004 meters Centerline goodness : 0.889664 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.42, Z:-0.36 [[ 0.99833858 0.04679829 -0.03361541 9.02368514] [-0.04641406 0.99884874 0.01212162 -0.41898782] [ 0.03414398 -0.01054126 0.99936133 -0.36350773] [ 0. 0. 0. 1. ]] SLAMing on 50.402401008000005 meters Centerline goodness : 0.888305 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.41, Z:-0.37 [[ 9.98366356e-01 4.61804062e-02 -3.36450381e-02 9.02549192e+00] [-4.58564132e-02 9.98894536e-01 1.03389795e-02 -4.13580681e-01] [ 3.40853030e-02 -8.77924853e-03 9.99380366e-01 -3.66595915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43240100800001 meters Centerline goodness : 0.888367 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.41, Z:-0.37 [[ 9.98384942e-01 4.53743056e-02 -3.41859614e-02 9.02782264e+00] [-4.50841606e-02 9.98940725e-01 9.21122555e-03 -4.11385596e-01] [ 3.45677020e-02 -7.65510351e-03 9.99373040e-01 -3.68376025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462401008 meters Centerline goodness : 0.883893 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.41, Z:-0.37 [[ 9.98402686e-01 4.44416436e-02 -3.48857584e-02 9.03046797e+00] [-4.41785317e-02 9.98989360e-01 8.27743072e-03 -4.10310546e-01] [ 3.52183641e-02 -6.72300749e-03 9.99357027e-01 -3.69852084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492401008 meters Centerline goodness : 0.883123 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.41, Z:-0.37 [[ 9.98421260e-01 4.29242109e-02 -3.62284305e-02 9.03425593e+00] [-4.26675409e-02 9.99058653e-01 7.82877813e-03 -4.10962444e-01] [ 3.65303710e-02 -6.27064048e-03 9.99312869e-01 -3.69880661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522401008 meters Centerline goodness : 0.882609 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98431538e-01 4.20152831e-02 -3.70024336e-02 9.03624136e+00] [-4.17583802e-02 9.99098153e-01 7.68889946e-03 -4.11163043e-01] [ 3.72921143e-02 -6.13167803e-03 9.99285595e-01 -3.69355473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552401008000004 meters Centerline goodness : 0.882802 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98442177e-01 4.11944467e-02 -3.76329241e-02 9.03796963e+00] [-4.09419465e-02 9.99133707e-01 7.45607908e-03 -4.10956544e-01] [ 3.79074720e-02 -5.90369866e-03 9.99263814e-01 -3.69050466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582401008000005 meters Centerline goodness : 0.882794 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98450969e-01 4.04752276e-02 -3.81761561e-02 9.03937708e+00] [-4.02224954e-02 9.99163601e-01 7.36545142e-03 -4.10751861e-01] [ 3.84423440e-02 -5.81850184e-03 9.99243880e-01 -3.68484355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612401008000006 meters Centerline goodness : 0.882288 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98479177e-01 3.92232472e-02 -3.87410660e-02 9.04114936e+00] [-3.89679917e-02 9.99213630e-01 7.32233081e-03 -4.09725878e-01] [ 3.89978068e-02 -5.80153330e-03 9.99222454e-01 -3.67267595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642401008 meters Centerline goodness : 0.881142 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98493699e-01 3.84062905e-02 -3.91827817e-02 9.04278242e+00] [-3.81577669e-02 9.99246708e-01 7.07120553e-03 -4.09087694e-01] [ 3.94248444e-02 -5.56542672e-03 9.99207039e-01 -3.67186493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672401008 meters Centerline goodness : 0.881370 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.41, Z:-0.37 [[ 9.98506549e-01 3.74222029e-02 -3.98026392e-02 9.04485372e+00] [-3.71843940e-02 9.99285970e-01 6.69858501e-03 -4.08281270e-01] [ 4.00248948e-02 -5.20854398e-03 9.99185107e-01 -3.67219628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702401008 meters Centerline goodness : 0.880717 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.41, Z:-0.36 [[ 0.99844656 0.03746082 -0.04124508 9.05266234] [-0.03695718 0.9992335 0.01290655 -0.41006123] [ 0.04169696 -0.0113622 0.9990657 -0.362189 ] [ 0. 0. 0. 1. ]] SLAMing on 50.732401008000004 meters Centerline goodness : 0.880717 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.41, Z:-0.36 [[ 0.99844604 0.03753047 -0.0411943 9.05255053] [-0.0370332 0.99923245 0.01276904 -0.4097605 ] [ 0.04164191 -0.01122364 0.99906956 -0.3622834 ] [ 0. 0. 0. 1. ]] SLAMing on 50.762401008000005 meters Centerline goodness : 0.879418 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.41, Z:-0.36 [[ 0.99845277 0.03612703 -0.04227181 9.05597422] [-0.03563556 0.99928887 0.01232285 -0.40933853] [ 0.04268694 -0.0107974 0.99903015 -0.36243831] [ 0. 0. 0. 1. ]] SLAMing on 50.792401008000006 meters Centerline goodness : 0.882898 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.41, Z:-0.36 [[ 0.99853996 0.03167166 -0.04375906 9.07101027] [-0.03093014 0.99936799 0.01752016 -0.40910833] [ 0.0442863 -0.01614111 0.99888848 -0.35775559] [ 0. 0. 0. 1. ]] SLAMing on 50.82240100800001 meters Centerline goodness : 0.881897 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.41, Z:-0.36 [[ 0.99854594 0.03082512 -0.04422461 9.07311647] [-0.03011387 0.99940763 0.01665981 -0.40680231] [ 0.04471195 -0.01530381 0.99888269 -0.3586997 ] [ 0. 0. 0. 1. ]] SLAMing on 50.852401008 meters Centerline goodness : 0.878648 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.40, Z:-0.36 [[ 0.99855265 0.02957523 -0.0449211 9.07638272] [-0.0289271 0.99946881 0.01501035 -0.40344531] [ 0.04534118 -0.01368919 0.99887776 -0.36118533] [ 0. 0. 0. 1. ]] SLAMing on 50.882401008 meters Centerline goodness : 0.876637 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.40, Z:-0.36 [[ 0.99867044 0.02591143 -0.04456397 9.03983164] [-0.02475747 0.99934867 0.02625447 -0.39873305] [ 0.04521524 -0.02511628 0.99866148 -0.35963804] [ 0. 0. 0. 1. ]] SLAMing on 50.912401008 meters Centerline goodness : 0.874145 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.39, Z:-0.36 [[ 0.99867026 0.02375742 -0.04575263 9.0445063 ] [-0.02271373 0.99947283 0.02319804 -0.39213027] [ 0.04627964 -0.02212798 0.99868341 -0.36305477] [ 0. 0. 0. 1. ]] SLAMing on 50.942401008000004 meters Centerline goodness : 0.878847 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.39, Z:-0.36 [[ 0.99876489 0.01973308 -0.0455993 9.04403953] [-0.01892523 0.9996574 0.01808064 -0.38710833] [ 0.04594047 -0.01719533 0.99879617 -0.36413104] [ 0. 0. 0. 1. ]] SLAMing on 50.972401008000006 meters Centerline goodness : 0.875825 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.38, Z:-0.37 [[ 0.99922753 0.01215729 -0.03737042 9.01190746] [-0.0112412 0.9996335 0.02462709 -0.38142862] [ 0.03765613 -0.02418798 0.99899798 -0.36633963] [ 0. 0. 0. 1. ]] SLAMing on 51.00240100800001 meters Centerline goodness : 0.879544 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.38, Z:-0.37 [[ 9.99328715e-01 6.17319727e-03 -3.61110810e-02 8.99221408e+00] [-5.24687562e-03 9.99656168e-01 2.56907638e-02 -3.75880277e-01] [ 3.62572590e-02 -2.54840476e-02 9.99017505e-01 -3.66049625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032401008 meters Centerline goodness : 0.874870 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.37, Z:-0.37 [[ 9.99343476e-01 4.54815308e-04 -3.62271921e-02 8.99370071e+00] [ 2.62538995e-04 9.99804039e-01 1.97943250e-02 -3.67712763e-01] [ 3.62290957e-02 -1.97908406e-02 9.99147524e-01 -3.67220440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062401008 meters Centerline goodness : 0.871462 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.36, Z:-0.37 [[ 9.99326627e-01 -6.93498407e-04 -3.66853128e-02 8.99544989e+00] [ 1.36575095e-03 9.99831554e-01 1.83029569e-02 -3.63553209e-01] [ 3.66664403e-02 -1.83407352e-02 9.99159241e-01 -3.68249175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092401008 meters Centerline goodness : 0.871684 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.36, Z:-0.37 [[ 9.99319402e-01 -1.29674411e-03 -3.68653107e-02 8.99599611e+00] [ 1.91954995e-03 9.99855955e-01 1.68637176e-02 -3.58439384e-01] [ 3.68381325e-02 -1.69230050e-02 9.99177944e-01 -3.68884929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122401008000004 meters Centerline goodness : 0.868591 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.35, Z:-0.37 [[ 9.99316643e-01 2.64456588e-03 -3.68680470e-02 8.99299587e+00] [-1.93406987e-03 9.99811989e-01 1.92936844e-02 -3.48289456e-01] [ 3.69121388e-02 -1.92091946e-02 9.99133875e-01 -3.65610628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152401008000005 meters Centerline goodness : 0.866134 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.34, Z:-0.36 [[ 9.99321082e-01 3.76247714e-03 -3.66499397e-02 8.99061306e+00] [-3.08407618e-03 9.99823191e-01 1.85492680e-02 -3.41380220e-01] [ 3.67132509e-02 -1.84236433e-02 9.99155997e-01 -3.64482907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18240100800001 meters Centerline goodness : 0.867926 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.34, Z:-0.36 [[ 9.99294044e-01 7.94475197e-03 -3.67191199e-02 8.98945390e+00] [-7.14073651e-03 9.99732999e-01 2.19758875e-02 -3.36895361e-01] [ 3.68839088e-02 -2.16981719e-02 9.99083964e-01 -3.62773688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212401008 meters Centerline goodness : 0.867091 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.33, Z:-0.36 [[ 0.99924985 0.01177342 -0.03689338 8.98914367] [-0.01086161 0.99963297 0.02481834 -0.33110778] [ 0.03717203 -0.024399 0.99901098 -0.36204709] [ 0. 0. 0. 1. ]] SLAMing on 51.242401008 meters Centerline goodness : 0.867474 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.32, Z:-0.36 [[ 0.99919724 0.0154978 -0.03694163 8.98913525] [-0.01448807 0.99951829 0.02744609 -0.32489719] [ 0.03734918 -0.02688885 0.99894045 -0.36198807] [ 0. 0. 0. 1. ]] SLAMing on 51.272401008 meters Centerline goodness : 0.864150 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.31, Z:-0.36 [[ 0.99916925 0.02269903 -0.03384623 8.9822646 ] [-0.02151993 0.99916246 0.03480331 -0.31403855] [ 0.03460789 -0.03404603 0.99882089 -0.35945114] [ 0. 0. 0. 1. ]] SLAMing on 51.302401008000004 meters Centerline goodness : 0.867601 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.31, Z:-0.36 [[ 0.99907752 0.0256505 -0.0344406 8.98425022] [-0.02444103 0.99908521 0.03509091 -0.30915169] [ 0.03530919 -0.03421678 0.99879051 -0.3598702 ] [ 0. 0. 0. 1. ]] SLAMing on 51.332401008000005 meters Centerline goodness : 0.871577 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.30, Z:-0.36 [[ 0.99891345 0.03315219 -0.03275446 8.97997594] [-0.03181844 0.99867543 0.04043473 -0.29988236] [ 0.03405157 -0.0393486 0.99864517 -0.35712269] [ 0. 0. 0. 1. ]] SLAMing on 51.362401008000006 meters Centerline goodness : 0.874240 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.30, Z:-0.36 [[ 0.99880382 0.03631449 -0.03274438 8.98020043] [-0.03494057 0.9985233 0.0415977 -0.29609612] [ 0.03420662 -0.04040383 0.99859774 -0.35669807] [ 0. 0. 0. 1. ]] SLAMing on 51.392401008 meters Centerline goodness : 0.873878 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.29, Z:-0.36 [[ 0.99868363 0.03867512 -0.03369349 8.98302602] [-0.03731451 0.99849805 0.04011583 -0.29250447] [ 0.03519436 -0.03880576 0.99862679 -0.35730876] [ 0. 0. 0. 1. ]] SLAMing on 51.422401008 meters Centerline goodness : 0.874579 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.29, Z:-0.36 [[ 0.99855167 0.04133073 -0.03444312 8.98581105] [-0.03995606 0.99841297 0.03968705 -0.28970389] [ 0.03602875 -0.03825336 0.99861835 -0.35828961] [ 0. 0. 0. 1. ]] SLAMing on 51.452401008 meters Centerline goodness : 0.872448 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.29, Z:-0.36 [[ 0.99844265 0.04443647 -0.03372952 8.98521674] [-0.04298374 0.99816552 0.04263795 -0.28731368] [ 0.03556233 -0.04112172 0.99852107 -0.35880189] [ 0. 0. 0. 1. ]] SLAMing on 51.482401008000004 meters Centerline goodness : 0.871958 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.29, Z:-0.36 [[ 0.99835717 0.04647798 -0.03350746 8.98663256] [-0.04494936 0.99797456 0.04501478 -0.28515462] [ 0.03553179 -0.04343469 0.99842422 -0.36089788] [ 0. 0. 0. 1. ]] SLAMing on 51.512401008000005 meters Centerline goodness : 0.874694 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.28, Z:-0.36 [[ 0.99828678 0.04908375 -0.03184792 8.98387328] [-0.04746622 0.99763569 0.04969895 -0.28173786] [ 0.03421203 -0.0481021 0.99825634 -0.36110631] [ 0. 0. 0. 1. ]] SLAMing on 51.542401008000006 meters Centerline goodness : 0.880315 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.28, Z:-0.36 [[ 0.99832748 0.04829794 -0.03177358 8.98430886] [-0.04671962 0.99772167 0.04866981 -0.28047391] [ 0.03405184 -0.04710396 0.99830942 -0.3617347 ] [ 0. 0. 0. 1. ]] SLAMing on 51.57240100800001 meters Centerline goodness : 0.880650 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.28, Z:-0.36 [[ 0.99838263 0.04733845 -0.03148313 8.98387433] [-0.04580338 0.99780562 0.04781202 -0.27960168] [ 0.03367739 -0.04629265 0.99836007 -0.36183557] [ 0. 0. 0. 1. ]] SLAMing on 51.602401008 meters Centerline goodness : 0.883002 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.28, Z:-0.36 [[ 0.99845521 0.04608138 -0.03104345 8.98347017] [-0.04459257 0.99789643 0.04705537 -0.27839576] [ 0.03314653 -0.04559837 0.99840978 -0.36245115] [ 0. 0. 0. 1. ]] SLAMing on 51.632401008 meters Centerline goodness : 0.885923 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.27, Z:-0.36 [[ 0.99858236 0.04477467 -0.02878373 8.98017174] [-0.04334722 0.99788518 0.04843745 -0.27469267] [ 0.03089163 -0.04712109 0.99841139 -0.36402769] [ 0. 0. 0. 1. ]] SLAMing on 51.662401008 meters Centerline goodness : 0.883356 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.27, Z:-0.37 [[ 0.99865903 0.04540149 -0.02487652 8.99498986] [-0.04444952 0.99830493 0.03757013 -0.27043875] [ 0.0265401 -0.036414 0.99898431 -0.3703141 ] [ 0. 0. 0. 1. ]] SLAMing on 51.692401008000004 meters Centerline goodness : 0.881242 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.27, Z:-0.38 [[ 0.99871992 0.04588325 -0.02128958 9.00983069] [-0.04532128 0.99862967 0.02616789 -0.26614536] [ 0.02246108 -0.02516953 0.99943084 -0.37679018] [ 0. 0. 0. 1. ]] SLAMing on 51.722401008000006 meters Centerline goodness : 0.883275 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.26, Z:-0.38 [[ 0.99876885 0.0464784 -0.01733625 9.02361954] [-0.04622208 0.99881999 0.01490433 -0.262129 ] [ 0.01800853 -0.01408466 0.99973862 -0.38242634] [ 0. 0. 0. 1. ]] SLAMing on 51.75240100800001 meters Centerline goodness : 0.887155 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.26, Z:-0.39 [[ 9.98757432e-01 4.82180573e-02 -1.25940683e-02 9.03570389e+00] [-4.81655499e-02 9.98829498e-01 4.43994847e-03 -2.56805141e-01] [ 1.27934126e-02 -3.82783131e-03 9.99910834e-01 -3.87019239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782401008 meters Centerline goodness : 0.887105 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.25, Z:-0.39 [[ 9.98774540e-01 4.77596775e-02 -1.29780819e-02 9.03683108e+00] [-4.77211212e-02 9.98855363e-01 3.26466199e-03 -2.53537846e-01] [ 1.31191459e-02 -2.64133266e-03 9.99910452e-01 -3.87719580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812401008 meters Centerline goodness : 0.890394 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.25, Z:-0.39 [[ 9.98787735e-01 4.73463364e-02 -1.34679229e-02 9.03832390e+00] [-4.73247270e-02 9.98877714e-01 1.91888683e-03 -2.49348204e-01] [ 1.35436603e-02 -1.27919485e-03 9.99907462e-01 -3.88784951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842401008 meters Centerline goodness : 0.893006 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.24, Z:-0.39 [[ 9.98798488e-01 4.70344478e-02 -1.37601520e-02 9.03953788e+00] [-4.70331103e-02 9.98893242e-01 4.20970524e-04 -2.44670275e-01] [ 1.37647229e-02 2.26718024e-04 9.99905236e-01 -3.90149432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872401008000004 meters Centerline goodness : 0.889903 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.24, Z:-0.39 [[ 9.98578174e-01 5.14390309e-02 -1.39877281e-02 9.03986097e+00] [-5.13970155e-02 9.98672691e-01 3.34704315e-03 -2.39766235e-01] [ 1.41413307e-02 -2.62335676e-03 9.99896565e-01 -3.90054120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902401008000005 meters Centerline goodness : 0.891940 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.24, Z:-0.39 [[ 9.98555209e-01 5.18278218e-02 -1.41905073e-02 9.04003520e+00] [-5.17955556e-02 9.98654240e-01 2.63218906e-03 -2.36700491e-01] [ 1.43078309e-02 -1.89338088e-03 9.99895845e-01 -3.90235491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93240100800001 meters Centerline goodness : 0.894077 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98529079e-01 5.22586498e-02 -1.44468390e-02 9.04024204e+00] [-5.22333759e-02 9.98632652e-01 2.12152053e-03 -2.34262649e-01] [ 1.45379530e-02 -1.36379277e-03 9.99893388e-01 -3.90237144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters Centerline goodness : 0.890709 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98512217e-01 5.24897919e-02 -1.47707559e-02 9.04092122e+00] [-5.24738245e-02 9.98621223e-01 1.46677581e-03 -2.31803216e-01] [ 1.48273811e-02 -6.89515515e-04 9.99889831e-01 -3.90707224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992401008 meters Centerline goodness : 0.893778 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98284321e-01 5.66072041e-02 -1.49679101e-02 9.04196051e+00] [-5.65372897e-02 9.98387697e-01 5.05389465e-03 -2.30433825e-01] [ 1.52298642e-02 -4.19897872e-03 9.99875202e-01 -3.91216268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401008 meters Centerline goodness : 0.890186 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98280187e-01 5.65759371e-02 -1.53568372e-02 9.04296164e+00] [-5.65113119e-02 9.98391314e-01 4.61040146e-03 -2.29066499e-01] [ 1.55929707e-02 -3.73463741e-03 9.99871448e-01 -3.91693561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052401008000004 meters Centerline goodness : 0.890130 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98280060e-01 5.65287835e-02 -1.55376202e-02 9.04373093e+00] [-5.64676357e-02 9.98394968e-01 4.34675812e-03 -2.28528525e-01] [ 1.57583988e-02 -3.46190929e-03 9.99869836e-01 -3.92334055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008000005 meters Centerline goodness : 0.887597 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.23, Z:-0.39 [[ 9.98278094e-01 5.64636342e-02 -1.58966906e-02 9.04469756e+00] [-5.64003619e-02 9.98398532e-01 4.40114703e-03 -2.29369181e-01] [ 1.61197373e-02 -3.49698957e-03 9.99863953e-01 -3.92659582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112401008000006 meters Centerline goodness : 0.887127 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.23, Z:-0.40 [[ 9.98298387e-01 5.70438251e-02 -1.20968285e-02 9.05901985e+00] [-5.71172890e-02 9.98350530e-01 -5.81676549e-03 -2.30981180e-01] [ 1.17450646e-02 6.49780565e-03 9.99909912e-01 -3.98049560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters Centerline goodness : 0.884958 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.23, Z:-0.40 [[ 9.98301516e-01 5.68815208e-02 -1.25927206e-02 9.06033898e+00] [-5.69558070e-02 9.98360877e-01 -5.62098497e-03 -2.32716521e-01] [ 1.22523494e-02 6.32866638e-03 9.99904909e-01 -3.98436679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172401008 meters Centerline goodness : 0.882691 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.23, Z:-0.40 [[ 9.98310822e-01 5.66060441e-02 -1.30865760e-02 9.06188621e+00] [-5.66827323e-02 9.98376731e-01 -5.56507597e-03 -2.34045452e-01] [ 1.27503161e-02 6.29745846e-03 9.99898881e-01 -3.99022887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401008 meters Centerline goodness : 0.882057 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.24, Z:-0.40 [[ 9.98319471e-01 5.63511856e-02 -1.35195021e-02 9.06352024e+00] [-5.64306085e-02 9.98391005e-01 -5.56665606e-03 -2.35433480e-01] [ 1.31840616e-02 6.32021487e-03 9.99893112e-01 -4.00071139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232401008000004 meters Centerline goodness : 0.879198 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.24, Z:-0.40 [[ 9.98287103e-01 5.68163021e-02 -1.39559544e-02 9.06422699e+00] [-5.68764139e-02 9.98373419e-01 -3.94847493e-03 -2.40363840e-01] [ 1.37089162e-02 4.73547624e-03 9.99894815e-01 -3.99599997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008000005 meters Centerline goodness : 0.879144 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.24, Z:-0.40 [[ 9.98340021e-01 5.52861424e-02 -1.61444947e-02 9.06849385e+00] [-5.54162261e-02 9.98433463e-01 -7.72410136e-03 -2.42156194e-01] [ 1.56921680e-02 8.60594649e-03 9.99839834e-01 -3.99754063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292401008000006 meters Centerline goodness : 0.876152 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.24, Z:-0.40 [[ 0.99838668 0.05364219 -0.01861571 9.07346933] [-0.0538822 0.9984673 -0.01263982 -0.24421234] [ 0.01790915 0.01362249 0.99974681 -0.40000891] [ 0. 0. 0. 1. ]] SLAMing on 52.32240100800001 meters Centerline goodness : 0.875955 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.25, Z:-0.40 [[ 0.99840219 0.05242998 -0.02107529 9.07837878] [-0.05279579 0.99845732 -0.01719268 -0.2466493 ] [ 0.02014137 0.01827789 0.99963005 -0.40008727] [ 0. 0. 0. 1. ]] SLAMing on 52.352401008 meters Centerline goodness : 0.876107 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.25, Z:-0.40 [[ 0.99838747 0.05148212 -0.02391754 9.0839531 ] [-0.05199164 0.99842262 -0.021193 -0.25141889] [ 0.02278875 0.02240233 0.99948927 -0.40073299] [ 0. 0. 0. 1. ]] SLAMing on 52.382401008 meters Centerline goodness : 0.874956 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.25, Z:-0.40 [[ 0.99838354 0.05136167 -0.02433681 9.08469032] [-0.05186178 0.99844622 -0.02038375 -0.25404929] [ 0.02325205 0.02161295 0.99949598 -0.4008219 ] [ 0. 0. 0. 1. ]] SLAMing on 52.412401008 meters Centerline goodness : 0.874534 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.26, Z:-0.40 [[ 0.99844457 0.04958674 -0.02548731 9.08847476] [-0.0501732 0.99847774 -0.02290961 -0.25622379] [ 0.0243125 0.02415275 0.9994126 -0.40327436] [ 0. 0. 0. 1. ]] SLAMing on 52.442401008000004 meters Centerline goodness : 0.872021 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.26, Z:-0.41 [[ 0.99847686 0.04796573 -0.02726275 9.09313859] [-0.04867357 0.99847832 -0.02592154 -0.25898022] [ 0.02597792 0.02720903 0.99929216 -0.40534649] [ 0. 0. 0. 1. ]] SLAMing on 52.472401008000006 meters Centerline goodness : 0.869508 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.26, Z:-0.41 [[ 0.99854352 0.04581922 -0.0284856 9.09561279] [-0.04663291 0.99850291 -0.02858864 -0.26190951] [ 0.02713305 0.02987537 0.9991853 -0.40594371] [ 0. 0. 0. 1. ]] SLAMing on 52.50240100800001 meters Centerline goodness : 0.870850 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.27, Z:-0.41 [[ 0.99869264 0.04052356 -0.0311586 9.10019788] [-0.04162665 0.99849849 -0.03560878 -0.27008431] [ 0.02966882 0.03685925 0.99887995 -0.40658137] [ 0. 0. 0. 1. ]] SLAMing on 52.532401008 meters Centerline goodness : 0.868460 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.27, Z:-0.41 [[ 0.99875808 0.03818821 -0.03199938 9.10160122] [-0.03937677 0.99852521 -0.03737491 -0.27473875] [ 0.03052491 0.03858852 0.99878884 -0.4070746 ] [ 0. 0. 0. 1. ]] SLAMing on 52.562401008 meters Centerline goodness : 0.866459 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.28, Z:-0.41 [[ 0.99880708 0.03695607 -0.0319165 9.10154319] [-0.03810028 0.99862456 -0.03601881 -0.2795576 ] [ 0.03054149 0.03719187 0.99884132 -0.40794642] [ 0. 0. 0. 1. ]] SLAMing on 52.592401008 meters Centerline goodness : 0.863259 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.28, Z:-0.41 [[ 0.99883725 0.0358386 -0.03224503 9.10349899] [-0.03696802 0.99869843 -0.03513975 -0.283967 ] [ 0.0309437 0.03629093 0.99886208 -0.41054032] [ 0. 0. 0. 1. ]] SLAMing on 52.622401008000004 meters Centerline goodness : 0.860718 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.29, Z:-0.42 [[ 0.99887075 0.03347862 -0.03371068 9.10919759] [-0.03467208 0.99876932 -0.03546398 -0.29202726] [ 0.03248191 0.03659276 0.99880223 -0.41604581] [ 0. 0. 0. 1. ]] SLAMing on 52.652401008000005 meters Centerline goodness : 0.860718 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.29, Z:-0.42 [[ 0.99887075 0.03347862 -0.03371068 9.10919759] [-0.03467208 0.99876932 -0.03546398 -0.29202726] [ 0.03248191 0.03659276 0.99880223 -0.41604581] [ 0. 0. 0. 1. ]] SLAMing on 52.68240100800001 meters Centerline goodness : 0.858580 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.30, Z:-0.42 [[ 0.99900221 0.03913536 -0.02151785 9.11120535] [-0.03984349 0.99864323 -0.03352891 -0.30091449] [ 0.02017649 0.0343528 0.99920608 -0.42297322] [ 0. 0. 0. 1. ]] SLAMing on 52.712401008 meters Centerline goodness : 0.859367 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.31, Z:-0.42 [[ 0.99896757 0.03964481 -0.02218316 9.11667187] [-0.0402099 0.99886234 -0.02563553 -0.30907012] [ 0.02114161 0.02650105 0.9994252 -0.4172602 ] [ 0. 0. 0. 1. ]] SLAMing on 52.742401008 meters Centerline goodness : 0.860004 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.32, Z:-0.42 [[ 0.99904967 0.03750508 -0.02220636 9.11594316] [-0.03806916 0.99894845 -0.02554866 -0.32098874] [ 0.0212248 0.02636976 0.99942691 -0.41579934] [ 0. 0. 0. 1. ]] SLAMing on 52.772401008 meters Centerline goodness : 0.857555 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.33, Z:-0.42 [[ 0.99904261 0.0374322 -0.02264288 9.11757948] [-0.03798037 0.99898337 -0.02428395 -0.32600839] [ 0.02171086 0.02512069 0.99944864 -0.41603692] [ 0. 0. 0. 1. ]] SLAMing on 52.802401008000004 meters Centerline goodness : 0.858606 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.33, Z:-0.42 [[ 0.9990374 0.0373328 -0.02303316 9.11935934] [-0.03786881 0.99901124 -0.02329149 -0.33011307] [ 0.02214085 0.02414131 0.99946335 -0.41676045] [ 0. 0. 0. 1. ]] SLAMing on 52.832401008000005 meters Centerline goodness : 0.858288 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.34, Z:-0.42 [[ 0.99898525 0.03858483 -0.02323091 9.12121643] [-0.03906192 0.9990276 -0.02044577 -0.33560106] [ 0.02241942 0.02133247 0.99952103 -0.41697162] [ 0. 0. 0. 1. ]] SLAMing on 52.862401008000006 meters Centerline goodness : 0.859956 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.35, Z:-0.41 [[ 0.99891055 0.04060116 -0.02300577 9.11879841] [-0.04094078 0.99905652 -0.01448873 -0.348469 ] [ 0.02239581 0.01541482 0.99963034 -0.41071856] [ 0. 0. 0. 1. ]] SLAMing on 52.89240100800001 meters Centerline goodness : 0.861977 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.36, Z:-0.40 [[ 9.98743316e-01 4.42801024e-02 -2.34747046e-02 9.11968222e+00] [-4.44295000e-02 9.98995212e-01 -5.88104911e-03 -3.57883458e-01] [ 2.31907040e-02 6.91662787e-03 9.99707133e-01 -4.03846749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922401008 meters Centerline goodness : 0.862511 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.36, Z:-0.40 [[ 9.98685488e-01 4.57217339e-02 -2.31693421e-02 9.11721674e+00] [-4.58110708e-02 9.98944540e-01 -3.33954978e-03 -3.63149885e-01] [ 2.29921977e-02 4.39657227e-03 9.99725977e-01 -4.00540440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952401008 meters Centerline goodness : 0.863630 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.37, Z:-0.40 [[ 9.98584737e-01 5.03903664e-02 -1.70098203e-02 9.12788425e+00] [-5.05323107e-02 9.98690220e-01 -8.02054448e-03 -3.68736461e-01] [ 1.65833830e-02 8.86873883e-03 9.99823153e-01 -4.02606213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008000004 meters Centerline goodness : 0.864594 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.37, Z:-0.40 [[ 9.98386474e-01 5.41057422e-02 -1.72341639e-02 9.12946390e+00] [-5.41700341e-02 9.98526321e-01 -3.28542935e-03 -3.72930306e-01] [ 1.70310057e-02 4.21370347e-03 9.99846083e-01 -4.02720282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012401008000005 meters Centerline goodness : 0.862826 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.38, Z:-0.40 [[ 9.98367249e-01 5.45009392e-02 -1.71021643e-02 9.12973241e+00] [-5.45597666e-02 9.98506024e-01 -2.99189629e-03 -3.75061900e-01] [ 1.69135529e-02 3.92010136e-03 9.99849271e-01 -4.03865702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008000006 meters Centerline goodness : 0.865433 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.38, Z:-0.40 [[ 9.98337722e-01 5.51317154e-02 -1.68014060e-02 9.12917561e+00] [-5.51735475e-02 9.98474704e-01 -2.03617068e-03 -3.78866826e-01] [ 1.66635213e-02 2.95977917e-03 9.99856773e-01 -4.04056185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07240100800001 meters Centerline goodness : 0.862432 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.39, Z:-0.40 [[ 9.98488350e-01 5.24555800e-02 -1.64142393e-02 9.12788857e+00] [-5.25322519e-02 9.98610078e-01 -4.27498672e-03 -3.85624596e-01] [ 1.61671778e-02 5.13080139e-03 9.99856138e-01 -4.04594343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters Centerline goodness : 0.865639 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.39, Z:-0.40 [[ 9.98509246e-01 5.18316720e-02 -1.71103051e-02 9.13033226e+00] [-5.18914684e-02 9.98648014e-01 -3.06918724e-03 -3.90889278e-01] [ 1.69280911e-02 3.95249070e-03 9.99848897e-01 -4.04370177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132401008 meters Centerline goodness : 0.863688 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.40, Z:-0.40 [[ 9.98562107e-01 5.05821825e-02 -1.77527681e-02 9.13303444e+00] [-5.06319214e-02 9.98714586e-01 -2.36327251e-03 -3.96767318e-01] [ 1.76104089e-02 3.25873114e-03 9.99839614e-01 -4.04471289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162401008 meters Centerline goodness : 0.863373 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.40, Z:-0.40 [[ 9.98614606e-01 4.91916536e-02 -1.86828767e-02 9.13639810e+00] [-4.92278583e-02 9.98786474e-01 -1.48264627e-03 -4.03119534e-01] [ 1.85872707e-02 2.40031022e-03 9.99824361e-01 -4.04213501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192401008000004 meters Centerline goodness : 0.873168 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.41, Z:-0.41 [[ 9.98852572e-01 4.38128147e-02 -1.93384870e-02 9.13964724e+00] [-4.39068291e-02 9.99025658e-01 -4.46379810e-03 -4.12750271e-01] [ 1.91240731e-02 5.30776786e-03 9.99803029e-01 -4.05619838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222401008000006 meters Centerline goodness : 0.867231 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.42, Z:-0.41 [[ 9.99021283e-01 3.96961027e-02 -1.95113960e-02 9.14057542e+00] [-3.98606721e-02 9.99172261e-01 -8.11910647e-03 -4.15640286e-01] [ 1.91729488e-02 8.88889752e-03 9.99776668e-01 -4.06915430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25240100800001 meters Centerline goodness : 0.867572 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.42, Z:-0.41 [[ 9.99045436e-01 3.86230998e-02 -2.04076930e-02 9.14380386e+00] [-3.87691099e-02 9.99225003e-01 -6.80798601e-03 -4.21661086e-01] [ 2.01289316e-02 7.59267544e-03 9.99768562e-01 -4.06372165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282401008 meters Centerline goodness : 0.871732 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.43, Z:-0.41 [[ 9.99058668e-01 3.78079763e-02 -2.12681419e-02 9.14652662e+00] [-3.79291278e-02 9.99266260e-01 -5.32199161e-03 -4.27746720e-01] [ 2.10513229e-02 6.12366393e-03 9.99759642e-01 -4.05367887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312401008 meters Centerline goodness : 0.871293 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.43, Z:-0.40 [[ 9.99058998e-01 3.74173313e-02 -2.19331303e-02 9.14851231e+00] [-3.75075347e-02 9.99289437e-01 -3.71566475e-03 -4.33257591e-01] [ 2.17785152e-02 4.53482595e-03 9.99752535e-01 -4.04163603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342401008 meters Centerline goodness : 0.874079 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.44, Z:-0.40 [[ 9.99045824e-01 3.76603710e-02 -2.21164798e-02 9.14926748e+00] [-3.76917047e-02 9.99288913e-01 -1.00146705e-03 -4.41623050e-01] [ 2.20630374e-02 1.83411930e-03 9.99754899e-01 -4.02258216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372401008000004 meters Centerline goodness : 0.875414 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.44, Z:-0.40 [[ 9.99035793e-01 3.77454221e-02 -2.24224692e-02 9.15013209e+00] [-3.77552663e-02 9.99287016e-01 -1.57091443e-05 -4.44747141e-01] [ 2.24058894e-02 8.62260293e-04 9.99748585e-01 -4.01726869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402401008000005 meters Centerline goodness : 0.875096 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.45, Z:-0.40 [[ 9.99029227e-01 3.75307469e-02 -2.30661467e-02 9.15131483e+00] [-3.75047920e-02 9.99295235e-01 1.55696182e-03 -4.49228863e-01] [ 2.31083244e-02 -6.90359331e-04 9.99732729e-01 -3.99574223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43240100800001 meters Centerline goodness : 0.878202 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.45, Z:-0.40 [[ 9.99028146e-01 3.71243788e-02 -2.37601516e-02 9.15245349e+00] [-3.70387192e-02 9.99305684e-01 4.03531860e-03 -4.54743470e-01] [ 2.38934632e-02 -3.15135127e-03 9.99709544e-01 -3.95468743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462401008 meters Centerline goodness : 0.880350 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.46, Z:-0.39 [[ 9.99170885e-01 3.32115354e-02 -2.35485822e-02 9.15158291e+00] [-3.32011320e-02 9.99448344e-01 8.32727633e-04 -4.58171990e-01] [ 2.35632476e-02 -5.01976202e-05 9.99722347e-01 -3.94867928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492401008 meters Centerline goodness : 0.881049 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.46, Z:-0.40 [[ 9.99183852e-01 3.22175583e-02 -2.43651041e-02 9.15468260e+00] [-3.22123483e-02 9.99480864e-01 6.06388111e-04 -4.58732582e-01] [ 2.43719916e-02 1.78964011e-04 9.99702943e-01 -3.95743913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522401008 meters Centerline goodness : 0.875634 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.46, Z:-0.40 [[ 9.99126738e-01 3.30007419e-02 -2.56263859e-02 9.16129973e+00] [-3.28905680e-02 9.99447865e-01 4.70901708e-03 -4.60595082e-01] [ 2.57676377e-02 -3.86203849e-03 9.99660499e-01 -3.95309312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552401008000004 meters Centerline goodness : 0.877050 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.46, Z:-0.40 [[ 9.99147402e-01 3.17933139e-02 -2.63373325e-02 9.16466356e+00] [-3.17044920e-02 9.99490126e-01 3.78331768e-03 -4.59518226e-01] [ 2.64441880e-02 -2.94508028e-03 9.99645953e-01 -3.97243949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582401008000005 meters Centerline goodness : 0.870662 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.46, Z:-0.40 [[ 9.99163414e-01 3.04101773e-02 -2.73439877e-02 9.16851171e+00] [-3.03378154e-02 9.99535026e-01 3.05742517e-03 -4.59094910e-01] [ 2.74242504e-02 -2.22531051e-03 9.99621408e-01 -3.98608271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612401008000006 meters Centerline goodness : 0.871730 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.46, Z:-0.40 [[ 9.99067928e-01 3.26857813e-02 -2.81942250e-02 9.17212035e+00] [-3.24829632e-02 9.99443226e-01 7.62198801e-03 -4.61949585e-01] [ 2.84276578e-02 -6.69905180e-03 9.99573404e-01 -3.97337913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64240100800001 meters Centerline goodness : 0.868720 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.46, Z:-0.40 [[ 9.99068012e-01 3.20926189e-02 -2.88647110e-02 9.17389683e+00] [-3.18906811e-02 9.99463750e-01 7.42948231e-03 -4.61944476e-01] [ 2.90876638e-02 -6.50204283e-03 9.99555717e-01 -3.97294135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672401008 meters Centerline goodness : 0.868479 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.46, Z:-0.40 [[ 9.99063920e-01 3.15665576e-02 -2.95776133e-02 9.17537922e+00] [-3.13546380e-02 9.99479416e-01 7.60159233e-03 -4.62768225e-01] [ 2.98021718e-02 -6.66708128e-03 9.99533582e-01 -3.96384625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702401008 meters Centerline goodness : 0.868209 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.46, Z:-0.40 [[ 9.99065227e-01 3.09080456e-02 -3.02219242e-02 9.17741856e+00] [-3.07055965e-02 9.99502969e-01 7.14016894e-03 -4.62216511e-01] [ 3.04275916e-02 -6.20551229e-03 9.99517710e-01 -3.96935427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732401008000004 meters Centerline goodness : 0.870847 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.46, Z:-0.40 [[ 9.99070194e-01 3.02588423e-02 -3.07107489e-02 9.17933746e+00] [-3.00712306e-02 9.99526279e-01 6.55268595e-03 -4.61172222e-01] [ 3.08944772e-02 -5.62308321e-03 9.99506834e-01 -3.97835593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762401008000005 meters Centerline goodness : 0.876953 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.46, Z:-0.40 [[ 9.99075318e-01 2.95406826e-02 -3.12387010e-02 9.18145754e+00] [-2.93821807e-02 9.99553004e-01 5.52092148e-03 -4.59398490e-01] [ 3.13878292e-02 -4.59795523e-03 9.99496705e-01 -3.99514579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792401008000006 meters Centerline goodness : 0.871619 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.46, Z:-0.40 [[ 9.99078287e-01 2.91210750e-02 -3.15363217e-02 9.18240839e+00] [-2.89731797e-02 9.99566991e-01 5.13663339e-03 -4.58915537e-01] [ 3.16722505e-02 -4.21819138e-03 9.99489407e-01 -3.99836622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82240100800001 meters Centerline goodness : 0.872858 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 0.99896996 0.03121338 -0.03293533 9.18719878] [-0.0308664 0.99946308 0.01099184 -0.46224783] [ 0.03326074 -0.00996392 0.99939704 -0.39603766] [ 0. 0. 0. 1. ]] SLAMing on 53.852401008 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 9.99077366e-01 2.74729070e-02 -3.30099369e-02 9.18681243e+00] [-2.72788815e-02 9.99607922e-01 6.31392848e-03 -4.59601239e-01] [ 3.31704564e-02 -5.40762888e-03 9.99435080e-01 -3.96902573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882401008 meters Centerline goodness : 0.875454 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 9.99071372e-01 2.69765026e-02 -3.35955535e-02 9.18824273e+00] [-2.67728879e-02 9.99620435e-01 6.49602203e-03 -4.59859543e-01] [ 3.37580417e-02 -5.59053966e-03 9.99414399e-01 -3.96173322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912401008 meters Centerline goodness : 0.875156 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 9.99068300e-01 2.64735935e-02 -3.40834335e-02 9.18975118e+00] [-2.62704334e-02 9.99634418e-01 6.39483786e-03 -4.59227480e-01] [ 3.42402676e-02 -5.49349322e-03 9.99398532e-01 -3.96063799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942401008000004 meters Centerline goodness : 0.874117 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 0.99895265 0.0294397 -0.0350273 9.19293576] [-0.02909039 0.99952225 0.01044093 -0.45935159] [ 0.03531794 -0.00941104 0.99933181 -0.39552924] [ 0. 0. 0. 1. ]] SLAMing on 53.972401008000006 meters Centerline goodness : 0.873430 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.46, Z:-0.40 [[ 9.98953848e-01 2.93120657e-02 -3.51000217e-02 9.19337573e+00] [-2.89898521e-02 9.99533085e-01 9.65398801e-03 -4.57550414e-01] [ 3.53666113e-02 -8.62634404e-03 9.99337175e-01 -3.96570841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00240100800001 meters Centerline goodness : 0.874818 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.46, Z:-0.39 [[ 0.9988194 0.03263259 -0.03598499 9.19566321] [-0.03211457 0.99937341 0.01488071 -0.4596662 ] [ 0.03644804 -0.0137075 0.99924153 -0.39380204] [ 0. 0. 0. 1. ]] SLAMing on 54.032401008 meters Centerline goodness : 0.875898 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.46, Z:-0.40 [[ 9.98905846e-01 3.48702582e-02 -3.11636867e-02 9.20862477e+00] [-3.47226845e-02 9.99383121e-01 5.26429874e-03 -4.56233992e-01] [ 3.13280299e-02 -4.17645193e-03 9.99500431e-01 -3.98672317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062401008 meters Centerline goodness : 0.873293 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.45, Z:-0.40 [[ 9.98896206e-01 3.51142463e-02 -3.11987101e-02 9.20822688e+00] [-3.49680083e-02 9.99374795e-01 5.22078917e-03 -4.54942488e-01] [ 3.13625286e-02 -4.12406974e-03 9.99499567e-01 -3.98138723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092401008 meters Centerline goodness : 0.877292 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.45, Z:-0.40 [[ 9.98894224e-01 3.51490163e-02 -3.12229906e-02 9.20818921e+00] [-3.50148466e-02 9.99375102e-01 4.83373781e-03 -4.53263573e-01] [ 3.13733806e-02 -3.73512455e-03 9.99500755e-01 -3.98276397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008000004 meters Centerline goodness : 0.876516 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.46, Z:-0.40 [[ 9.98743993e-01 3.86134125e-02 -3.19286868e-02 9.21016347e+00] [-3.83122253e-02 9.99215860e-01 9.99193370e-03 -4.55743270e-01] [ 3.22894729e-02 -8.75612472e-03 9.99440203e-01 -3.96002792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152401008000005 meters Centerline goodness : 0.877774 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.46, Z:-0.40 [[ 9.98741220e-01 3.82704123e-02 -3.24245334e-02 9.21147475e+00] [-3.79615750e-02 9.99228281e-01 1.00876867e-02 -4.56850358e-01] [ 3.27855707e-02 -8.84410222e-03 9.99423278e-01 -3.95863203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18240100800001 meters Centerline goodness : 0.880116 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.46, Z:-0.40 [[ 9.98747056e-01 3.76406200e-02 -3.29772843e-02 9.21334113e+00] [-3.73290268e-02 9.99252851e-01 1.00142028e-02 -4.57637953e-01] [ 3.33295862e-02 -8.77064563e-03 9.99405931e-01 -3.96065000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212401008 meters Centerline goodness : 0.879570 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.46, Z:-0.39 [[ 0.99872936 0.03730205 -0.03388543 9.22029523] [-0.03681468 0.9992111 0.01489502 -0.46044798] [ 0.03441431 -0.01362861 0.99931472 -0.39316644] [ 0. 0. 0. 1. ]] SLAMing on 54.242401008 meters Centerline goodness : 0.882059 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.46, Z:-0.39 [[ 0.99874482 0.03609185 -0.03472995 9.22364128] [-0.0356105 0.99926228 0.01438022 -0.46126572] [ 0.03522333 -0.01312542 0.99929327 -0.39440918] [ 0. 0. 0. 1. ]] SLAMing on 54.272401008 meters Centerline goodness : 0.880964 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.46, Z:-0.40 [[ 0.99877734 0.03303965 -0.03677229 9.23172907] [-0.03256673 0.99937992 0.01338631 -0.46150413] [ 0.03719176 -0.01217239 0.99923401 -0.3960948 ] [ 0. 0. 0. 1. ]] SLAMing on 54.302401008000004 meters Centerline goodness : 0.878986 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.46, Z:-0.40 [[ 0.99878036 0.03176034 -0.03780306 9.23533502] [-0.03130983 0.99943218 0.0124504 -0.4606584 ] [ 0.03817702 -0.01125161 0.99920764 -0.39737746] [ 0. 0. 0. 1. ]] SLAMing on 54.332401008000005 meters Centerline goodness : 0.880519 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.46, Z:-0.40 [[ 0.99878374 0.03031923 -0.03888168 9.23931423] [-0.02988669 0.9994853 0.0116581 -0.4596887 ] [ 0.03921514 -0.01048188 0.99917581 -0.39850813] [ 0. 0. 0. 1. ]] SLAMing on 54.362401008000006 meters Centerline goodness : 0.879656 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.46, Z:-0.40 [[ 0.9987089 0.0308195 -0.04038192 9.24723255] [-0.0301616 0.99940382 0.01680129 -0.46063348] [ 0.04087565 -0.01556161 0.99904305 -0.39539812] [ 0. 0. 0. 1. ]] SLAMing on 54.39240100800001 meters Centerline goodness : 0.878558 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.46, Z:-0.40 [[ 0.99872187 0.02773412 -0.04225462 9.25471171] [-0.02707619 0.99950429 0.01606421 -0.45974514] [ 0.0426792 -0.01489959 0.99897772 -0.39599483] [ 0. 0. 0. 1. ]] SLAMing on 54.422401008 meters Centerline goodness : 0.882138 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.46, Z:-0.40 [[ 0.99884034 0.02306459 -0.04226118 9.25560261] [-0.0226371 0.99968791 0.01056611 -0.45669753] [ 0.0424917 -0.00959719 0.99905072 -0.39837021] [ 0. 0. 0. 1. ]] SLAMing on 54.452401008 meters Centerline goodness : 0.876952 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.46, Z:-0.40 [[ 0.9988296 0.02229457 -0.04292293 9.25727402] [-0.02185506 0.99970408 0.0106818 -0.45723728] [ 0.04314837 -0.00973121 0.99902128 -0.39756753] [ 0. 0. 0. 1. ]] SLAMing on 54.482401008000004 meters Centerline goodness : 0.879936 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.45, Z:-0.40 [[ 9.98915738e-01 1.81774150e-02 -4.28594248e-02 9.25632500e+00] [-1.79290761e-02 9.99820214e-01 6.17158670e-03 -4.54303183e-01] [ 4.29639028e-02 -5.39646519e-03 9.99062051e-01 -3.97134330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512401008000005 meters Centerline goodness : 0.882555 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.45, Z:-0.40 [[ 9.98917097e-01 1.82773527e-02 -4.27851872e-02 9.25565071e+00] [-1.80199038e-02 9.99817175e-01 6.39523021e-03 -4.53436521e-01] [ 4.28942529e-02 -5.61731984e-03 9.99063826e-01 -3.96023112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008000006 meters Centerline goodness : 0.882555 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.45, Z:-0.40 [[ 9.98917097e-01 1.82773527e-02 -4.27851872e-02 9.25565071e+00] [-1.80199038e-02 9.99817175e-01 6.39523021e-03 -4.53436521e-01] [ 4.28942529e-02 -5.61731984e-03 9.99063826e-01 -3.96023112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57240100800001 meters Centerline goodness : 0.883165 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.45, Z:-0.39 [[ 9.98916879e-01 1.85787959e-02 -4.26602469e-02 9.25469867e+00] [-1.83132067e-02 9.99810462e-01 6.60810102e-03 -4.51905628e-01] [ 4.27749317e-02 -5.81969773e-03 9.99067784e-01 -3.94926960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters Centerline goodness : 0.883307 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.45, Z:-0.39 [[ 9.98920244e-01 1.89237624e-02 -4.24291996e-02 9.25362684e+00] [-1.86629250e-02 9.99804473e-01 6.53532887e-03 -4.49595099e-01] [ 4.25445765e-02 -5.73641935e-03 9.99078101e-01 -3.94241200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632401008 meters Centerline goodness : 0.884539 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.45, Z:-0.39 [[ 0.99884104 0.02312666 -0.04221048 9.25257331] [-0.02270744 0.99968822 0.01038433 -0.44614505] [ 0.04243748 -0.0094138 0.99905477 -0.39280512] [ 0. 0. 0. 1. ]] SLAMing on 54.662401008 meters Centerline goodness : 0.884203 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.45, Z:-0.39 [[ 0.9987154 0.02719683 -0.04275372 9.25318803] [-0.02656011 0.99952873 0.01539106 -0.44588619] [ 0.04315216 -0.01423575 0.99896708 -0.38991136] [ 0. 0. 0. 1. ]] SLAMing on 54.692401008000004 meters Centerline goodness : 0.886847 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.45, Z:-0.39 [[ 0.99856865 0.03148597 -0.04323527 9.25342961] [-0.03062464 0.9993219 0.02044213 -0.4459564 ] [ 0.04384959 -0.01908881 0.99885576 -0.38695432] [ 0. 0. 0. 1. ]] SLAMing on 54.722401008000006 meters Centerline goodness : 0.886831 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.44, Z:-0.39 [[ 0.9986637 0.03443169 -0.03853933 9.26792112] [-0.0339853 0.99934813 0.01217873 -0.44186117] [ 0.03893354 -0.01085268 0.99918287 -0.39210485] [ 0. 0. 0. 1. ]] SLAMing on 54.75240100800001 meters Centerline goodness : 0.888680 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.44, Z:-0.40 [[ 9.98702518e-01 3.77786190e-02 -3.41475563e-02 9.28272818e+00] [-3.76639064e-02 9.99282471e-01 3.99658472e-03 -4.38221621e-01] [ 3.42740399e-02 -2.70526886e-03 9.99408811e-01 -3.97854388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782401008 meters Centerline goodness : 0.883039 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.43, Z:-0.40 [[ 9.98529073e-01 4.18658819e-02 -3.44519804e-02 9.28372930e+00] [-4.16656124e-02 9.99110397e-01 6.51087712e-03 -4.33726720e-01] [ 3.46939154e-02 -5.06583723e-03 9.99385146e-01 -3.99276297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812401008 meters Centerline goodness : 0.884354 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 9.98352845e-01 4.53490184e-02 -3.51434661e-02 9.28597359e+00] [-4.50141225e-02 9.98933630e-01 1.02631403e-02 -4.33130374e-01] [ 3.55714135e-02 -8.66428301e-03 9.99329578e-01 -3.99132446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842401008 meters Centerline goodness : 0.886328 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.99816316 0.048753 -0.03596454 9.28861248] [-0.04826955 0.99873354 0.0141907 -0.43322748] [ 0.03661083 -0.01242864 0.99925231 -0.3988075 ] [ 0. 0. 0. 1. ]] SLAMing on 54.872401008000004 meters Centerline goodness : 0.887409 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.99794782 0.05251831 -0.03663306 9.29056859] [-0.05186643 0.99848221 0.01852446 -0.43436713] [ 0.03755034 -0.01658641 0.99915708 -0.39800493] [ 0. 0. 0. 1. ]] SLAMing on 54.902401008000005 meters Centerline goodness : 0.885243 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.99811417 0.04920388 -0.03670267 9.29024343] [-0.04874124 0.99872161 0.01339548 -0.43122753] [ 0.03731485 -0.01158128 0.99923645 -0.40032919] [ 0. 0. 0. 1. ]] SLAMing on 54.93240100800001 meters Centerline goodness : 0.886870 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.99811665 0.04891979 -0.03701363 9.29150463] [-0.04846599 0.99873944 0.01306044 -0.43113454] [ 0.03760589 -0.01124195 0.99922941 -0.40112833] [ 0. 0. 0. 1. ]] SLAMing on 54.962401008 meters Centerline goodness : 0.885221 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.9981195 0.04865961 -0.03727885 9.29259208] [-0.04821365 0.99875541 0.01277019 -0.43130063] [ 0.03785385 -0.01094883 0.9992233 -0.40190075] [ 0. 0. 0. 1. ]] SLAMing on 54.992401008 meters Centerline goodness : 0.884812 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.43, Z:-0.40 [[ 0.99811519 0.04850414 -0.03759531 9.29366243] [-0.04805727 0.99876383 0.01270096 -0.43175715] [ 0.03816488 -0.01087029 0.99921233 -0.40232981] [ 0. 0. 0. 1. ]] SLAMing on 55.022401008 meters Centerline goodness : 0.888310 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.43, Z:-0.41 [[ 9.98207225e-01 5.01494415e-02 -3.26706091e-02 9.30753424e+00] [-5.00584576e-02 9.98739811e-01 3.59741396e-03 -4.31676035e-01] [ 3.28098463e-02 -1.95552430e-03 9.99459699e-01 -4.07424198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052401008000004 meters Centerline goodness : 0.888184 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.43, Z:-0.41 [[ 9.98189283e-01 5.04641960e-02 -3.27340953e-02 9.30711135e+00] [-5.03408629e-02 9.98721586e-01 4.58152482e-03 -4.33427350e-01] [ 3.29234506e-02 -2.92536637e-03 9.99453595e-01 -4.05887025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082401008000005 meters Centerline goodness : 0.890596 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.44, Z:-0.40 [[ 9.98168982e-01 5.08351356e-02 -3.27791538e-02 9.30648011e+00] [-5.06797590e-02 9.98699511e-01 5.55418926e-03 -4.35568282e-01] [ 3.30188729e-02 -3.88277983e-03 9.99447186e-01 -4.04302463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112401008000006 meters Centerline goodness : 0.892972 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.44, Z:-0.40 [[ 9.98160308e-01 5.10401056e-02 -3.27247313e-02 9.30619381e+00] [-5.08382366e-02 9.98682565e-01 6.97190499e-03 -4.39692123e-01] [ 3.30374654e-02 -5.29541119e-03 9.99440085e-01 -4.02791181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14240100800001 meters Centerline goodness : 0.895432 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.44, Z:-0.40 [[ 9.98174691e-01 5.05012229e-02 -3.31196818e-02 9.30796868e+00] [-5.03010596e-02 9.98710611e-01 6.84978081e-03 -4.41039718e-01] [ 3.34229000e-02 -5.17132275e-03 9.99427920e-01 -4.03711148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172401008 meters Centerline goodness : 0.894831 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.44, Z:-0.40 [[ 9.98191486e-01 4.97471770e-02 -3.37487039e-02 9.31039870e+00] [-4.95450848e-02 9.98748748e-01 6.79874579e-03 -4.42593944e-01] [ 3.40446942e-02 -5.11436777e-03 9.99407225e-01 -4.04432109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202401008 meters Centerline goodness : 0.894184 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.45, Z:-0.41 [[ 9.98315922e-01 4.66339098e-02 -3.45050588e-02 9.31555569e+00] [-4.64654963e-02 9.98903820e-01 5.66716326e-03 -4.46939391e-01] [ 3.47315170e-02 -4.05432463e-03 9.99388455e-01 -4.06659404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232401008000004 meters Centerline goodness : 0.892881 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.45, Z:-0.41 [[ 9.98341263e-01 4.54127911e-02 -3.53892806e-02 9.31899225e+00] [-4.52427053e-02 9.98960370e-01 5.59262761e-03 -4.49748288e-01] [ 3.56064657e-02 -3.98224412e-03 9.99357955e-01 -4.07561708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262401008000005 meters Centerline goodness : 0.894913 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.45, Z:-0.41 [[ 9.98370025e-01 4.41890413e-02 -3.61195414e-02 9.32216758e+00] [-4.40154389e-02 9.99015224e-01 5.58783742e-03 -4.52396024e-01] [ 3.63308929e-02 -3.98891192e-03 9.99331854e-01 -4.08379794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292401008000006 meters Centerline goodness : 0.895336 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.45, Z:-0.41 [[ 9.98380792e-01 4.32205403e-02 -3.69834994e-02 9.32509097e+00] [-4.30251628e-02 9.99055593e-01 6.06287506e-03 -4.54969047e-01] [ 3.72106126e-02 -4.46183692e-03 9.99297484e-01 -4.08120851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32240100800001 meters Centerline goodness : 0.897039 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.46, Z:-0.41 [[ 9.98393206e-01 4.22614614e-02 -3.77488394e-02 9.32776879e+00] [-4.20431861e-02 9.99094272e-01 6.55788708e-03 -4.57358415e-01] [ 3.79917951e-02 -4.96026843e-03 9.99265740e-01 -4.07709656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352401008 meters Centerline goodness : 0.897258 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.46, Z:-0.41 [[ 9.98443356e-01 4.00624591e-02 -3.88054735e-02 9.33283534e+00] [-3.98119915e-02 9.99181203e-01 7.20614014e-03 -4.60909805e-01] [ 3.90623954e-02 -5.64999956e-03 9.99220800e-01 -4.07262896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401008 meters Centerline goodness : 0.896641 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.46, Z:-0.41 [[ 9.98447446e-01 3.92152431e-02 -3.95583525e-02 9.33557020e+00] [-3.89556240e-02 9.99214182e-01 7.31283616e-03 -4.62405352e-01] [ 3.98140415e-02 -5.76046227e-03 9.99190502e-01 -4.07585622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412401008 meters Centerline goodness : 0.895911 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.47, Z:-0.40 [[ 0.99836123 0.03949326 -0.04141431 9.34440965] [-0.03895147 0.99914569 0.01380873 -0.46574948] [ 0.04192428 -0.01217295 0.99904663 -0.40247178] [ 0. 0. 0. 1. ]] SLAMing on 55.442401008000004 meters Centerline goodness : 0.900329 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.47, Z:-0.40 [[ 0.99822998 0.04149517 -0.04260358 9.34913711] [-0.04066346 0.99896855 0.02020684 -0.46955206] [ 0.04339812 -0.01843866 0.99888769 -0.39755437] [ 0. 0. 0. 1. ]] SLAMing on 55.472401008000006 meters Centerline goodness : 0.898923 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.47, Z:-0.40 [[ 0.99821692 0.04153291 -0.04287196 9.34928247] [-0.04067216 0.99895689 0.0207583 -0.47041215] [ 0.04368939 -0.01897759 0.9988649 -0.39615963] [ 0. 0. 0. 1. ]] SLAMing on 55.50240100800001 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.47, Z:-0.39 [[ 0.99803176 0.04484889 -0.04383122 9.35177361] [-0.04366922 0.99866718 0.02751108 -0.47409065] [ 0.04500664 -0.02554285 0.99866008 -0.39059291] [ 0. 0. 0. 1. ]] SLAMing on 55.532401008 meters Centerline goodness : 0.899412 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.48, Z:-0.39 [[ 0.99784181 0.04819902 -0.04459339 9.35449461] [-0.04676926 0.99837463 0.0325688 -0.47568753] [ 0.04609069 -0.03041291 0.99847419 -0.38843177] [ 0. 0. 0. 1. ]] SLAMing on 55.562401008 meters Centerline goodness : 0.899040 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.47, Z:-0.39 [[ 0.99785463 0.04774538 -0.04479418 9.35602998] [-0.04636037 0.99842909 0.03146537 -0.47376474] [ 0.04622614 -0.02932119 0.99850058 -0.39051575] [ 0. 0. 0. 1. ]] SLAMing on 55.592401008 meters Centerline goodness : 0.898713 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.47, Z:-0.39 [[ 0.99766322 0.05102688 -0.04543511 9.35897829] [-0.04945753 0.99816209 0.03502001 -0.47314768] [ 0.04713856 -0.03269107 0.99835327 -0.39108665] [ 0. 0. 0. 1. ]] SLAMing on 55.622401008000004 meters Centerline goodness : 0.900380 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.47, Z:-0.39 [[ 0.9978274 0.0477974 -0.04534187 9.3580267 ] [-0.04650185 0.99849102 0.02921048 -0.46892498] [ 0.04666964 -0.02703854 0.99854437 -0.39428887] [ 0. 0. 0. 1. ]] SLAMing on 55.652401008000005 meters Centerline goodness : 0.900675 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.47, Z:-0.39 [[ 0.99762661 0.05108142 -0.04617185 9.36061847] [-0.04950148 0.99816975 0.03473848 -0.4706728 ] [ 0.04786184 -0.03237046 0.9983293 -0.39075894] [ 0. 0. 0. 1. ]] SLAMing on 55.68240100800001 meters Centerline goodness : 0.902069 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.47, Z:-0.39 [[ 0.99778756 0.04811628 -0.04587825 9.35876067] [-0.04682386 0.9984867 0.0288417 -0.46608672] [ 0.04719658 -0.02662969 0.99853059 -0.39389889] [ 0. 0. 0. 1. ]] SLAMing on 55.712401008 meters Centerline goodness : 0.904927 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.46, Z:-0.40 [[ 0.99786408 0.05035487 -0.04161334 9.37118904] [-0.04967386 0.99861667 0.01724097 -0.4615926 ] [ 0.04242394 -0.01513705 0.99898502 -0.40109415] [ 0. 0. 0. 1. ]] SLAMing on 55.742401008 meters Centerline goodness : 0.904632 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.46, Z:-0.40 [[ 0.99763686 0.05412855 -0.04231782 9.3725731 ] [-0.05316177 0.99830588 0.02364745 -0.46437843] [ 0.04352613 -0.02134188 0.99882431 -0.39613809] [ 0. 0. 0. 1. ]] SLAMing on 55.772401008 meters Centerline goodness : 0.907646 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.46, Z:-0.40 [[ 0.99774234 0.05573438 -0.03746867 9.3869113 ] [-0.05523436 0.99837171 0.01425087 -0.46163139] [ 0.03820192 -0.01214914 0.99919618 -0.40146161] [ 0. 0. 0. 1. ]] SLAMing on 55.802401008000004 meters Centerline goodness : 0.910449 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.46, Z:-0.40 [[ 0.99774243 0.05569076 -0.03753101 9.38695665] [-0.05521224 0.99838107 0.01366899 -0.45970513] [ 0.03823148 -0.01156596 0.99920197 -0.40179255] [ 0. 0. 0. 1. ]] SLAMing on 55.832401008000005 meters Centerline goodness : 0.909848 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.46, Z:-0.41 [[ 0.99825042 0.05323074 -0.02574091 9.39363818] [-0.05293433 0.99852513 0.01206311 -0.45616046] [ 0.02634507 -0.01067943 0.99959586 -0.40873737] [ 0. 0. 0. 1. ]] SLAMing on 55.862401008000006 meters Centerline goodness : 0.909699 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.46, Z:-0.41 [[ 0.99824473 0.05317112 -0.02608238 9.39408634] [-0.05286863 0.99852752 0.01215358 -0.45603174] [ 0.0266902 -0.0107533 0.99958591 -0.40809278] [ 0. 0. 0. 1. ]] SLAMing on 55.89240100800001 meters Centerline goodness : 0.913223 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.46, Z:-0.41 [[ 0.99826018 0.05256462 -0.02671265 9.39561958] [-0.05225277 0.99855886 0.01224139 -0.45662253] [ 0.02731761 -0.01082428 0.9995682 -0.40744631] [ 0. 0. 0. 1. ]] SLAMing on 55.922401008 meters Centerline goodness : 0.914194 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.46, Z:-0.41 [[ 0.99828369 0.05175318 -0.02740957 9.39791859] [-0.05144046 0.99860403 0.01199437 -0.45689437] [ 0.02799206 -0.01056382 0.99955233 -0.40778718] [ 0. 0. 0. 1. ]] SLAMing on 55.952401008 meters Centerline goodness : 0.916472 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.45, Z:-0.41 [[ 9.98493925e-01 4.74921587e-02 -2.74659164e-02 9.39845930e+00] [-4.73196834e-02 9.98855991e-01 6.89621524e-03 -4.54574716e-01] [ 2.77620113e-02 -5.58615055e-03 9.99598952e-01 -4.09858680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982401008000004 meters Centerline goodness : 0.915792 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.46, Z:-0.41 [[ 9.98514411e-01 4.65952643e-02 -2.82462691e-02 9.40077571e+00] [-4.64082763e-02 9.98896318e-01 7.24008065e-03 -4.55849781e-01] [ 2.85524476e-02 -5.91846421e-03 9.99574774e-01 -4.09146411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012401008000005 meters Centerline goodness : 0.916752 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.45, Z:-0.41 [[ 9.98706403e-01 4.22212251e-02 -2.83352950e-02 9.40141217e+00] [-4.21704060e-02 9.99107577e-01 2.38894487e-03 -4.54165533e-01] [ 2.84108721e-02 -1.19094364e-03 9.99595620e-01 -4.10795012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042401008000006 meters Centerline goodness : 0.916708 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.46, Z:-0.41 [[ 9.98806372e-01 3.81455798e-02 -3.05081276e-02 9.41683766e+00] [-3.79743294e-02 9.99259646e-01 6.17331778e-03 -4.55232614e-01] [ 3.07210256e-02 -5.00742345e-03 9.99515455e-01 -4.09672476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07240100800001 meters Centerline goodness : 0.916593 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.45, Z:-0.41 [[ 9.98824359e-01 3.69377981e-02 -3.13926697e-02 9.42029957e+00] [-3.67889495e-02 9.99308970e-01 5.30614602e-03 -4.54625320e-01] [ 3.15669738e-02 -4.14500456e-03 9.99493044e-01 -4.11272125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102401008 meters Centerline goodness : 0.917068 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.46, Z:-0.41 [[ 9.98723597e-01 3.81212950e-02 -3.31352317e-02 9.42739944e+00] [-3.77888570e-02 9.99229503e-01 1.06019933e-02 -4.56734472e-01] [ 3.35138628e-02 -9.33631834e-03 9.99394644e-01 -4.08504307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132401008 meters Centerline goodness : 0.916479 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.46, Z:-0.41 [[ 9.98731869e-01 3.73151185e-02 -3.37969697e-02 9.42978452e+00] [-3.70039003e-02 9.99267186e-01 9.78783010e-03 -4.55451617e-01] [ 3.41374368e-02 -8.52479816e-03 9.99380790e-01 -4.09596084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162401008 meters Centerline goodness : 0.914581 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.45, Z:-0.41 [[ 9.98744162e-01 3.62190212e-02 -3.46162092e-02 9.43295869e+00] [-3.59713590e-02 9.99322763e-01 7.75092043e-03 -4.51815873e-01] [ 3.48734966e-02 -6.49599444e-03 9.99370623e-01 -4.12450291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192401008000004 meters Centerline goodness : 0.915020 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.41 [[ 9.98748665e-01 3.54866030e-02 -3.52392676e-02 9.43514729e+00] [-3.52723605e-02 9.99355391e-01 6.68302743e-03 -4.49361833e-01] [ 3.54537100e-02 -5.43169257e-03 9.99356559e-01 -4.13690796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222401008000006 meters Centerline goodness : 0.915432 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.41 [[ 0.99861124 0.03811276 -0.03637319 9.43886621] [-0.03772161 0.99922348 0.01138036 -0.45054456] [ 0.03677868 -0.0099925 0.99927348 -0.41174478] [ 0. 0. 0. 1. ]] SLAMing on 56.25240100800001 meters Centerline goodness : 0.910579 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.41 [[ 9.98746923e-01 3.45323531e-02 -3.62229335e-02 9.43841639e+00] [-3.43169062e-02 9.99389518e-01 6.55295419e-03 -4.46709893e-01] [ 3.64271089e-02 -5.30168382e-03 9.99322249e-01 -4.13308440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282401008 meters Centerline goodness : 0.910883 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.45, Z:-0.41 [[ 9.98747822e-01 3.35983399e-02 -3.70667034e-02 9.44090713e+00] [-3.33879287e-02 9.99422730e-01 6.28120228e-03 -4.46134689e-01] [ 3.72563439e-02 -5.03575664e-03 9.99293053e-01 -4.13131797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312401008 meters Centerline goodness : 0.906809 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.44, Z:-0.41 [[ 9.98761243e-01 3.23020412e-02 -3.78491332e-02 9.44339864e+00] [-3.21155038e-02 9.99468886e-01 5.52627233e-03 -4.44482746e-01] [ 3.80075408e-02 -4.30388264e-03 9.99268184e-01 -4.13217637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342401008 meters Centerline goodness : 0.910775 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.45, Z:-0.41 [[ 9.98630669e-01 3.46162826e-02 -3.92237140e-02 9.44786798e+00] [-3.42359123e-02 9.99360411e-01 1.03282021e-02 -4.45557985e-01] [ 3.95561509e-02 -8.97119978e-03 9.99177076e-01 -4.10995779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372401008000004 meters Centerline goodness : 0.911621 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.44, Z:-0.41 [[ 9.98629270e-01 3.41012349e-02 -3.97075121e-02 9.44908573e+00] [-3.37417598e-02 9.99383623e-01 9.68851240e-03 -4.43637943e-01] [ 4.00134275e-02 -8.33543074e-03 9.99164374e-01 -4.11142352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402401008000005 meters Centerline goodness : 0.909225 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.44, Z:-0.41 [[ 0.99846695 0.03667101 -0.04146072 9.45350623] [-0.0361028 0.99924473 0.01437178 -0.44352707] [ 0.04195643 -0.0128529 0.99903677 -0.40820067] [ 0. 0. 0. 1. ]] SLAMing on 56.43240100800001 meters Centerline goodness : 0.912131 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.44, Z:-0.41 [[ 0.99846032 0.03621208 -0.04201993 9.4549142 ] [-0.03566858 0.99927096 0.01361282 -0.44099485] [ 0.04248225 -0.01209307 0.99902403 -0.40851375] [ 0. 0. 0. 1. ]] SLAMing on 56.46240100800001 meters Centerline goodness : 0.912131 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.44, Z:-0.41 [[ 0.99846032 0.03621208 -0.04201993 9.4549142 ] [-0.03566858 0.99927096 0.01361282 -0.44099485] [ 0.04248225 -0.01209307 0.99902403 -0.40851375] [ 0. 0. 0. 1. ]] SLAMing on 56.492401008 meters Centerline goodness : 0.913497 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.44, Z:-0.41 [[ 0.99845857 0.03574211 -0.04246156 9.4561198 ] [-0.03522762 0.99929729 0.01280398 -0.4381426 ] [ 0.04288936 -0.01128843 0.99901605 -0.40888672] [ 0. 0. 0. 1. ]] SLAMing on 56.522401008 meters Centerline goodness : 0.909801 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.44, Z:-0.41 [[ 0.99845382 0.0352213 -0.04300499 9.45743086] [-0.03472635 0.99932236 0.01220272 -0.43576253] [ 0.04340564 -0.01069045 0.99900033 -0.40879959] [ 0. 0. 0. 1. ]] SLAMing on 56.552401008000004 meters Centerline goodness : 0.906401 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.43, Z:-0.41 [[ 9.98452783e-01 3.47719766e-02 -4.33929795e-02 9.45839153e+00] [-3.43337336e-02 9.99352020e-01 1.08043563e-02 -4.31191685e-01] [ 4.37405506e-02 -9.29779658e-03 9.98999657e-01 -4.09607083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582401008000005 meters Centerline goodness : 0.907495 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.43, Z:-0.41 [[ 9.98454452e-01 3.40993149e-02 -4.38855811e-02 9.46013088e+00] [-3.37046581e-02 9.99384746e-01 9.70180281e-03 -4.28108806e-01] [ 4.41894051e-02 -8.20765970e-03 9.98989455e-01 -4.10593294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612401008000006 meters Centerline goodness : 0.907832 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.43, Z:-0.41 [[ 9.98452436e-01 3.36907737e-02 -4.42455069e-02 9.46112124e+00] [-3.33282561e-02 9.99404780e-01 8.90580317e-03 -4.25832987e-01] [ 4.45192145e-02 -7.41739528e-03 9.98980992e-01 -4.11053239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64240100800001 meters Centerline goodness : 0.906946 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.42, Z:-0.41 [[ 9.98445755e-01 3.33392611e-02 -4.46605839e-02 9.46188972e+00] [-3.29929847e-02 9.99419705e-01 8.46851965e-03 -4.24194482e-01] [ 4.49170018e-02 -6.98187154e-03 9.98966324e-01 -4.10652161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672401008 meters Centerline goodness : 0.903905 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.42, Z:-0.41 [[ 9.98610167e-01 3.40235498e-02 -4.02508594e-02 9.47778559e+00] [-3.40605846e-02 9.99419742e-01 -2.34496848e-04 -4.20702249e-01] [ 4.02195251e-02 1.60513874e-03 9.99189578e-01 -4.13709811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702401008 meters Centerline goodness : 0.908424 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.42, Z:-0.41 [[ 9.98612605e-01 3.33873664e-02 -4.07203777e-02 9.47945864e+00] [-3.34543025e-02 9.99439784e-01 -9.63297566e-04 -4.18435001e-01] [ 4.06654035e-02 2.32423292e-03 9.99170117e-01 -4.14315195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732401008000004 meters Centerline goodness : 0.905579 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.42, Z:-0.41 [[ 9.98471698e-01 3.63741641e-02 -4.16075593e-02 9.48244923e+00] [-3.62564601e-02 9.99336105e-01 3.58026736e-03 -4.19168391e-01] [ 4.17101655e-02 -2.06625281e-03 9.99127616e-01 -4.12952220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762401008000005 meters Centerline goodness : 0.902394 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.42, Z:-0.41 [[ 9.98322451e-01 3.90233369e-02 -4.27722184e-02 9.48629934e+00] [-3.87597156e-02 9.99224211e-01 6.97575868e-03 -4.17119171e-01] [ 4.30112535e-02 -5.30621748e-03 9.99060497e-01 -4.12724282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792401008000006 meters Centerline goodness : 0.901915 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.42, Z:-0.41 [[ 9.98160164e-01 4.17281782e-02 -4.39891684e-02 9.49031037e+00] [-4.12766419e-02 9.99085831e-01 1.11239192e-02 -4.18092724e-01] [ 4.44131357e-02 -9.28772788e-03 9.98970075e-01 -4.11917484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82240100800001 meters Centerline goodness : 0.904871 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.42, Z:-0.41 [[ 0.99800755 0.04313328 -0.04604828 9.49760183] [-0.0424357 0.99897074 0.0160209 -0.41889675] [ 0.04669192 -0.01403489 0.99881074 -0.409476 ] [ 0. 0. 0. 1. ]] SLAMing on 56.852401008 meters Centerline goodness : 0.902336 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.42, Z:-0.41 [[ 0.99785065 0.04477864 -0.04784294 9.50414201] [-0.04389233 0.99884753 0.01941848 -0.41757598] [ 0.04865734 -0.0172768 0.9986661 -0.40942127] [ 0. 0. 0. 1. ]] SLAMing on 56.882401008 meters Centerline goodness : 0.901092 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.40 [[ 0.99785478 0.04507148 -0.0474805 9.51719565] [-0.04361482 0.99855857 0.0312815 -0.41977801] [ 0.04882196 -0.02914354 0.99838223 -0.40120158] [ 0. 0. 0. 1. ]] SLAMing on 56.912401008 meters Centerline goodness : 0.903565 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.40 [[ 0.99785532 0.04402992 -0.04843692 9.52007867] [-0.04259821 0.99863562 0.03020403 -0.41823154] [ 0.04970072 -0.02807592 0.99836946 -0.40223209] [ 0. 0. 0. 1. ]] SLAMing on 56.942401008000004 meters Centerline goodness : 0.901523 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.42, Z:-0.40 [[ 0.99785827 0.04306668 -0.04923543 9.52286719] [-0.04166199 0.99870471 0.02920918 -0.41664753] [ 0.05042959 -0.02709537 0.99836 -0.40348449] [ 0. 0. 0. 1. ]] SLAMing on 56.972401008000006 meters Centerline goodness : 0.901479 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.42, Z:-0.40 [[ 0.99771011 0.04409197 -0.05128772 9.5308519 ] [-0.04234044 0.9984987 0.03475097 -0.41518066] [ 0.05274296 -0.03249985 0.99807913 -0.39933876] [ 0. 0. 0. 1. ]] SLAMing on 57.00240100800001 meters Centerline goodness : 0.902570 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.41 [[ 0.9978856 0.04432071 -0.04753945 9.54663205] [-0.04325466 0.99879411 0.02322392 -0.41060149] [ 0.04851143 -0.02111852 0.99859934 -0.4062868 ] [ 0. 0. 0. 1. ]] SLAMing on 57.032401008 meters Centerline goodness : 0.903959 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.41 [[ 0.9978825 0.04387472 -0.04801591 9.54782622] [-0.04284289 0.99883265 0.02231214 -0.40805486] [ 0.0489388 -0.02020775 0.99859734 -0.40675045] [ 0. 0. 0. 1. ]] SLAMing on 57.062401008 meters Centerline goodness : 0.904547 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.41, Z:-0.40 [[ 0.99770098 0.04726308 -0.04856903 9.54947847] [-0.04598415 0.99857393 0.0271213 -0.40848685] [ 0.0497816 -0.02482554 0.99845154 -0.40416874] [ 0. 0. 0. 1. ]] SLAMing on 57.092401008 meters Centerline goodness : 0.901743 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.40, Z:-0.41 [[ 0.99777556 0.05054058 -0.04346925 9.56138269] [-0.04979945 0.99859761 0.01796743 -0.40223402] [ 0.04431637 -0.01576272 0.99889319 -0.40892393] [ 0. 0. 0. 1. ]] SLAMing on 57.122401008000004 meters Centerline goodness : 0.905520 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.40, Z:-0.40 [[ 0.99744932 0.05584912 -0.04444917 9.56711595] [-0.05458649 0.99808401 0.02913106 -0.40398068] [ 0.04599095 -0.02663044 0.99858683 -0.40175868] [ 0. 0. 0. 1. ]] SLAMing on 57.152401008000005 meters Centerline goodness : 0.908866 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.40, Z:-0.41 [[ 0.99748132 0.059229 -0.03902501 9.58031053] [-0.05842981 0.99806401 0.02131181 -0.39962081] [ 0.04021173 -0.01897791 0.99901094 -0.40698612] [ 0. 0. 0. 1. ]] SLAMing on 57.18240100800001 meters Centerline goodness : 0.909546 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.39, Z:-0.41 [[ 0.99727147 0.06543857 -0.03416745 9.59265107] [-0.06496842 0.99777912 0.01469478 -0.39359179] [ 0.03505317 -0.01243488 0.99930809 -0.41186873] [ 0. 0. 0. 1. ]] SLAMing on 57.21240100800001 meters Centerline goodness : 0.906862 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.39, Z:-0.41 [[ 0.99723819 0.06592628 -0.03420118 9.59231 ] [-0.06549252 0.99775966 0.01365274 -0.3896576 ] [ 0.03502463 -0.01137511 0.99932171 -0.41263222] [ 0. 0. 0. 1. ]] SLAMing on 57.242401008 meters Centerline goodness : 0.904998 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.39, Z:-0.41 [[ 0.99722018 0.06604767 -0.03449078 9.5929384 ] [-0.06564824 0.99776341 0.01258877 -0.38591712] [ 0.03524509 -0.01028951 0.99932573 -0.41358772] [ 0. 0. 0. 1. ]] SLAMing on 57.272401008 meters Centerline goodness : 0.907725 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.39, Z:-0.41 [[ 0.99696197 0.06961642 -0.03493392 9.59442167] [-0.06907274 0.99747455 0.01653731 -0.38555151] [ 0.03599697 -0.01407408 0.99925279 -0.41278288] [ 0. 0. 0. 1. ]] SLAMing on 57.302401008000004 meters Centerline goodness : 0.902773 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-0.42 [[ 9.96820796e-01 7.33090871e-02 -3.12102164e-02 9.60870925e+00] [-7.31197793e-02 9.97297422e-01 7.16582411e-03 -3.80144605e-01] [ 3.16511884e-02 -4.86095836e-03 9.99487155e-01 -4.19381773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332401008000005 meters Centerline goodness : 0.899853 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-0.42 [[ 9.96822133e-01 7.30815555e-02 -3.16973393e-02 9.61006407e+00] [-7.29183807e-02 9.97318170e-01 6.27520861e-03 -3.78077525e-01] [ 3.20709344e-02 -3.94394818e-03 9.99477814e-01 -4.20447227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362401008000006 meters Centerline goodness : 0.897110 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-0.42 [[ 9.96825844e-01 7.28874905e-02 -3.20257730e-02 9.61126811e+00] [-7.27439860e-02 9.97334784e-01 5.62498156e-03 -3.77015406e-01] [ 3.23504082e-02 -3.27744461e-03 9.99471215e-01 -4.21571855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39240100800001 meters Centerline goodness : 0.896803 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:-0.42 [[ 9.96849756e-01 7.23512545e-02 -3.24940103e-02 9.61309576e+00] [-7.22285954e-02 9.97375898e-01 4.93443715e-03 -3.76698622e-01] [ 3.27657554e-02 -2.57189574e-03 9.99459749e-01 -4.22867817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422401008 meters Centerline goodness : 0.893266 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.38, Z:-0.42 [[ 9.96882933e-01 7.16563738e-02 -3.30118608e-02 9.61543772e+00] [-7.15448615e-02 9.97427012e-01 4.54840821e-03 -3.78401117e-01] [ 3.32528441e-02 -2.17240151e-03 9.99444610e-01 -4.24576493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452401008 meters Centerline goodness : 0.893011 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.38, Z:-0.43 [[ 9.96901924e-01 7.10864557e-02 -3.36640610e-02 9.61756723e+00] [-7.09761357e-02 9.97468032e-01 4.46235300e-03 -3.79392143e-01] [ 3.38960375e-02 -2.05918333e-03 9.99423243e-01 -4.25188168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482401008000004 meters Centerline goodness : 0.893035 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.38, Z:-0.43 [[ 9.96920819e-01 7.06641198e-02 -3.39921109e-02 9.61886096e+00] [-7.05508617e-02 9.97497936e-01 4.52136937e-03 -3.80819665e-01] [ 3.42265591e-02 -2.10927454e-03 9.99411874e-01 -4.25671612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512401008000005 meters Centerline goodness : 0.892337 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.38, Z:-0.43 [[ 9.96935639e-01 7.03027036e-02 -3.43054016e-02 9.61996492e+00] [-7.01839127e-02 9.97523202e-01 4.65623525e-03 -3.82385716e-01] [ 3.45477799e-02 -2.23427956e-03 9.99400550e-01 -4.25890761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542401008000006 meters Centerline goodness : 0.898648 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.39, Z:-0.43 [[ 9.96934130e-01 7.01410801e-02 -3.46780791e-02 9.62103789e+00] [-6.99961517e-02 9.97532768e-01 5.37726520e-03 -3.86121036e-01] [ 3.49696874e-02 -2.93344713e-03 9.99384068e-01 -4.25716018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57240100800001 meters Centerline goodness : 0.897789 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.39, Z:-0.43 [[ 9.96931422e-01 7.00949818e-02 -3.48487233e-02 9.62148479e+00] [-6.99401410e-02 9.97535223e-01 5.64408045e-03 -3.87934464e-01] [ 3.51584507e-02 -3.18943653e-03 9.99376661e-01 -4.25680363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602401008 meters Centerline goodness : 0.899829 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.39, Z:-0.42 [[ 9.96916469e-01 7.01102298e-02 -3.52435826e-02 9.62187803e+00] [-6.99291328e-02 9.97531772e-01 6.34662003e-03 -3.90337948e-01] [ 3.56015564e-02 -3.86249686e-03 9.99358599e-01 -4.24549739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632401008 meters Centerline goodness : 0.897715 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.39, Z:-0.42 [[ 9.97121662e-01 6.73259323e-02 -3.48656076e-02 9.61954641e+00] [-6.72627380e-02 9.97730836e-01 2.98361840e-03 -3.92515101e-01] [ 3.49873667e-02 -6.29874312e-04 9.99387556e-01 -4.24520000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662401008 meters Centerline goodness : 0.904698 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.39, Z:-0.42 [[ 9.97117560e-01 6.73770025e-02 -3.48842559e-02 9.61963236e+00] [-6.72959353e-02 9.97726941e-01 3.49417817e-03 -3.94604678e-01] [ 3.50403892e-02 -1.13653778e-03 9.99385251e-01 -4.24289604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692401008000004 meters Centerline goodness : 0.903976 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.40, Z:-0.42 [[ 9.97132102e-01 6.69882436e-02 -3.52157056e-02 9.62098317e+00] [-6.68965517e-02 9.97752768e-01 3.77690218e-03 -3.96686021e-01] [ 3.53895758e-02 -1.41026114e-03 9.99372598e-01 -4.24650483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722401008000006 meters Centerline goodness : 0.901944 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.40, Z:-0.43 [[ 9.97388867e-01 6.31854721e-02 -3.49720582e-02 9.62095505e+00] [-6.32115305e-02 9.98000086e-01 3.61141437e-04 -4.00420687e-01] [ 3.49249360e-02 1.85043887e-03 9.99388225e-01 -4.26245833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75240100800001 meters Centerline goodness : 0.901669 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.40, Z:-0.43 [[ 9.97401429e-01 6.27049512e-02 -3.54750402e-02 9.62272248e+00] [-6.27187351e-02 9.98030979e-01 7.25234790e-04 -4.03723275e-01] [ 3.54506649e-02 1.50159944e-03 9.99370300e-01 -4.26699516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782401008 meters Centerline goodness : 0.901359 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.41, Z:-0.43 [[ 9.97418211e-01 6.21270072e-02 -3.60159240e-02 9.62489776e+00] [-6.21356272e-02 9.98067326e-01 8.80992977e-04 -4.06734807e-01] [ 3.60010504e-02 1.35915359e-03 9.99350828e-01 -4.27670692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812401008 meters Centerline goodness : 0.902963 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.41, Z:-0.43 [[ 9.97456566e-01 6.10943222e-02 -3.67135227e-02 9.62779965e+00] [-6.10803315e-02 9.98131721e-01 1.50362136e-03 -4.12884577e-01] [ 3.67367943e-02 7.42677140e-04 9.99324700e-01 -4.28337216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842401008 meters Centerline goodness : 0.900819 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.42, Z:-0.43 [[ 9.97458583e-01 6.07583358e-02 -3.72128950e-02 9.62912169e+00] [-6.07191609e-02 9.98152502e-01 2.18302525e-03 -4.16556053e-01] [ 3.72767812e-02 8.20584830e-05 9.99304976e-01 -4.27900758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872401008000004 meters Centerline goodness : 0.904971 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.42, Z:-0.43 [[ 9.97470360e-01 6.02226694e-02 -3.77638729e-02 9.63076029e+00] [-6.01680258e-02 9.98184922e-01 2.58284260e-03 -4.20357118e-01] [ 3.78508742e-02 -3.04131265e-04 9.99283353e-01 -4.27921192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902401008000005 meters Centerline goodness : 0.906373 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.42, Z:-0.43 [[ 9.97488308e-01 5.96374511e-02 -3.82158377e-02 9.63255247e+00] [-5.95697791e-02 9.98219908e-01 2.90802976e-03 -4.23799275e-01] [ 3.83212374e-02 -6.24216673e-04 9.99265277e-01 -4.28386450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93240100800001 meters Centerline goodness : 0.904947 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.42, Z:-0.43 [[ 9.97717277e-01 5.57456401e-02 -3.81137651e-02 9.63270091e+00] [-5.58440545e-02 9.98438344e-01 -1.52158734e-03 -4.23712348e-01] [ 3.79694227e-02 3.64654116e-03 9.99272248e-01 -4.30451840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96240100800001 meters Centerline goodness : 0.902058 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.43, Z:-0.43 [[ 9.97793510e-01 5.38211385e-02 -3.88766887e-02 9.63707865e+00] [-5.39347325e-02 9.98542696e-01 -1.87827815e-03 -4.28252374e-01] [ 3.87189425e-02 3.97093755e-03 9.99242250e-01 -4.32820080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992401008 meters Centerline goodness : 0.901782 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.43, Z:-0.43 [[ 9.97802947e-01 5.32400453e-02 -3.94306431e-02 9.63903211e+00] [-5.33275640e-02 9.98576387e-01 -1.17036939e-03 -4.31576367e-01] [ 3.93121986e-02 3.27053817e-03 9.99221624e-01 -4.32577100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022401008 meters Centerline goodness : 0.903720 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.43, Z:-0.43 [[ 9.97813798e-01 5.24772009e-02 -4.01717239e-02 9.64133398e+00] [-5.25382100e-02 9.98618807e-01 -4.63787911e-04 -4.34703329e-01] [ 4.00919007e-02 2.57332444e-03 9.99192683e-01 -4.31961420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052401008000004 meters Centerline goodness : 0.901616 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.44, Z:-0.43 [[ 9.97830719e-01 5.19918532e-02 -4.03819708e-02 9.64245270e+00] [-5.20287118e-02 9.98645580e-01 1.38367037e-04 -4.37919497e-01] [ 4.03344706e-02 1.96295504e-03 9.99184306e-01 -4.31854547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082401008000005 meters Centerline goodness : 0.903745 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.44, Z:-0.43 [[ 9.97860961e-01 5.09858860e-02 -4.09138382e-02 9.64445238e+00] [-5.09551461e-02 9.98699331e-01 1.79448247e-03 -4.44582790e-01] [ 4.09521161e-02 2.94126603e-04 9.99161067e-01 -4.30022525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112401008000006 meters Centerline goodness : 0.908227 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.45, Z:-0.43 [[ 9.97847524e-01 5.09582455e-02 -4.12743983e-02 9.64478818e+00] [-5.08773134e-02 9.98700376e-01 3.00955913e-03 -4.47413994e-01] [ 4.13741190e-02 -9.03150627e-04 9.99143316e-01 -4.28060959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14240100800001 meters Centerline goodness : 0.910805 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.45, Z:-0.43 [[ 9.97839672e-01 5.11949825e-02 -4.11711491e-02 9.64410279e+00] [-5.10731525e-02 9.98686880e-01 4.00619371e-03 -4.49605945e-01] [ 4.13221834e-02 -1.89479864e-03 9.99144077e-01 -4.26614505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172401008 meters Centerline goodness : 0.911648 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.45, Z:-0.43 [[ 9.97834393e-01 5.10574387e-02 -4.14688103e-02 9.64467725e+00] [-5.09031196e-02 9.98692207e-01 4.76943255e-03 -4.51100809e-01] [ 4.16580927e-02 -2.64821202e-03 9.99128415e-01 -4.25400082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202401008 meters Centerline goodness : 0.911669 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.45, Z:-0.42 [[ 9.97834591e-01 5.09380531e-02 -4.16106134e-02 9.64495825e+00] [-5.07473243e-02 9.98695668e-01 5.62782582e-03 -4.53147724e-01] [ 4.18430098e-02 -3.50401199e-03 9.99118053e-01 -4.24145571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232401008000004 meters Centerline goodness : 0.910757 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.46, Z:-0.42 [[ 9.97868920e-01 4.99065894e-02 -4.20351066e-02 9.64668552e+00] [-4.96239513e-02 9.98737971e-01 7.74131923e-03 -4.58640374e-01] [ 4.23684000e-02 -5.63887377e-03 9.99086143e-01 -4.21078965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262401008000005 meters Centerline goodness : 0.912005 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.46, Z:-0.42 [[ 9.97884409e-01 4.91246016e-02 -4.25849750e-02 9.64862475e+00] [-4.88262753e-02 9.98775102e-01 8.01808978e-03 -4.60010016e-01] [ 4.29266982e-02 -5.92186107e-03 9.99060674e-01 -4.20756000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292401008000006 meters Centerline goodness : 0.909196 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.46, Z:-0.42 [[ 0.99775381 0.05134764 -0.04302037 9.65151056] [-0.05085773 0.99862884 0.01240669 -0.46295604] [ 0.04359843 -0.01019091 0.99899716 -0.41953473] [ 0. 0. 0. 1. ]] SLAMing on 58.32240100800001 meters Centerline goodness : 0.912058 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.46, Z:-0.42 [[ 9.97774182e-01 5.02566698e-02 -4.38286335e-02 9.65455201e+00] [-4.97860628e-02 9.98690616e-01 1.17643731e-02 -4.62935489e-01] [ 4.43624832e-02 -9.55613260e-03 9.98969795e-01 -4.20749260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352401008 meters Centerline goodness : 0.912058 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.46, Z:-0.42 [[ 9.97774182e-01 5.02566698e-02 -4.38286335e-02 9.65455201e+00] [-4.97860628e-02 9.98690616e-01 1.17643731e-02 -4.62935489e-01] [ 4.43624832e-02 -9.55613260e-03 9.98969795e-01 -4.20749260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382401008 meters Centerline goodness : 0.915751 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.46, Z:-0.42 [[ 9.97775759e-01 4.96675289e-02 -4.44597670e-02 9.65663052e+00] [-4.92087965e-02 9.98723974e-01 1.13542546e-02 -4.62810481e-01] [ 4.49669729e-02 -9.14118841e-03 9.98946650e-01 -4.21380458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412401008 meters Centerline goodness : 0.914664 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.47, Z:-0.42 [[ 0.99759001 0.05227821 -0.04561964 9.6605654 ] [-0.05161012 0.99854385 0.01570242 -0.46533203] [ 0.04637411 -0.01331014 0.99883546 -0.42034927] [ 0. 0. 0. 1. ]] SLAMing on 58.442401008000004 meters Centerline goodness : 0.911006 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.46, Z:-0.42 [[ 0.99759305 0.05147115 -0.0464631 9.66359835] [-0.05085538 0.99860307 0.01433992 -0.46337341] [ 0.04713629 -0.01194251 0.99881707 -0.42257091] [ 0. 0. 0. 1. ]] SLAMing on 58.472401008000006 meters Centerline goodness : 0.914113 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-0.42 [[ 0.99759172 0.05083618 -0.04718517 9.66604299] [-0.05025823 0.99864695 0.01335589 -0.46169269] [ 0.04780029 -0.01095228 0.99879687 -0.42408214] [ 0. 0. 0. 1. ]] SLAMing on 58.50240100800001 meters Centerline goodness : 0.907771 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-0.43 [[ 0.99760073 0.05022543 -0.0476466 9.66826261] [-0.04970075 0.99869044 0.01213421 -0.45958634] [ 0.04819365 -0.00973702 0.99879055 -0.42627267] [ 0. 0. 0. 1. ]] SLAMing on 58.532401008 meters Centerline goodness : 0.905447 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-0.43 [[ 0.99739621 0.05331833 -0.04855883 9.67169243] [-0.05259989 0.99848819 0.01595569 -0.46038779] [ 0.04933615 -0.01335996 0.99869287 -0.42649095] [ 0. 0. 0. 1. ]] SLAMing on 58.562401008 meters Centerline goodness : 0.904311 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.46, Z:-0.43 [[ 0.99738527 0.05315173 -0.04896436 9.67351509] [-0.05252042 0.99852042 0.01409168 -0.45675629] [ 0.04964091 -0.01148321 0.99870111 -0.42982311] [ 0. 0. 0. 1. ]] SLAMing on 58.592401008 meters Centerline goodness : 0.905177 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.45, Z:-0.43 [[ 0.99738242 0.05293608 -0.04925533 9.67446319] [-0.05234291 0.99854118 0.01325659 -0.45484131] [ 0.04988522 -0.01064373 0.99869824 -0.43087805] [ 0. 0. 0. 1. ]] SLAMing on 58.622401008000004 meters Centerline goodness : 0.904889 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.46, Z:-0.43 [[ 0.99715197 0.05636797 -0.05010594 9.67694768] [-0.05553537 0.99829701 0.0178576 -0.45630884] [ 0.05102721 -0.01502408 0.99858425 -0.4293696 ] [ 0. 0. 0. 1. ]] SLAMing on 58.652401008000005 meters Centerline goodness : 0.905090 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.46, Z:-0.43 [[ 0.99713773 0.05646744 -0.05027707 9.67724858] [-0.05565594 0.99829842 0.01739792 -0.45511355] [ 0.05117394 -0.0145499 0.99858376 -0.42989914] [ 0. 0. 0. 1. ]] SLAMing on 58.68240100800001 meters Centerline goodness : 0.905397 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.45, Z:-0.43 [[ 9.97199660e-01 5.94366871e-02 -4.53885297e-02 9.68983864e+00] [-5.90821430e-02 9.98211514e-01 9.11447171e-03 -4.53621166e-01] [ 4.58490870e-02 -6.40729648e-03 9.98927829e-01 -4.33781408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71240100800001 meters Centerline goodness : 0.906382 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.45, Z:-0.43 [[ 9.97187780e-01 5.97155821e-02 -4.52833415e-02 9.68909628e+00] [-5.93504997e-02 9.98193271e-01 9.36545789e-03 -4.53318004e-01] [ 4.57607906e-02 -6.65153122e-03 9.98930281e-01 -4.32990412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742401008 meters Centerline goodness : 0.909146 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.45, Z:-0.43 [[ 9.97178608e-01 5.99785428e-02 -4.51375468e-02 9.68830799e+00] [-5.95956222e-02 9.98174661e-01 9.78303197e-03 -4.53357495e-01] [ 4.56419274e-02 -7.06543002e-03 9.98932878e-01 -4.31984788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772401008 meters Centerline goodness : 0.906082 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.45, Z:-0.43 [[ 9.97186198e-01 5.97775438e-02 -4.52364029e-02 9.68858472e+00] [-5.93682671e-02 9.98182608e-01 1.03387550e-02 -4.54952043e-01] [ 4.57722160e-02 -7.62405697e-03 9.98922809e-01 -4.31209943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802401008000004 meters Centerline goodness : 0.910333 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97199497e-01 5.94461097e-02 -4.53797775e-02 9.68915737e+00] [-5.90281283e-02 9.98201128e-01 1.04970549e-02 -4.56114020e-01] [ 4.59221541e-02 -7.78897453e-03 9.98914655e-01 -4.31064215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832401008000005 meters Centerline goodness : 0.911882 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.45, Z:-0.43 [[ 9.97410178e-01 5.61396841e-02 -4.49585670e-02 9.68737016e+00] [-5.59082718e-02 9.98415466e-01 6.38920679e-03 -4.54780898e-01] [ 4.52460167e-02 -3.85910410e-03 9.98968421e-01 -4.31665047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862401008000006 meters Centerline goodness : 0.913217 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97418985e-01 5.58284783e-02 -4.51503058e-02 9.68795319e+00] [-5.55744457e-02 9.98430958e-01 6.86316330e-03 -4.56419895e-01] [ 4.54626230e-02 -4.33624615e-03 9.98956629e-01 -4.30978109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89240100800001 meters Centerline goodness : 0.914206 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97642659e-01 5.15232324e-02 -4.53263908e-02 9.68823155e+00] [-5.14512746e-02 9.98671710e-01 2.75354382e-03 -4.57484077e-01] [ 4.54080556e-02 -4.14952198e-04 9.98968436e-01 -4.31652866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922401008 meters Centerline goodness : 0.914445 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97641110e-01 5.09119607e-02 -4.60455042e-02 9.69031460e+00] [-5.08320733e-02 9.98702990e-01 2.90498352e-03 -4.59266753e-01] [ 4.61336811e-02 -5.57542539e-04 9.98935119e-01 -4.31659252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952401008 meters Centerline goodness : 0.916704 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97637433e-01 5.06828408e-02 -4.63767439e-02 9.69134612e+00] [-5.05979649e-02 9.98714588e-01 3.00298448e-03 -4.60508738e-01] [ 4.64693305e-02 -6.49320862e-04 9.98919506e-01 -4.31876184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982401008000004 meters Centerline goodness : 0.915604 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97647553e-01 5.00476173e-02 -4.68465192e-02 9.69326913e+00] [-4.99788241e-02 9.98746790e-01 2.63937579e-03 -4.60769083e-01] [ 4.69199051e-02 -2.91832860e-04 9.98898612e-01 -4.32752184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012401008000005 meters Centerline goodness : 0.919047 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.46, Z:-0.43 [[ 9.97655529e-01 4.95438024e-02 -4.72107645e-02 9.69486988e+00] [-4.94929787e-02 9.98771947e-01 2.24559259e-03 -4.60217313e-01] [ 4.72640423e-02 9.62734931e-05 9.98882426e-01 -4.33579100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042401008000006 meters Centerline goodness : 0.909905 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.46, Z:-0.44 [[ 9.97619428e-01 4.86492511e-02 -4.88745984e-02 9.70468975e+00] [-4.84711229e-02 9.98812935e-01 4.82392379e-03 -4.60943766e-01] [ 4.90512614e-02 -2.44343342e-03 9.98793274e-01 -4.35103583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07240100800001 meters Centerline goodness : 0.910355 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.46, Z:-0.44 [[ 9.97633003e-01 4.72171826e-02 -4.99892915e-02 9.70913925e+00] [-4.70864052e-02 9.98883626e-01 3.79118572e-03 -4.60624194e-01] [ 5.01124938e-02 -1.42839596e-03 9.98742558e-01 -4.37320391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102401008 meters Centerline goodness : 0.906011 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.46, Z:-0.44 [[ 9.97646796e-01 4.60103652e-02 -5.08322379e-02 9.71290045e+00] [-4.59296591e-02 9.98940877e-01 2.75528390e-03 -4.60530183e-01] [ 5.09051719e-02 -4.14092804e-04 9.98703405e-01 -4.39727816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132401008 meters Centerline goodness : 0.905705 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.46, Z:-0.44 [[ 9.97635267e-01 4.52380727e-02 -5.17435078e-02 9.71571666e+00] [-4.52156848e-02 9.98975961e-01 1.60378166e-03 -4.58660601e-01] [ 5.17630724e-02 7.39628997e-04 9.98659120e-01 -4.41203580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162401008 meters Centerline goodness : 0.907041 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.46, Z:-0.44 [[ 9.97629405e-01 4.50109709e-02 -5.20536496e-02 9.71630382e+00] [-4.50227169e-02 9.98985514e-01 9.47516378e-04 -4.56309933e-01] [ 5.20434906e-02 1.39832653e-03 9.98643840e-01 -4.41352507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192401008000004 meters Centerline goodness : 0.905326 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.46, Z:-0.44 [[ 9.97635905e-01 4.45549298e-02 -5.23207328e-02 9.71733791e+00] [-4.45702706e-02 9.99005869e-01 8.74110525e-04 -4.55470960e-01] [ 5.23076651e-02 1.45990517e-03 9.98629950e-01 -4.41210096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222401008000006 meters Centerline goodness : 0.908063 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.46, Z:-0.44 [[ 9.97479743e-01 4.63747724e-02 -5.36986207e-02 9.72281176e+00] [-4.60741322e-02 9.98914716e-01 6.82380661e-03 -4.57805055e-01] [ 5.39567949e-02 -4.33249152e-03 9.98533872e-01 -4.37117962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25240100800001 meters Centerline goodness : 0.900900 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.46, Z:-0.44 [[ 9.97509180e-01 4.53226702e-02 -5.40489695e-02 9.72460987e+00] [-4.50460750e-02 9.98964884e-01 6.32542467e-03 -4.56439884e-01] [ 5.42797077e-02 -3.87497525e-03 9.98518251e-01 -4.37521911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282401008 meters Centerline goodness : 0.903435 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-0.44 [[ 9.97508815e-01 4.45984328e-02 -5.46547662e-02 9.72637337e+00] [-4.43168288e-02 9.98997319e-01 6.35420154e-03 -4.56280949e-01] [ 5.48833523e-02 -3.91624614e-03 9.98485093e-01 -4.36990991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312401008 meters Centerline goodness : 0.909297 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-0.43 [[ 0.9973499 0.04611417 -0.05627312 9.73272106] [-0.04542224 0.99887646 0.01351427 -0.46004273] [ 0.0568331 -0.0109224 0.99832395 -0.43052878] [ 0. 0. 0. 1. ]] SLAMing on 59.342401008 meters Centerline goodness : 0.908256 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-0.43 [[ 9.97516452e-01 4.23145426e-02 -5.63063716e-02 9.73189077e+00] [-4.18663122e-02 9.99081624e-01 9.11702793e-03 -4.58059152e-01] [ 5.66404441e-02 -6.73704522e-03 9.98371911e-01 -4.30735351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372401008000004 meters Centerline goodness : 0.909538 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.46, Z:-0.43 [[ 9.97489946e-01 4.21422570e-02 -5.69019991e-02 9.73225089e+00] [-4.16352054e-02 9.99082153e-01 1.00678017e-02 -4.59058636e-01] [ 5.72740517e-02 -7.67340452e-03 9.98329005e-01 -4.28001600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402401008000005 meters Centerline goodness : 0.909070 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.46, Z:-0.43 [[ 0.99731109 0.0449081 -0.05791252 9.73594617] [-0.04413601 0.99891967 0.01454352 -0.46044061] [ 0.05850308 -0.01194839 0.99821572 -0.42681942] [ 0. 0. 0. 1. ]] SLAMing on 59.43240100800001 meters Centerline goodness : 0.903950 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.46, Z:-0.43 [[ 0.99731469 0.04416707 -0.05841808 9.73832373] [-0.04346418 0.99896713 0.01324903 -0.45749024] [ 0.05894292 -0.01067436 0.99820428 -0.4289101 ] [ 0. 0. 0. 1. ]] SLAMing on 59.46240100800001 meters Centerline goodness : 0.905620 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.46, Z:-0.43 [[ 0.99712903 0.04698758 -0.05937895 9.7421777 ] [-0.04604792 0.99879293 0.01709599 -0.45802048] [ 0.06011057 -0.01431263 0.99808911 -0.42898579] [ 0. 0. 0. 1. ]] SLAMing on 59.492401008 meters Centerline goodness : 0.899968 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.45, Z:-0.43 [[ 0.99712313 0.04683844 -0.0595955 9.74283307] [-0.04595924 0.99881453 0.01603977 -0.45485005] [ 0.06027613 -0.01325466 0.99809373 -0.4300448 ] [ 0. 0. 0. 1. ]] SLAMing on 59.522401008 meters Centerline goodness : 0.907340 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.45, Z:-0.43 [[ 0.99711272 0.04713251 -0.05953774 9.74207397] [-0.04627318 0.99880494 0.01573138 -0.45291387] [ 0.06020805 -0.01293095 0.99810209 -0.42977121] [ 0. 0. 0. 1. ]] SLAMing on 59.552401008000004 meters Centerline goodness : 0.905948 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.43 [[ 9.97264726e-01 4.93288002e-02 -5.50430435e-02 9.75733350e+00] [-4.89740211e-02 9.98769778e-01 7.77666180e-03 -4.50377254e-01] [ 5.53589417e-02 -5.05971132e-03 9.98453698e-01 -4.33865155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582401008000005 meters Centerline goodness : 0.907182 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.43 [[ 9.97029961e-01 5.37919572e-02 -5.51151762e-02 9.75676637e+00] [-5.31956074e-02 9.98509196e-01 1.22316503e-02 -4.49121797e-01] [ 5.56909746e-02 -9.26343656e-03 9.98405080e-01 -4.31705145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612401008000006 meters Centerline goodness : 0.907553 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.43 [[ 9.97013916e-01 5.42512707e-02 -5.49549819e-02 9.75613894e+00] [-5.37096735e-02 9.98492815e-01 1.12858215e-02 -4.45989590e-01] [ 5.54844247e-02 -8.30050692e-03 9.98425050e-01 -4.32737249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64240100800001 meters Centerline goodness : 0.910038 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.44, Z:-0.43 [[ 9.96993141e-01 5.48412401e-02 -5.47459111e-02 9.75551824e+00] [-5.43549550e-02 9.98468206e-01 1.03335088e-02 -4.42161196e-01] [ 5.52287541e-02 -7.32672583e-03 9.98446846e-01 -4.33968583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672401008 meters Centerline goodness : 0.904691 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.44, Z:-0.43 [[ 0.99675211 0.05890758 -0.05491013 9.75638301] [-0.05821459 0.99820399 0.01413692 -0.44100346] [ 0.05564428 -0.01089443 0.99839122 -0.43381098] [ 0. 0. 0. 1. ]] SLAMing on 59.702401008 meters Centerline goodness : 0.907137 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.44, Z:-0.44 [[ 9.96512432e-01 6.62867693e-02 -5.06856619e-02 9.76905153e+00] [-6.59767189e-02 9.97790927e-01 7.76780473e-03 -4.35875026e-01] [ 5.10885962e-02 -4.39664032e-03 9.98684447e-01 -4.39528323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732401008000004 meters Centerline goodness : 0.907296 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.43, Z:-0.44 [[ 9.96469651e-01 6.70908816e-02 -5.04682941e-02 9.76782194e+00] [-6.68064172e-02 9.97739219e-01 7.30432159e-03 -4.33565463e-01] [ 5.08442498e-02 -3.90692887e-03 9.98698953e-01 -4.39811130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762401008000005 meters Centerline goodness : 0.907466 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.43, Z:-0.44 [[ 9.96444145e-01 6.74559635e-02 -5.04852337e-02 9.76763848e+00] [-6.71940497e-02 9.97716279e-01 6.86924647e-03 -4.32203662e-01] [ 5.08333112e-02 -3.45251312e-03 9.98701184e-01 -4.40349195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792401008000006 meters Centerline goodness : 0.906478 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.43, Z:-0.44 [[ 9.96425122e-01 6.78639275e-02 -5.03136562e-02 9.76713819e+00] [-6.76211330e-02 9.97689805e-01 6.51419491e-03 -4.31273048e-01] [ 5.06395008e-02 -3.08864102e-03 9.98712221e-01 -4.41023546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82240100800001 meters Centerline goodness : 0.908019 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.43, Z:-0.44 [[ 9.96423020e-01 6.79902361e-02 -5.01845925e-02 9.76752287e+00] [-6.77650797e-02 9.97682187e-01 6.17643933e-03 -4.31794234e-01] [ 5.04882116e-02 -2.75358342e-03 9.98720861e-01 -4.42583397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852401008 meters Centerline goodness : 0.907352 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.43, Z:-0.44 [[ 9.96432053e-01 6.75353014e-02 -5.06176609e-02 9.76916293e+00] [-6.73096791e-02 9.97713173e-01 6.15078110e-03 -4.33128984e-01] [ 5.09173019e-02 -2.72177693e-03 9.98699164e-01 -4.43192958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882401008 meters Centerline goodness : 0.906453 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.44, Z:-0.44 [[ 9.96434350e-01 6.71647975e-02 -5.10634503e-02 9.77057153e+00] [-6.69134407e-02 9.97736835e-01 6.61807361e-03 -4.35750227e-01] [ 5.13923869e-02 -3.17764472e-03 9.98673483e-01 -4.43104056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912401008 meters Centerline goodness : 0.907824 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.44, Z:-0.44 [[ 9.96688188e-01 6.36776524e-02 -5.05748149e-02 9.76874689e+00] [-6.36191581e-02 9.97970413e-01 2.76718029e-03 -4.36446855e-01] [ 5.06483765e-02 4.59511236e-04 9.98716442e-01 -4.43650896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942401008000004 meters Centerline goodness : 0.911988 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.44, Z:-0.44 [[ 9.96674685e-01 6.35192929e-02 -5.10379370e-02 9.76952592e+00] [-6.33874124e-02 9.97980158e-01 4.20010388e-03 -4.40637535e-01] [ 5.12016360e-02 -9.50974458e-04 9.98687883e-01 -4.41886494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972401008000006 meters Centerline goodness : 0.916897 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96676915e-01 6.34610585e-02 -5.10668328e-02 9.76960971e+00] [-6.32281895e-02 9.97980058e-01 6.16435355e-03 -4.46785705e-01] [ 5.13548772e-02 -2.91500549e-03 9.98676213e-01 -4.39964390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00240100800001 meters Centerline goodness : 0.917474 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96659732e-01 6.37511767e-02 -5.10408240e-02 9.76939469e+00] [-6.34849970e-02 9.97959482e-01 6.82103281e-03 -4.49228779e-01] [ 5.13715232e-02 -3.55792217e-03 9.98673274e-01 -4.39685008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03240100800001 meters Centerline goodness : 0.918676 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96641352e-01 6.39478722e-02 -5.11535459e-02 9.76967259e+00] [-6.36612724e-02 9.97945488e-01 7.21423941e-03 -4.51265757e-01] [ 5.15097856e-02 -3.93350950e-03 9.98664743e-01 -4.39775391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062401008 meters Centerline goodness : 0.920270 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96618537e-01 6.44308416e-02 -5.09917481e-02 9.76903165e+00] [-6.41254992e-02 9.97912877e-01 7.60329500e-03 -4.52676299e-01] [ 5.13752087e-02 -4.30771344e-03 9.98670131e-01 -4.39686718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092401008 meters Centerline goodness : 0.919581 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96566335e-01 6.58578636e-02 -5.01824892e-02 9.76652966e+00] [-6.55777444e-02 9.97821415e-01 7.20996920e-03 -4.51316014e-01] [ 5.05479955e-02 -3.89435813e-03 9.98714040e-01 -4.40954098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122401008000004 meters Centerline goodness : 0.921364 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96530758e-01 6.63882333e-02 -5.01901385e-02 9.76632164e+00] [-6.61463349e-02 9.97788975e-01 6.46720560e-03 -4.48878284e-01] [ 5.05085132e-02 -3.12487559e-03 9.98718742e-01 -4.42059238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152401008000005 meters Centerline goodness : 0.919086 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96496190e-01 6.72231338e-02 -4.97633766e-02 9.76484513e+00] [-6.70022014e-02 9.97734202e-01 6.09647648e-03 -4.46971246e-01] [ 5.00604471e-02 -2.74085981e-03 9.98742429e-01 -4.42596433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18240100800001 meters Centerline goodness : 0.920340 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96451329e-01 6.85015609e-02 -4.89109996e-02 9.76179862e+00] [-6.82701529e-02 9.97646419e-01 6.38818235e-03 -4.46491963e-01] [ 4.92334841e-02 -3.02635137e-03 9.98782712e-01 -4.42156338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21240100800001 meters Centerline goodness : 0.921148 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96704904e-01 6.50527230e-02 -4.84507660e-02 9.75965338e+00] [-6.50161268e-02 9.97881487e-01 2.33258387e-03 -4.45149670e-01] [ 4.84998634e-02 8.25183369e-04 9.98822848e-01 -4.42205148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242401008 meters Centerline goodness : 0.921448 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96721179e-01 6.47086760e-02 -4.85765204e-02 9.76035076e+00] [-6.46695259e-02 9.97903900e-01 2.37880501e-03 -4.45769076e-01] [ 4.86286285e-02 7.70415209e-04 9.98816631e-01 -4.42339060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272401008 meters Centerline goodness : 0.921448 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96721179e-01 6.47086760e-02 -4.85765204e-02 9.76035076e+00] [-6.46695259e-02 9.97903900e-01 2.37880501e-03 -4.45769076e-01] [ 4.86286285e-02 7.70415209e-04 9.98816631e-01 -4.42339060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302401008000004 meters Centerline goodness : 0.920485 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96739272e-01 6.41885697e-02 -4.88942956e-02 9.76189773e+00] [-6.41545037e-02 9.97937402e-01 2.26736630e-03 -4.46545702e-01] [ 4.89389853e-02 8.76816233e-04 9.98801385e-01 -4.43110270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332401008000005 meters Centerline goodness : 0.914441 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.45, Z:-0.44 [[ 9.96798858e-01 6.28302046e-02 -4.94409014e-02 9.76479194e+00] [-6.27836601e-02 9.98024040e-01 2.49538314e-03 -4.49930748e-01] [ 4.94999936e-02 6.16685682e-04 9.98773934e-01 -4.43649203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362401008000006 meters Centerline goodness : 0.917869 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96804881e-01 6.25305741e-02 -4.96986508e-02 9.76554059e+00] [-6.24734716e-02 9.98042964e-01 2.70305240e-03 -4.51295809e-01] [ 4.97704122e-02 4.10431428e-04 9.98760601e-01 -4.43427882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39240100800001 meters Centerline goodness : 0.917911 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96800710e-01 6.25525530e-02 -4.97546339e-02 9.76545386e+00] [-6.24729413e-02 9.98041671e-01 3.15512840e-03 -4.52686562e-01] [ 4.98545593e-02 -3.67159016e-05 9.98756488e-01 -4.42750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422401008 meters Centerline goodness : 0.918358 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96803986e-01 6.23387532e-02 -4.99569196e-02 9.76596654e+00] [-6.22450610e-02 9.98055000e-01 3.43054396e-03 -4.53853897e-01] [ 5.00736093e-02 -3.10008380e-04 9.98745482e-01 -4.42388357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452401008 meters Centerline goodness : 0.915357 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.46, Z:-0.44 [[ 9.96829373e-01 6.19077972e-02 -4.99862475e-02 9.76666459e+00] [-6.18048204e-02 9.98081746e-01 3.60463027e-03 -4.55747415e-01] [ 5.01135158e-02 -5.03810292e-04 9.98743401e-01 -4.42658867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482401008000004 meters Centerline goodness : 0.911227 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.46, Z:-0.44 [[ 9.96835651e-01 6.16387933e-02 -5.01930660e-02 9.76751795e+00] [-6.15364255e-02 9.98098405e-01 3.58373144e-03 -4.56196082e-01] [ 5.03185160e-02 -4.83689393e-04 9.98733104e-01 -4.42938900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512401008000005 meters Centerline goodness : 0.914878 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.46, Z:-0.44 [[ 9.96837375e-01 6.16174586e-02 -5.01850213e-02 9.76771384e+00] [-6.15149585e-02 9.98099720e-01 3.58589874e-03 -4.56373765e-01] [ 5.03106097e-02 -4.87428390e-04 9.98733500e-01 -4.43189260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542401008000006 meters Centerline goodness : 0.911589 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.44 [[ 9.96861104e-01 6.12522991e-02 -5.01607016e-02 9.76868607e+00] [-6.11856187e-02 9.98122292e-01 2.86522649e-03 -4.54957885e-01] [ 5.02420162e-02 2.12880718e-04 9.98737050e-01 -4.44817145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57240100800001 meters Centerline goodness : 0.908280 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.45 [[ 9.96877952e-01 6.07128893e-02 -5.04806232e-02 9.77035335e+00] [-6.06756044e-02 9.98154952e-01 2.27213726e-03 -4.53478141e-01] [ 5.05254320e-02 7.97898778e-04 9.98722456e-01 -4.45885141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602401008 meters Centerline goodness : 0.906438 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.45 [[ 9.96892654e-01 6.02998682e-02 -5.06849341e-02 9.77160407e+00] [-6.02944557e-02 9.98179292e-01 1.63716786e-03 -4.52401160e-01] [ 5.06913727e-02 1.42393990e-03 9.98713351e-01 -4.47098469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632401008 meters Centerline goodness : 0.904475 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.45, Z:-0.45 [[ 9.96902753e-01 5.99971551e-02 -5.08452778e-02 9.77254197e+00] [-6.00074393e-02 9.98197050e-01 1.32562351e-03 -4.52024553e-01] [ 5.08331399e-02 1.72957719e-03 9.98705663e-01 -4.47859294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662401008 meters Centerline goodness : 0.902121 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.45, Z:-0.45 [[ 9.96933736e-01 5.88208188e-02 -5.16065650e-02 9.77545409e+00] [-5.88434706e-02 9.98266636e-01 1.08164404e-03 -4.53308221e-01] [ 5.15807353e-02 1.95838196e-03 9.98666908e-01 -4.48502425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692401008000004 meters Centerline goodness : 0.903184 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.46, Z:-0.45 [[ 9.96949741e-01 5.78968368e-02 -5.23370853e-02 9.77792887e+00] [-5.79174120e-02 9.98320744e-01 1.12471534e-03 -4.55181011e-01] [ 5.23143155e-02 1.90994387e-03 9.98628842e-01 -4.48711945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722401008000006 meters Centerline goodness : 0.899656 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.46, Z:-0.45 [[ 9.96964959e-01 5.68507122e-02 -5.31870894e-02 9.78078113e+00] [-5.68586161e-02 9.98381306e-01 1.36575271e-03 -4.57711202e-01] [ 5.31786398e-02 1.66253670e-03 9.98583631e-01 -4.48769388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75240100800001 meters Centerline goodness : 0.904987 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.46, Z:-0.45 [[ 9.96973338e-01 5.57766266e-02 -5.41583829e-02 9.78383277e+00] [-5.57520844e-02 9.98442709e-01 1.96505907e-03 -4.60714751e-01] [ 5.41836469e-02 1.06033124e-03 9.98530424e-01 -4.48182148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78240100800001 meters Centerline goodness : 0.904670 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.46, Z:-0.45 [[ 9.96984455e-01 5.50210570e-02 -5.47236757e-02 9.78581684e+00] [-5.49569039e-02 9.98485137e-01 2.67761158e-03 -4.63832826e-01] [ 5.47881018e-02 3.37906667e-04 9.98497947e-01 -4.47594286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812401008 meters Centerline goodness : 0.903558 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.47, Z:-0.45 [[ 9.97054652e-01 5.30724777e-02 -5.53654564e-02 9.78915308e+00] [-5.29668795e-02 9.98590570e-01 3.37398375e-03 -4.68298651e-01] [ 5.54664883e-02 -4.31510739e-04 9.98460456e-01 -4.46841441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842401008 meters Centerline goodness : 0.904699 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.47, Z:-0.45 [[ 9.97059851e-01 5.23312845e-02 -5.59740160e-02 9.79137809e+00] [-5.22038620e-02 9.98629456e-01 3.73722057e-03 -4.70295462e-01] [ 5.60928747e-02 -8.04172773e-04 9.98425231e-01 -4.46771148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872401008000004 meters Centerline goodness : 0.907646 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.47, Z:-0.45 [[ 9.97055549e-01 5.16346593e-02 -5.66929782e-02 9.79360999e+00] [-5.14890141e-02 9.98665439e-01 4.02770201e-03 -4.71931016e-01] [ 5.68252870e-02 -1.09677709e-03 9.98383535e-01 -4.46527533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902401008000005 meters Centerline goodness : 0.905485 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.47, Z:-0.45 [[ 9.97054544e-01 5.16477252e-02 -5.66987509e-02 9.79383393e+00] [-5.14858287e-02 9.98664410e-01 4.31341967e-03 -4.73335081e-01] [ 5.68458029e-02 -1.38153251e-03 9.98382014e-01 -4.46615191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93240100800001 meters Centerline goodness : 0.906345 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.47, Z:-0.45 [[ 9.97055085e-01 5.13612982e-02 -5.69488779e-02 9.79490755e+00] [-5.12044865e-02 9.98679315e-01 4.21031062e-03 -4.73773238e-01] [ 5.70899133e-02 -1.28187356e-03 9.98368218e-01 -4.47083079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96240100800001 meters Centerline goodness : 0.903881 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.47, Z:-0.45 [[ 9.97050303e-01 5.10997672e-02 -5.72669808e-02 9.79612406e+00] [-5.09683567e-02 9.98693214e-01 3.75391233e-03 -4.73434465e-01] [ 5.73839691e-02 -8.24035528e-04 9.98351842e-01 -4.48042743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992401008 meters Centerline goodness : 0.904436 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.47, Z:-0.45 [[ 9.97052654e-01 5.05736517e-02 -5.76915161e-02 9.79802614e+00] [-5.04662361e-02 9.98720255e-01 3.31826312e-03 -4.73080604e-01] [ 5.77855024e-02 -3.97009373e-04 9.98328943e-01 -4.49072214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022401008 meters Centerline goodness : 0.900901 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.47, Z:-0.45 [[ 9.97049238e-01 4.93870445e-02 -5.87684942e-02 9.80198349e+00] [-4.93143559e-02 9.98779691e-01 2.68742760e-03 -4.73827446e-01] [ 5.88295026e-02 2.18632801e-04 9.98268021e-01 -4.50542714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052401008000004 meters Centerline goodness : 0.897144 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.47, Z:-0.45 [[ 9.97047616e-01 4.87166990e-02 -5.93526298e-02 9.80412953e+00] [-4.86501871e-02 9.98812582e-01 2.56599975e-03 -4.74868626e-01] [ 5.94071605e-02 3.29092610e-04 9.98233781e-01 -4.51107585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082401008000005 meters Centerline goodness : 0.893629 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.48, Z:-0.45 [[ 9.97058757e-01 4.75825742e-02 -6.00810532e-02 9.80708990e+00] [-4.75322742e-02 9.98867130e-01 2.26692310e-03 -4.75969168e-01] [ 6.01208552e-02 5.95533565e-04 9.98190928e-01 -4.51905627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112401008000006 meters Centerline goodness : 0.893506 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.48, Z:-0.45 [[ 9.97051957e-01 4.58776193e-02 -6.15031588e-02 9.81215599e+00] [-4.58542187e-02 9.98946534e-01 1.79259593e-03 -4.76410331e-01] [ 6.15206074e-02 1.03286802e-03 9.98105279e-01 -4.52786592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14240100800001 meters Centerline goodness : 0.888114 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.48, Z:-0.45 [[ 9.97168976e-01 4.05214261e-02 -6.33407303e-02 9.83727076e+00] [-4.00348362e-02 9.99158352e-01 8.93303068e-03 -4.77919956e-01] [ 6.36493988e-02 -6.37190529e-03 9.97951979e-01 -4.51091143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172401008 meters Centerline goodness : 0.882827 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.48, Z:-0.45 [[ 0.99710961 0.03884246 -0.0652969 9.84930427] [-0.03802468 0.9991826 0.01372095 -0.47912055] [ 0.06577648 -0.0111984 0.99777154 -0.44822972] [ 0. 0. 0. 1. ]] SLAMing on 61.202401008 meters Centerline goodness : 0.882435 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.48, Z:-0.44 [[ 0.99700695 0.03787159 -0.06740088 9.86088876] [-0.03662577 0.99913634 0.01962479 -0.48043246] [ 0.06808589 -0.01709744 0.99753295 -0.44330984] [ 0. 0. 0. 1. ]] SLAMing on 61.232401008000004 meters Centerline goodness : 0.883805 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.48, Z:-0.44 [[ 0.99691367 0.03763963 -0.06889413 9.86910207] [-0.03601616 0.99904697 0.0246575 -0.4818527 ] [ 0.06975657 -0.0221001 0.99731921 -0.43945729] [ 0. 0. 0. 1. ]] SLAMing on 61.262401008000005 meters Centerline goodness : 0.880168 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.48, Z:-0.44 [[ 0.99688721 0.03560837 -0.0703416 9.87388745] [-0.03405458 0.99915144 0.02316659 -0.47844535] [ 0.07110684 -0.02069902 0.99725391 -0.44022905] [ 0. 0. 0. 1. ]] SLAMing on 61.292401008000006 meters Centerline goodness : 0.882046 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.48, Z:-0.44 [[ 0.99688581 0.03482887 -0.07075048 9.87527727] [-0.03334034 0.99919941 0.02211256 -0.47580204] [ 0.071464 -0.01968485 0.99724892 -0.44089258] [ 0. 0. 0. 1. ]] SLAMing on 61.32240100800001 meters Centerline goodness : 0.881954 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.47, Z:-0.44 [[ 0.99688378 0.03413301 -0.07111725 9.8763588 ] [-0.03272619 0.99924677 0.02085421 -0.47204169] [ 0.0717755 -0.01846182 0.99724994 -0.44157025] [ 0. 0. 0. 1. ]] SLAMing on 61.352401008 meters Centerline goodness : 0.879045 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.46, Z:-0.44 [[ 0.99671818 0.03759093 -0.07169238 9.87778654] [-0.03601174 0.99908216 0.02319456 -0.46459953] [ 0.07249849 -0.02053668 0.99715707 -0.44167135] [ 0. 0. 0. 1. ]] SLAMing on 61.382401008 meters Centerline goodness : 0.878481 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.46, Z:-0.44 [[ 0.99670358 0.03807286 -0.07164095 9.87794143] [-0.03660588 0.99909458 0.02168 -0.45739005] [ 0.0724015 -0.01898605 0.99719484 -0.44385024] [ 0. 0. 0. 1. ]] SLAMing on 61.412401008 meters Centerline goodness : 0.875537 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.45, Z:-0.44 [[ 0.99652697 0.04163684 -0.07211364 9.87976864] [-0.03998297 0.99890657 0.02422854 -0.4521034 ] [ 0.07304359 -0.02126108 0.9971021 -0.44473059] [ 0. 0. 0. 1. ]] SLAMing on 61.442401008000004 meters Centerline goodness : 0.876007 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.45, Z:-0.45 [[ 0.99634079 0.04550514 -0.07234861 9.88083242] [-0.04366909 0.99868757 0.02676105 -0.44655288] [ 0.07347142 -0.02350373 0.99702032 -0.44557092] [ 0. 0. 0. 1. ]] SLAMing on 61.472401008000006 meters Centerline goodness : 0.873431 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.43, Z:-0.46 [[ 0.99602399 0.05534848 -0.06980511 9.89128814] [-0.0542616 0.99837561 0.01737288 -0.43256268] [ 0.07065328 -0.01351607 0.99740936 -0.45518214] [ 0. 0. 0. 1. ]] SLAMing on 61.50240100800001 meters Centerline goodness : 0.871013 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.43, Z:-0.46 [[ 0.99577786 0.05913449 -0.07021085 9.8928583 ] [-0.05787555 0.99812677 0.01983355 -0.42723946] [ 0.07125217 -0.01568632 0.99733498 -0.45603926] [ 0. 0. 0. 1. ]] SLAMing on 61.53240100800001 meters Centerline goodness : 0.871228 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.42, Z:-0.46 [[ 0.99553333 0.06270708 -0.07057772 9.89462384] [-0.06127764 0.99787292 0.02224158 -0.42209994] [ 0.0718223 -0.01781739 0.99725829 -0.45701427] [ 0. 0. 0. 1. ]] SLAMing on 61.562401008 meters Centerline goodness : 0.868984 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.41, Z:-0.46 [[ 0.99551591 0.06291529 -0.07063812 9.89478553] [-0.06163618 0.99789534 0.02014608 -0.41483896] [ 0.07175695 -0.01570188 0.99729855 -0.4591805 ] [ 0. 0. 0. 1. ]] SLAMing on 61.592401008 meters Centerline goodness : 0.868645 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.41, Z:-0.46 [[ 9.95536897e-01 6.61946363e-02 -6.72648250e-02 9.91298698e+00] [-6.54786989e-02 9.97771925e-01 1.27955292e-02 -4.05163565e-01] [ 6.79619493e-02 -8.33400817e-03 9.97653105e-01 -4.63262607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622401008000004 meters Centerline goodness : 0.871634 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.40, Z:-0.46 [[ 9.95554503e-01 6.51317880e-02 -6.80373593e-02 9.91516071e+00] [-6.44990331e-02 9.97851986e-01 1.14581354e-02 -4.00954286e-01] [ 6.86375029e-02 -7.01885440e-03 9.97616975e-01 -4.63606331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652401008000005 meters Centerline goodness : 0.869526 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.40, Z:-0.46 [[ 9.95575975e-01 6.41917732e-02 -6.86140911e-02 9.91699188e+00] [-6.36184440e-02 9.97918942e-01 1.05108446e-02 -3.97550897e-01] [ 6.91460110e-02 -6.09922267e-03 9.97587905e-01 -4.63785292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68240100800001 meters Centerline goodness : 0.869356 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.40, Z:-0.46 [[ 0.99540108 0.06499998 -0.07036833 9.92452876] [-0.06397996 0.99781218 0.01665586 -0.39794715] [ 0.07129701 -0.01207709 0.99738201 -0.45833555] [ 0. 0. 0. 1. ]] SLAMing on 61.71240100800001 meters Centerline goodness : 0.869361 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.40, Z:-0.45 [[ 0.99561592 0.0610287 -0.07088327 9.93868426] [-0.05944935 0.99793836 0.0241829 -0.39675563] [ 0.07221298 -0.01986291 0.99719143 -0.44971376] [ 0. 0. 0. 1. ]] SLAMing on 61.742401008 meters Centerline goodness : 0.870207 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.39, Z:-0.45 [[ 0.99587572 0.05642391 -0.07104856 9.93858503] [-0.05519219 0.99829145 0.01918333 -0.3930185 ] [ 0.07200957 -0.01518288 0.99728837 -0.45015594] [ 0. 0. 0. 1. ]] SLAMing on 61.772401008 meters Centerline goodness : 0.868808 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.39, Z:-0.45 [[ 0.99589726 0.05534347 -0.07159428 9.9399429 ] [-0.05411232 0.99835361 0.01902438 -0.39251406] [ 0.07252928 -0.01507219 0.99725239 -0.4490347 ] [ 0. 0. 0. 1. ]] SLAMing on 61.802401008000004 meters Centerline goodness : 0.872851 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.39, Z:-0.45 [[ 0.99613684 0.05046128 -0.07186832 9.93999945] [-0.04956667 0.99867017 0.01417854 -0.38881941] [ 0.07248821 -0.0105615 0.99731335 -0.44885024] [ 0. 0. 0. 1. ]] SLAMing on 61.832401008000005 meters Centerline goodness : 0.869752 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.38, Z:-0.44 [[ 0.99694441 0.03869174 -0.06785862 9.91078382] [-0.03705488 0.99899501 0.02521718 -0.38431167] [ 0.06876612 -0.02262563 0.99737621 -0.44425627] [ 0. 0. 0. 1. ]] SLAMing on 61.862401008000006 meters Centerline goodness : 0.869413 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.38, Z:-0.45 [[ 0.99765114 0.02852177 -0.06227934 9.88085838] [-0.02679329 0.99923707 0.02841478 -0.37853739] [ 0.06304227 -0.02667937 0.99765419 -0.44858484] [ 0. 0. 0. 1. ]] SLAMing on 61.89240100800001 meters Centerline goodness : 0.869370 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.37, Z:-0.45 [[ 0.99815244 0.01862626 -0.05783405 9.84880435] [-0.0167761 0.99933699 0.03231318 -0.37334128] [ 0.05839758 -0.03128325 0.99780313 -0.45208315] [ 0. 0. 0. 1. ]] SLAMing on 61.922401008 meters Centerline goodness : 0.871500 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.37, Z:-0.45 [[ 0.99805165 0.01231467 -0.06116575 9.83014095] [-0.01035143 0.99942426 0.0323109 -0.36965186] [ 0.06152844 -0.0316148 0.99760451 -0.4513961 ] [ 0. 0. 0. 1. ]] SLAMing on 61.952401008 meters Centerline goodness : 0.873465 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.37, Z:-0.45 [[ 0.9986737 0.01369758 -0.04963075 9.83151135] [-0.01197657 0.99932221 0.03480914 -0.37137745] [ 0.05007391 -0.03416857 0.99816086 -0.45206393] [ 0. 0. 0. 1. ]] SLAMing on 61.982401008000004 meters Centerline goodness : 0.869845 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.37, Z:-0.45 [[ 0.99908355 0.01671471 -0.03940403 9.83568557] [-0.0152662 0.9992068 0.03677915 -0.37366303] [ 0.03998753 -0.0361439 0.99854625 -0.45326882] [ 0. 0. 0. 1. ]] SLAMing on 62.012401008000005 meters Centerline goodness : 0.871097 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.37, Z:-0.45 [[ 0.99914943 0.01266669 -0.03924239 9.83494259] [-0.01142845 0.99943466 0.03161882 -0.3691835 ] [ 0.03962071 -0.03114344 0.99872934 -0.45406623] [ 0. 0. 0. 1. ]] SLAMing on 62.042401008000006 meters Centerline goodness : 0.869880 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.36, Z:-0.45 [[ 9.99211791e-01 8.81184772e-03 -3.87059181e-02 9.83297208e+00] [-7.78092866e-03 9.99613075e-01 2.67050255e-02 -3.63216515e-01] [ 3.89262624e-02 -2.63828084e-02 9.98893735e-01 -4.53897451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07240100800001 meters Centerline goodness : 0.870639 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.36, Z:-0.45 [[ 9.99249867e-01 4.66273084e-03 -3.84442865e-02 9.83230073e+00] [-3.83781901e-03 9.99761412e-01 2.15032794e-02 -3.58266452e-01] [ 3.85353781e-02 -2.13396068e-02 9.99029352e-01 -4.54830297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102401008 meters Centerline goodness : 0.870733 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.46 [[ 9.99275976e-01 7.96964682e-04 -3.80379847e-02 9.83097877e+00] [-1.61660843e-04 9.99860499e-01 1.67019813e-02 -3.54156151e-01] [ 3.80459892e-02 -1.66837394e-02 9.99136705e-01 -4.55167518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132401008 meters Centerline goodness : 0.869469 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.46 [[ 9.99284067e-01 -3.15534156e-03 -3.77014264e-02 9.82976077e+00] [ 3.60916667e-03 9.99921779e-01 1.19753558e-02 -3.50994463e-01] [ 3.76606910e-02 -1.21028530e-02 9.99217290e-01 -4.55205597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162401008 meters Centerline goodness : 0.869469 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.46 [[ 9.99284067e-01 -3.15534156e-03 -3.77014264e-02 9.82976077e+00] [ 3.60916667e-03 9.99921779e-01 1.19753558e-02 -3.50994463e-01] [ 3.76606910e-02 -1.21028530e-02 9.99217290e-01 -4.55205597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192401008000004 meters Centerline goodness : 0.868041 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.35, Z:-0.46 [[ 9.99573198e-01 -3.86187982e-04 -2.92108296e-02 9.83721876e+00] [ 6.52026961e-04 9.99958457e-01 9.09172178e-03 -3.52717245e-01] [ 2.92061050e-02 -9.10688767e-03 9.99531924e-01 -4.58655181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008000006 meters Centerline goodness : 0.869007 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.35, Z:-0.46 [[ 9.99554513e-01 -4.73887900e-03 -2.94672321e-02 9.83730479e+00] [ 4.85238501e-03 9.99981077e-01 3.78162472e-03 -3.46977214e-01] [ 2.94487538e-02 -3.92292642e-03 9.99558593e-01 -4.58728527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25240100800001 meters Centerline goodness : 0.870409 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.35, Z:-0.46 [[ 9.99826380e-01 3.54916570e-05 -1.86335241e-02 9.84061793e+00] [ 1.20199765e-04 9.99965095e-01 8.35426046e-03 -3.48039528e-01] [ 1.86331702e-02 -8.35504974e-03 9.99791477e-01 -4.60363356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28240100800001 meters Centerline goodness : 0.869731 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.35, Z:-0.46 [[ 9.99952477e-01 5.49924795e-03 -8.04995922e-03 9.84371474e+00] [-5.39355535e-03 9.99899737e-01 1.30929289e-02 -3.49579729e-01] [ 8.12115337e-03 -1.30488888e-02 9.99881880e-01 -4.60868029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312401008 meters Centerline goodness : 0.866990 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.34, Z:-0.46 [[ 9.99952200e-01 4.42172036e-03 -8.72048325e-03 9.84541940e+00] [-4.32311215e-03 9.99926872e-01 1.12942725e-02 -3.44240747e-01] [ 8.76978566e-03 -1.12560330e-02 9.99898191e-01 -4.61589784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401008 meters Centerline goodness : 0.867713 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.34, Z:-0.46 [[ 9.99950712e-01 4.42844589e-03 -8.88607970e-03 9.84591741e+00] [-4.33335900e-03 9.99933454e-01 1.06915290e-02 -3.42032094e-01] [ 8.93283523e-03 -1.06524955e-02 9.99903360e-01 -4.61438196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372401008000004 meters Centerline goodness : 0.867098 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.34, Z:-0.46 [[ 9.99951063e-01 4.38442261e-03 -8.86834189e-03 9.84655783e+00] [-4.29449476e-03 9.99939427e-01 1.01340729e-02 -3.39435649e-01] [ 8.91223677e-03 -1.00954919e-02 9.99909322e-01 -4.61909923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008000005 meters Centerline goodness : 0.864182 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.33, Z:-0.46 [[ 9.99959970e-01 5.43401911e-03 -7.10848107e-03 9.84368234e+00] [-5.33232182e-03 9.99884273e-01 1.42480350e-02 -3.33575074e-01] [ 7.18508252e-03 -1.42095599e-02 9.99873223e-01 -4.62381381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43240100800001 meters Centerline goodness : 0.861171 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.33, Z:-0.46 [[ 9.99961479e-01 4.54470137e-03 -7.50905894e-03 9.84539132e+00] [-4.45096928e-03 9.99912559e-01 1.24524459e-02 -3.28528734e-01] [ 7.56499499e-03 -1.24185437e-02 9.99894270e-01 -4.64003626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46240100800001 meters Centerline goodness : 0.862372 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.32, Z:-0.47 [[ 9.99961627e-01 3.91901683e-03 -7.83490259e-03 9.84661391e+00] [-3.83334605e-03 9.99933030e-01 1.09197808e-02 -3.24051260e-01] [ 7.87717269e-03 -1.08893279e-02 9.99909682e-01 -4.65165297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492401008 meters Centerline goodness : 0.865764 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.32, Z:-0.47 [[ 9.99977213e-01 5.94880494e-03 -3.19131455e-03 9.86001087e+00] [-5.94609933e-03 9.99981955e-01 8.56623002e-04 -3.19079964e-01] [ 3.19635285e-03 -8.37627609e-04 9.99994541e-01 -4.71369707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522401008 meters Centerline goodness : 0.863021 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.31, Z:-0.47 [[ 9.99946616e-01 9.63593683e-03 -3.73008961e-03 9.86057017e+00] [-9.62416118e-03 9.99948687e-01 3.16211586e-03 -3.11936979e-01] [ 3.76036816e-03 -3.12604808e-03 9.99988044e-01 -4.70936646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552401008000004 meters Centerline goodness : 0.861469 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.31, Z:-0.47 [[ 9.99903579e-01 1.32880386e-02 -4.03243944e-03 9.86120870e+00] [-1.32630429e-02 9.99893047e-01 6.16335671e-03 -3.07940702e-01] [ 4.11390708e-03 -6.10928001e-03 9.99972876e-01 -4.70863069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582401008000005 meters Centerline goodness : 0.860904 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.30, Z:-0.47 [[ 9.99842284e-01 1.72482733e-02 -4.23134923e-03 9.86137641e+00] [-1.72088775e-02 9.99809804e-01 9.17660204e-03 -3.03468613e-01] [ 4.38882499e-03 -9.10233797e-03 9.99948942e-01 -4.70599795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612401008000006 meters Centerline goodness : 0.861405 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.30, Z:-0.48 [[ 9.99737361e-01 2.29172860e-02 8.00219205e-05 9.87483497e+00] [-2.29174158e-02 9.99734071e-01 2.56493393e-03 -2.97726980e-01] [-2.12193160e-05 -2.56609418e-03 9.99996707e-01 -4.75956780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64240100800001 meters Centerline goodness : 0.860079 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.29, Z:-0.48 [[ 9.99411463e-01 3.40679997e-02 4.01230490e-03 9.88831398e+00] [-3.40718375e-02 9.99418988e-01 8.92045528e-04 -2.89086650e-01] [-3.97958350e-03 -1.02822713e-03 9.99991553e-01 -4.79778061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672401008 meters Centerline goodness : 0.860712 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.28, Z:-0.47 [[ 9.99360266e-01 3.38369350e-02 -1.15810113e-02 9.89313016e+00] [-3.38472453e-02 9.99426776e-01 -6.95383444e-04 -2.81268676e-01] [ 1.15508431e-02 1.08692391e-03 9.99932696e-01 -4.74027215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702401008 meters Centerline goodness : 0.860309 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.28, Z:-0.47 [[ 9.99181132e-01 3.85084747e-02 -1.24162277e-02 9.89559459e+00] [-3.84922397e-02 9.99257706e-01 1.54398452e-03 -2.78129349e-01] [ 1.24664677e-02 -1.06479179e-03 9.99921724e-01 -4.74037030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732401008000004 meters Centerline goodness : 0.859393 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.28, Z:-0.47 [[ 9.99012568e-01 4.23875463e-02 -1.33110752e-02 9.89819917e+00] [-4.23440240e-02 9.99096837e-01 3.53474891e-03 -2.75691806e-01] [ 1.34488824e-02 -2.96761410e-03 9.99905156e-01 -4.74342002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762401008000005 meters Centerline goodness : 0.860925 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.27, Z:-0.47 [[ 9.98776468e-01 4.72279615e-02 -1.46658218e-02 9.90074375e+00] [-4.71644379e-02 9.98876326e-01 4.64767351e-03 -2.73513702e-01] [ 1.48688424e-02 -3.95028169e-03 9.99881649e-01 -4.72885414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792401008000006 meters Centerline goodness : 0.859222 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.27, Z:-0.47 [[ 9.98729791e-01 4.77443077e-02 -1.61023796e-02 9.90362592e+00] [-4.77151977e-02 9.98858586e-01 2.18739482e-03 -2.72549864e-01] [ 1.61884357e-02 -1.41628814e-03 9.99867956e-01 -4.72387335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82240100800001 meters Centerline goodness : 0.858694 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.27, Z:-0.47 [[ 9.98709873e-01 4.78798010e-02 -1.69149238e-02 9.90475658e+00] [-4.78760594e-02 9.98853088e-01 6.26304904e-04 -2.71349527e-01] [ 1.69255112e-02 1.84323005e-04 9.99856736e-01 -4.71326992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852401008 meters Centerline goodness : 0.857524 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.27, Z:-0.47 [[ 9.98696803e-01 4.78025293e-02 -1.78777744e-02 9.90725015e+00] [-4.78240695e-02 9.98855471e-01 -7.79031761e-04 -2.70224982e-01] [ 1.78200731e-02 1.63300445e-03 9.99839876e-01 -4.71827895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882401008 meters Centerline goodness : 0.855663 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.27, Z:-0.47 [[ 9.98668984e-01 4.81013065e-02 -1.86151520e-02 9.91016434e+00] [-4.81431379e-02 9.98838815e-01 -1.80533743e-03 -2.68694580e-01] [ 1.85066973e-02 2.69912633e-03 9.99825093e-01 -4.73418615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912401008 meters Centerline goodness : 0.854141 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.27, Z:-0.47 [[ 9.98459128e-01 5.20992497e-02 -1.91059532e-02 9.91172811e+00] [-5.20890129e-02 9.98641911e-01 1.03339081e-03 -2.67166986e-01] [ 1.91338445e-02 -3.65882426e-05 9.99816931e-01 -4.73382115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942401008000004 meters Centerline goodness : 0.853487 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.27, Z:-0.47 [[ 9.98349771e-01 5.36209159e-02 -2.05556098e-02 9.91538357e+00] [-5.36385968e-02 9.98560366e-01 -3.09374391e-04 -2.66826459e-01] [ 2.05094283e-02 1.41143792e-03 9.99788663e-01 -4.73791910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972401008000006 meters Centerline goodness : 0.851080 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.27, Z:-0.47 [[ 9.98262388e-01 5.47257758e-02 -2.18470828e-02 9.91820372e+00] [-5.47777579e-02 9.98496971e-01 -1.78760692e-03 -2.66553010e-01] [ 2.17164178e-02 2.98123496e-03 9.99759726e-01 -4.73534752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00240100800001 meters Centerline goodness : 0.853343 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.27, Z:-0.47 [[ 9.98127407e-01 5.58809910e-02 -2.48795878e-02 9.92374237e+00] [-5.60562412e-02 9.98407084e-01 -6.40257658e-03 -2.68350065e-01] [ 2.44821744e-02 7.78524333e-03 9.99669952e-01 -4.72587008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03240100800001 meters Centerline goodness : 0.852696 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.27, Z:-0.47 [[ 9.98084090e-01 5.60215816e-02 -2.62627413e-02 9.92689889e+00] [-5.62443614e-02 9.98386395e-01 -7.82162748e-03 -2.70350577e-01] [ 2.57821837e-02 9.28377306e-03 9.99624475e-01 -4.73105238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401008 meters Centerline goodness : 0.851765 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.27, Z:-0.47 [[ 9.98069049e-01 5.59598961e-02 -2.69567036e-02 9.92907000e+00] [-5.62011947e-02 9.98385148e-01 -8.27785690e-03 -2.71648950e-01] [ 2.64499445e-02 9.77687171e-03 9.99602328e-01 -4.74158517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092401008 meters Centerline goodness : 0.851355 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.27, Z:-0.48 [[ 9.98051162e-01 5.58888639e-02 -2.77544945e-02 9.93217275e+00] [-5.61355851e-02 9.98389558e-01 -8.19067099e-03 -2.73673920e-01] [ 2.72520302e-02 9.73272349e-03 9.99581213e-01 -4.76392410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008000004 meters Centerline goodness : 0.851287 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-0.48 [[ 9.97951212e-01 5.70818189e-02 -2.88971281e-02 9.93631974e+00] [-5.72832290e-02 9.98338778e-01 -6.19004444e-03 -2.78679202e-01] [ 2.84957845e-02 7.83268316e-03 9.99563224e-01 -4.79466051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152401008000005 meters Centerline goodness : 0.856120 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-0.48 [[ 9.97861531e-01 5.77848528e-02 -3.05495560e-02 9.94001769e+00] [-5.80498904e-02 9.98282738e-01 -7.86039121e-03 -2.81550806e-01] [ 3.00428829e-02 9.61698039e-03 9.99502346e-01 -4.79855283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18240100800001 meters Centerline goodness : 0.851648 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.28, Z:-0.48 [[ 0.99782333 0.05731714 -0.03260902 9.94446313] [-0.05772026 0.99826589 -0.01155755 -0.28408455] [ 0.03189002 0.01341459 0.99940136 -0.4802518 ] [ 0. 0. 0. 1. ]] SLAMing on 63.21240100800001 meters Centerline goodness : 0.847701 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.29, Z:-0.48 [[ 9.97772822e-01 5.82899712e-02 -3.24295371e-02 9.94310282e+00] [-5.86382397e-02 9.98230276e-01 -9.89307439e-03 -2.88194296e-01] [ 3.17954788e-02 1.17726517e-02 9.99425061e-01 -4.78741472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242401008 meters Centerline goodness : 0.848698 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.29, Z:-0.48 [[ 0.99775527 0.05735123 -0.03457244 9.94736189] [-0.05781491 0.99824826 -0.01256373 -0.29450484] [ 0.03379134 0.01453433 0.99932322 -0.4795851 ] [ 0. 0. 0. 1. ]] SLAMing on 63.272401008 meters Centerline goodness : 0.848998 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.30, Z:-0.48 [[ 0.99775342 0.05666902 -0.03573149 9.95104114] [-0.05718021 0.99827327 -0.01344971 -0.29816206] [ 0.03490761 0.01546263 0.99927092 -0.48196239] [ 0. 0. 0. 1. ]] SLAMing on 63.302401008000004 meters Centerline goodness : 0.847347 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.31, Z:-0.48 [[ 0.99771028 0.05734068 -0.03586422 9.95160846] [-0.05777031 0.99826865 -0.01105902 -0.30550657] [ 0.035168 0.01310559 0.99929548 -0.4813432 ] [ 0. 0. 0. 1. ]] SLAMing on 63.332401008000005 meters Centerline goodness : 0.845594 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.31, Z:-0.48 [[ 9.97661144e-01 5.82871940e-02 -3.57049650e-02 9.95036786e+00] [-5.86488608e-02 9.98236591e-01 -9.16622260e-03 -3.10670906e-01] [ 3.51077291e-02 1.12388396e-02 9.99320337e-01 -4.79827582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008000006 meters Centerline goodness : 0.841730 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-0.48 [[ 9.97594514e-01 5.96706856e-02 -3.52788137e-02 9.94789049e+00] [-5.99538434e-02 9.98176447e-01 -7.02269580e-03 -3.16310651e-01] [ 3.47954318e-02 9.12090328e-03 9.99352834e-01 -4.77669806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39240100800001 meters Centerline goodness : 0.843504 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-0.48 [[ 9.97541995e-01 6.06580089e-02 -3.50795518e-02 9.94641390e+00] [-6.08723021e-02 9.98132673e-01 -5.07238755e-03 -3.21129077e-01] [ 3.47063659e-02 7.19529267e-03 9.99371651e-01 -4.75716793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401008 meters Centerline goodness : 0.843759 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-0.47 [[ 9.97500644e-01 6.13055636e-02 -3.51296747e-02 9.94601378e+00] [-6.14665926e-02 9.98102930e-01 -3.52132569e-03 -3.25286592e-01] [ 3.48471543e-02 5.67182604e-03 9.99376559e-01 -4.74607972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452401008 meters Centerline goodness : 0.843180 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-0.47 [[ 9.97488612e-01 6.13524450e-02 -3.53885099e-02 9.94720213e+00] [-6.14487393e-02 9.98108895e-01 -1.63885442e-03 -3.33084506e-01] [ 3.52210388e-02 3.80931794e-03 9.99372287e-01 -4.74600547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008000004 meters Centerline goodness : 0.846115 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.34, Z:-0.47 [[ 9.97487594e-01 6.12356295e-02 -3.56187696e-02 9.94817780e+00] [-6.13013470e-02 9.98119018e-01 -7.54846300e-04 -3.37137142e-01] [ 3.55055479e-02 2.93642838e-03 9.99365165e-01 -4.74756452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512401008000005 meters Centerline goodness : 0.839849 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.34, Z:-0.47 [[ 9.97481666e-01 6.11674992e-02 -3.59007454e-02 9.94901296e+00] [-6.11930607e-02 9.98125873e-01 3.87384508e-04 -3.41633408e-01] [ 3.58571582e-02 1.81046755e-03 9.99355285e-01 -4.74381432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008000006 meters Centerline goodness : 0.839081 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.35, Z:-0.47 [[ 9.97692487e-01 5.76696607e-02 -3.58317046e-02 9.94837650e+00] [-5.77783479e-02 9.98327424e-01 -2.00436643e-03 -3.47898908e-01] [ 3.56561822e-02 4.07003802e-03 9.99355828e-01 -4.74307048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57240100800001 meters Centerline goodness : 0.840590 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.35, Z:-0.47 [[ 9.97696851e-01 5.72341118e-02 -3.64039876e-02 9.95006944e+00] [-5.73168339e-02 9.98355279e-01 -1.23192486e-03 -3.52057134e-01] [ 3.62736051e-02 3.31564886e-03 9.99336396e-01 -4.74188095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60240100800001 meters Centerline goodness : 0.840690 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.36, Z:-0.47 [[ 9.97704897e-01 5.67030454e-02 -3.70094999e-02 9.95213043e+00] [-5.67669182e-02 9.98387229e-01 -6.76470045e-04 -3.56169160e-01] [ 3.69114541e-02 2.77583273e-03 9.99314685e-01 -4.74581523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632401008 meters Centerline goodness : 0.838510 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.36, Z:-0.48 [[ 9.97911192e-01 5.26154913e-02 -3.74814901e-02 9.95355497e+00] [-5.28054394e-02 9.98596422e-01 -4.09529196e-03 -3.61402579e-01] [ 3.72134061e-02 6.06596423e-03 9.99288930e-01 -4.76072834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401008 meters Centerline goodness : 0.842190 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.37, Z:-0.48 [[ 9.97904613e-01 5.25406813e-02 -3.77605554e-02 9.95453220e+00] [-5.27064461e-02 9.98604237e-01 -3.40722636e-03 -3.65124127e-01] [ 3.75288326e-02 5.39031158e-03 9.99281007e-01 -4.76292034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692401008000004 meters Centerline goodness : 0.839021 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-0.48 [[ 9.97901781e-01 5.21933524e-02 -3.83130402e-02 9.95636005e+00] [-5.23506088e-02 9.98623917e-01 -3.11214584e-03 -3.67438903e-01] [ 3.80978849e-02 5.11132686e-03 9.99260940e-01 -4.76804484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008000006 meters Centerline goodness : 0.839000 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-0.48 [[ 9.97889633e-01 5.24272179e-02 -3.83101550e-02 9.95671449e+00] [-5.25674789e-02 9.98613825e-01 -2.66241797e-03 -3.69442952e-01] [ 3.81174672e-02 4.67066755e-03 9.99262350e-01 -4.77333687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75240100800001 meters Centerline goodness : 0.840678 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-0.48 [[ 9.97870934e-01 5.26677041e-02 -3.84670229e-02 9.95717902e+00] [-5.27920517e-02 9.98603052e-01 -2.22330360e-03 -3.71170678e-01] [ 3.82961902e-02 4.24932310e-03 9.99257397e-01 -4.77600260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78240100800001 meters Centerline goodness : 0.841620 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.37, Z:-0.48 [[ 9.97847316e-01 5.29866027e-02 -3.86413378e-02 9.95814477e+00] [-5.30874569e-02 9.98588604e-01 -1.58790554e-03 -3.74276091e-01] [ 3.85026619e-02 3.63585764e-03 9.99251883e-01 -4.78562862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812401008 meters Centerline goodness : 0.844366 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-0.48 [[ 9.97834538e-01 5.33331580e-02 -3.84942641e-02 9.95806924e+00] [-5.34211301e-02 9.98571277e-01 -1.25964069e-03 -3.75749414e-01] [ 3.83720859e-02 3.31332008e-03 9.99258027e-01 -4.79049657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401008 meters Centerline goodness : 0.843906 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-0.48 [[ 9.97803121e-01 5.38933655e-02 -3.85284013e-02 9.95775781e+00] [-5.39534972e-02 9.98543313e-01 -5.21903319e-04 -3.77737907e-01] [ 3.84441503e-02 2.59949875e-03 9.99257369e-01 -4.78602768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872401008000004 meters Centerline goodness : 0.841949 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-0.48 [[ 9.97736218e-01 5.53238848e-02 -3.82322758e-02 9.95604664e+00] [-5.53300045e-02 9.98467717e-01 8.98810934e-04 -3.81746596e-01] [ 3.82234188e-02 1.21861577e-03 9.99268475e-01 -4.77737500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008000005 meters Centerline goodness : 0.841031 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-0.48 [[ 9.97712998e-01 5.56974093e-02 -3.82958422e-02 9.95625760e+00] [-5.56992120e-02 9.98447072e-01 1.02067105e-03 -3.82722656e-01] [ 3.82932203e-02 1.11471146e-03 9.99265924e-01 -4.78292567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93240100800001 meters Centerline goodness : 0.841989 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.38, Z:-0.48 [[ 9.97691198e-01 5.60514613e-02 -3.83471925e-02 9.95650302e+00] [-5.60471641e-02 9.98427416e-01 1.18791906e-03 -3.83926931e-01] [ 3.83534729e-02 9.64075005e-04 9.99263770e-01 -4.78896888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96240100800001 meters Centerline goodness : 0.842729 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.39, Z:-0.48 [[ 9.97632912e-01 5.73770797e-02 -3.79004326e-02 9.95469911e+00] [-5.73073436e-02 9.98352300e-01 2.92469762e-03 -3.89078265e-01] [ 3.80057947e-02 -7.45801487e-04 9.99277240e-01 -4.77928883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992401008 meters Centerline goodness : 0.841786 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.39, Z:-0.48 [[ 9.97605516e-01 5.78432084e-02 -3.79130285e-02 9.95424964e+00] [-5.77305196e-02 9.98323942e-01 4.06126852e-03 -3.92474343e-01] [ 3.80844008e-02 -1.86280504e-03 9.99272790e-01 -4.76895533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02240100800002 meters Centerline goodness : 0.842336 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.40, Z:-0.48 [[ 9.97581495e-01 5.82827235e-02 -3.78719555e-02 9.95363508e+00] [-5.81298494e-02 9.98295869e-01 5.12622257e-03 -3.96312642e-01] [ 3.81061870e-02 -2.91233370e-03 9.99269452e-01 -4.76019115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05240100800002 meters Centerline goodness : 0.840817 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.40, Z:-0.48 [[ 9.97579731e-01 5.81220189e-02 -3.81642607e-02 9.95452819e+00] [-5.79403876e-02 9.98302910e-01 5.84904084e-03 -4.00115081e-01] [ 3.84394506e-02 -3.62363252e-03 9.99254361e-01 -4.75835452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters Centerline goodness : 0.840817 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.40, Z:-0.48 [[ 9.97579731e-01 5.81220189e-02 -3.81642607e-02 9.95452819e+00] [-5.79403876e-02 9.98302910e-01 5.84904084e-03 -4.00115081e-01] [ 3.84394506e-02 -3.62363252e-03 9.99254361e-01 -4.75835452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112401008 meters Centerline goodness : 0.840795 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-0.48 [[ 9.97714326e-01 5.56466005e-02 -3.83351044e-02 9.95728293e+00] [-5.55123417e-02 9.98447594e-01 4.55863922e-03 -4.06561472e-01] [ 3.85292656e-02 -2.42014824e-03 9.99254541e-01 -4.78493461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters Centerline goodness : 0.841773 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-0.48 [[ 9.97924387e-01 5.18044904e-02 -3.82519502e-02 9.95725379e+00] [-5.18196845e-02 9.98656280e-01 5.94814523e-04 -4.08076116e-01] [ 3.82313644e-02 1.38862407e-03 9.99267949e-01 -4.79880512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17240100800001 meters Centerline goodness : 0.843825 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.41, Z:-0.48 [[ 9.98044489e-01 4.94499857e-02 -3.82347705e-02 9.95878533e+00] [-4.95151127e-02 9.98773087e-01 -7.57700011e-04 -4.11933116e-01] [ 3.81503915e-02 2.64941729e-03 9.99268497e-01 -4.81107276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20240100800001 meters Centerline goodness : 0.844215 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.42, Z:-0.48 [[ 9.98261617e-01 4.44249786e-02 -3.87319673e-02 9.96092727e+00] [-4.45909362e-02 9.98999438e-01 -3.43105334e-03 -4.20418866e-01] [ 3.85407890e-02 5.15218354e-03 9.99243745e-01 -4.81375854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23240100800001 meters Centerline goodness : 0.845607 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.43, Z:-0.48 [[ 9.98289995e-01 4.32501883e-02 -3.93256639e-02 9.96346862e+00] [-4.33746045e-02 9.99056195e-01 -2.31566791e-03 -4.26093866e-01] [ 3.91883951e-02 4.01744323e-03 9.99223764e-01 -4.80700132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26240100800001 meters Centerline goodness : 0.844885 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.43, Z:-0.48 [[ 9.98466676e-01 3.86443524e-02 -3.96347178e-02 9.96483503e+00] [-3.89189044e-02 9.99223269e-01 -6.17874820e-03 -4.28725199e-01] [ 3.93651585e-02 7.71181397e-03 9.99195132e-01 -4.81824473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29240100800001 meters Centerline goodness : 0.843530 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.43, Z:-0.48 [[ 9.98516319e-01 3.68179455e-02 -4.01198205e-02 9.96787044e+00] [-3.70760334e-02 9.99296147e-01 -5.70773520e-03 -4.34111376e-01] [ 3.98814350e-02 7.18675054e-03 9.99178574e-01 -4.81922216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32240100800001 meters Centerline goodness : 0.845363 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.44, Z:-0.48 [[ 9.98685072e-01 3.14105458e-02 -4.05154905e-02 9.97066299e+00] [-3.17846866e-02 9.99457537e-01 -8.62349751e-03 -4.40393699e-01] [ 4.02226436e-02 9.89993040e-03 9.99141697e-01 -4.82408720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35240100800002 meters Centerline goodness : 0.846470 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.44, Z:-0.48 [[ 9.98682812e-01 3.09132634e-02 -4.09513281e-02 9.97225704e+00] [-3.12458234e-02 9.99483548e-01 -7.50570578e-03 -4.44149159e-01] [ 4.06981529e-02 8.77537732e-03 9.99132951e-01 -4.81533624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38240100800002 meters Centerline goodness : 0.846486 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.45, Z:-0.48 [[ 9.98627499e-01 3.14440011e-02 -4.18854751e-02 9.97905014e+00] [-3.14608129e-02 9.99504953e-01 2.57891929e-04 -4.50235663e-01] [ 4.18728490e-02 1.06021312e-03 9.99122385e-01 -4.75025484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41240100800002 meters Centerline goodness : 0.848564 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98613954e-01 3.16416513e-02 -4.20592078e-02 9.97901208e+00] [-3.15728107e-02 9.99498808e-01 2.30017229e-03 -4.56342212e-01] [ 4.21109093e-02 -9.69056743e-04 9.99112472e-01 -4.72565823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44240100800002 meters Centerline goodness : 0.846468 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98732070e-01 2.87258897e-02 -4.13409564e-02 9.97596289e+00] [-2.88059911e-02 9.99584119e-01 -1.34307453e-03 -4.56543101e-01] [ 4.12851825e-02 2.53223883e-03 9.99144195e-01 -4.72189293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472401008 meters Centerline goodness : 0.849124 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98715824e-01 2.87963348e-02 -4.16830199e-02 9.97597394e+00] [-2.88156126e-02 9.99584734e-01 1.38388040e-04 -4.59999056e-01] [ 4.16696955e-02 1.06291143e-03 9.99130876e-01 -4.69633439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502401008 meters Centerline goodness : 0.850237 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98712199e-01 2.86184159e-02 -4.18918839e-02 9.97662562e+00] [-2.86262283e-02 9.99590100e-01 4.13488870e-04 -4.61196328e-01] [ 4.18865458e-02 7.86250253e-04 9.99122064e-01 -4.69370101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53240100800001 meters Centerline goodness : 0.846188 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98680592e-01 2.90208975e-02 -4.23658080e-02 9.98171292e+00] [-2.89472394e-02 9.99578176e-01 2.35117859e-03 -4.61725459e-01] [ 4.24161704e-02 -1.12170324e-03 9.99099400e-01 -4.71456034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56240100800001 meters Centerline goodness : 0.847812 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.46, Z:-0.47 [[ 9.98678284e-01 2.83878249e-02 -4.28464220e-02 9.98395002e+00] [-2.83556537e-02 9.99596974e-01 1.35853346e-03 -4.59602540e-01] [ 4.28677196e-02 -1.41799562e-04 9.99080747e-01 -4.73236371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59240100800001 meters Centerline goodness : 0.842748 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.46, Z:-0.48 [[ 9.98678373e-01 2.81284370e-02 -4.30150856e-02 9.98521140e+00] [-2.81398903e-02 9.99603937e-01 3.39334442e-04 -4.56695173e-01] [ 4.30075938e-02 8.71553820e-04 9.99074365e-01 -4.75022225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62240100800001 meters Centerline goodness : 0.840026 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.45, Z:-0.48 [[ 9.98675955e-01 2.80499566e-02 -4.31223481e-02 9.98612133e+00] [-2.81108618e-02 9.99604486e-01 -8.06527741e-04 -4.53035201e-01] [ 4.30826696e-02 2.01766623e-03 9.99069473e-01 -4.76853260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65240100800001 meters Centerline goodness : 0.843220 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.45, Z:-0.48 [[ 9.98522484e-01 3.21081184e-02 -4.38396923e-02 9.98776943e+00] [-3.20333234e-02 9.99483901e-01 2.40772381e-03 -4.49723887e-01] [ 4.38943742e-02 -9.99835323e-04 9.99035677e-01 -4.77135200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68240100800001 meters Centerline goodness : 0.841987 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.45, Z:-0.48 [[ 9.98509723e-01 3.27460161e-02 -4.36581175e-02 9.98669217e+00] [-3.26921509e-02 9.99463572e-01 1.94739504e-03 -4.46631027e-01] [ 4.36984674e-02 -5.17215120e-04 9.99044632e-01 -4.77279215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71240100800001 meters Centerline goodness : 0.846598 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98359167e-01 3.71232607e-02 -4.35985888e-02 9.98642969e+00] [-3.69236617e-02 9.99303635e-01 5.37478838e-03 -4.42916045e-01] [ 4.37677579e-02 -3.75614970e-03 9.99034671e-01 -4.77217800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74240100800002 meters Centerline goodness : 0.846557 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98353685e-01 3.73839644e-02 -4.35012420e-02 9.98613481e+00] [-3.72084975e-02 9.99295819e-01 4.83661520e-03 -4.40159242e-01] [ 4.36514211e-02 -3.21003675e-03 9.99041665e-01 -4.77754811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77240100800002 meters Centerline goodness : 0.846062 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98187943e-01 4.08042800e-02 -4.42248923e-02 9.98844132e+00] [-4.04384877e-02 9.99140272e-01 9.13486672e-03 -4.41063754e-01] [ 4.45596125e-02 -7.32992606e-03 9.98979836e-01 -4.76913241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80240100800002 meters Centerline goodness : 0.846578 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98187618e-01 4.06861689e-02 -4.43409027e-02 9.98891908e+00] [-4.03476394e-02 9.99149518e-01 8.50348082e-03 -4.39546562e-01] [ 4.46491656e-02 -6.69901851e-03 9.98980268e-01 -4.77685334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832401008 meters Centerline goodness : 0.847358 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98169899e-01 4.11435879e-02 -4.43176914e-02 9.98771153e+00] [-4.07872437e-02 9.99128077e-01 8.91551343e-03 -4.39337876e-01] [ 4.46458660e-02 -7.09160066e-03 9.98977705e-01 -4.76150995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862401008 meters Centerline goodness : 0.847651 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.47 [[ 9.98152230e-01 4.13298110e-02 -4.45417985e-02 9.98724790e+00] [-4.09344731e-02 9.99114242e-01 9.75189940e-03 -4.40639003e-01] [ 4.49053894e-02 -7.91058508e-03 9.98959923e-01 -4.74170059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89240100800001 meters Centerline goodness : 0.850104 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98811629e-01 3.57599297e-02 -3.31143187e-02 9.99304309e+00] [-3.55761747e-02 9.99348216e-01 6.12197300e-03 -4.38462122e-01] [ 3.33116567e-02 -4.93661704e-03 9.99432821e-01 -4.80506538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92240100800001 meters Centerline goodness : 0.849746 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98947077e-01 3.23621962e-02 -3.25180710e-02 9.99093584e+00] [-3.23175672e-02 9.99475850e-01 1.89723042e-03 -4.37456715e-01] [ 3.25624252e-02 -8.44327837e-04 9.99469347e-01 -4.80889995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95240100800001 meters Centerline goodness : 0.852393 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98954167e-01 3.17434108e-02 -3.29078693e-02 9.99219791e+00] [-3.16691897e-02 9.99494555e-01 2.77433033e-03 -4.39752668e-01] [ 3.29793028e-02 -1.72926329e-03 9.99454539e-01 -4.79643610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98240100800001 meters Centerline goodness : 0.847152 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.98957277e-01 3.11445315e-02 -3.33822729e-02 9.99397207e+00] [-3.10621475e-02 9.99513001e-01 2.98379359e-03 -4.40576998e-01] [ 3.34589447e-02 -1.94375723e-03 9.99438203e-01 -4.79594097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01240100800001 meters Centerline goodness : 0.848572 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.44, Z:-0.48 [[ 9.98957905e-01 3.06413364e-02 -3.38262229e-02 9.99567243e+00] [-3.05605526e-02 9.99528702e-01 2.90276873e-03 -4.41451344e-01] [ 3.38992254e-02 -1.86599570e-03 9.99423514e-01 -4.80190886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04240100800001 meters Centerline goodness : 0.846605 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.44, Z:-0.48 [[ 9.98957181e-01 2.96099508e-02 -3.47534496e-02 9.99924342e+00] [-2.95307233e-02 9.99559977e-01 2.79090664e-03 -4.43382956e-01] [ 3.48207959e-02 -1.76170172e-03 9.99392019e-01 -4.81348115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07240100800001 meters Centerline goodness : 0.845860 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.44, Z:-0.48 [[ 9.98959234e-01 2.88410126e-02 -3.53361824e-02 1.00016435e+01] [-2.87663603e-02 9.99582731e-01 2.61932197e-03 -4.43991608e-01] [ 3.53969816e-02 -1.60010251e-03 9.99372050e-01 -4.82043415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10240100800002 meters Centerline goodness : 0.844944 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.44, Z:-0.48 [[ 9.98959368e-01 2.79061128e-02 -3.60753435e-02 1.00044164e+01] [-2.78396028e-02 9.99609653e-01 2.34474978e-03 -4.44667461e-01] [ 3.61266944e-02 -1.33798652e-03 9.99346322e-01 -4.82788766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13240100800002 meters Centerline goodness : 0.845839 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.45, Z:-0.48 [[ 9.98957674e-01 2.69836375e-02 -3.68164222e-02 1.00069911e+01] [-2.69121118e-02 9.99634833e-01 2.43704873e-03 -4.46492569e-01] [ 3.68687385e-02 -1.44370086e-03 9.99319074e-01 -4.82961471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16240100800002 meters Centerline goodness : 0.845945 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.45, Z:-0.48 [[ 9.99023510e-01 2.17317406e-02 -3.84676244e-02 1.00161457e+01] [-2.16267106e-02 9.99761171e-01 3.14441248e-03 -4.50056957e-01] [ 3.85267707e-02 -2.30941382e-03 9.99254900e-01 -4.80458848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19240100800002 meters Centerline goodness : 0.848887 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.45, Z:-0.48 [[ 9.99011769e-01 2.03107485e-02 -3.95342708e-02 1.00199015e+01] [-2.02072501e-02 9.99791264e-01 3.01582131e-03 -4.51282793e-01] [ 3.95872722e-02 -2.21396208e-03 9.99213664e-01 -4.80739939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters Centerline goodness : 0.850558 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.45, Z:-0.48 [[ 9.99004243e-01 1.90788703e-02 -4.03301233e-02 1.00230359e+01] [-1.89852927e-02 9.99816112e-01 2.70204805e-03 -4.51626529e-01] [ 4.03742591e-02 -1.93367827e-03 9.99182756e-01 -4.81365757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252401008 meters Centerline goodness : 0.851313 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.45, Z:-0.48 [[ 9.98989293e-01 1.76842512e-02 -4.13238506e-02 1.00266416e+01] [-1.76022641e-02 9.99842313e-01 2.34705190e-03 -4.51638506e-01] [ 4.13588402e-02 -1.61728638e-03 9.99143048e-01 -4.81811544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters Centerline goodness : 0.851089 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.45, Z:-0.48 [[ 9.98975333e-01 1.39032694e-02 -4.30695125e-02 1.00400766e+01] [-1.36111024e-02 9.99882373e-01 7.06946663e-03 -4.52880155e-01] [ 4.31627350e-02 -6.47599924e-03 9.99047066e-01 -4.77812044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31240100800001 meters Centerline goodness : 0.850145 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.46, Z:-0.47 [[ 0.99886536 0.01610471 -0.04481774 10.04495823] [-0.01555673 0.99980023 0.01254904 -0.45534034] [ 0.04501088 -0.01183759 0.99891636 -0.47404434] [ 0. 0. 0. 1. ]] SLAMing on 65.34240100800001 meters Centerline goodness : 0.853121 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.45, Z:-0.47 [[ 0.99884559 0.01504563 -0.04561924 10.04755803] [-0.01452041 0.99982468 0.01182263 -0.45374965] [ 0.04578912 -0.01114657 0.99888894 -0.47446419] [ 0. 0. 0. 1. ]] SLAMing on 65.37240100800001 meters Centerline goodness : 0.850394 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.45, Z:-0.47 [[ 0.99878684 0.01258994 -0.047606 10.0595228 ] [-0.01185517 0.99980669 0.01568535 -0.45245124] [ 0.04779428 -0.01510194 0.99874303 -0.47238628] [ 0. 0. 0. 1. ]] SLAMing on 65.40240100800001 meters Centerline goodness : 0.840419 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.45, Z:-0.47 [[ 9.98838781e-01 7.92103033e-03 -4.75220625e-02 1.00601642e+01] [-7.44344714e-03 9.99920088e-01 1.02182787e-02 -4.48236990e-01] [ 4.75992042e-02 -9.85268506e-03 9.98817922e-01 -4.74453171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43240100800001 meters Centerline goodness : 0.850339 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.45, Z:-0.47 [[ 9.98811678e-01 6.56616414e-03 -4.82919972e-02 1.00629642e+01] [-6.10997074e-03 9.99935366e-01 9.58812299e-03 -4.47505788e-01] [ 4.83518331e-02 -9.28166653e-03 9.98787240e-01 -4.74857551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46240100800001 meters Centerline goodness : 0.838815 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.45, Z:-0.47 [[ 9.98884723e-01 1.39778888e-03 -4.71948708e-02 1.00218613e+01] [-4.98200014e-04 9.99818074e-01 1.90675423e-02 -4.45037775e-01] [ 4.72129372e-02 -1.90227643e-02 9.98703696e-01 -4.71438010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49240100800002 meters Centerline goodness : 0.841844 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.44, Z:-0.48 [[ 9.99227916e-01 -7.49034358e-03 -3.85676853e-02 9.99171319e+00] [ 8.42383044e-03 9.99674097e-01 2.40985184e-02 -4.38368543e-01] [ 3.83746098e-02 -2.44048000e-02 9.98965362e-01 -4.75010417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52240100800002 meters Centerline goodness : 0.842055 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.43, Z:-0.48 [[ 0.99920861 -0.01137715 -0.03811438 9.99026956] [ 0.0120986 0.99975097 0.01875162 -0.43334997] [ 0.03789154 -0.01919791 0.99909743 -0.47593824] [ 0. 0. 0. 1. ]] SLAMing on 65.55240100800002 meters Centerline goodness : 0.844246 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.43, Z:-0.48 [[ 0.99918387 -0.01451488 -0.03769498 9.98807094] [ 0.01504609 0.99979092 0.01384697 -0.42795738] [ 0.03748611 -0.01440284 0.99919335 -0.47631025] [ 0. 0. 0. 1. ]] SLAMing on 65.582401008 meters Centerline goodness : 0.845837 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.42, Z:-0.48 [[ 0.99919213 -0.01436682 -0.03753248 9.98677051] [ 0.01486889 0.99980321 0.01313238 -0.42409465] [ 0.03733642 -0.01367984 0.99920911 -0.47574552] [ 0. 0. 0. 1. ]] SLAMing on 65.612401008 meters Centerline goodness : 0.847079 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.42, Z:-0.48 [[ 9.99605062e-01 -4.74740663e-03 -2.76980522e-02 9.99100652e+00] [ 5.05668882e-03 9.99925531e-01 1.11068695e-02 -4.16953866e-01] [ 2.76432607e-02 -1.12425434e-02 9.99554629e-01 -4.81130901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64240100800001 meters Centerline goodness : 0.849137 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.41, Z:-0.48 [[ 9.99617812e-01 -3.93213941e-03 -2.73636126e-02 9.98901380e+00] [ 4.21532339e-03 9.99938079e-01 1.02989475e-02 -4.11216836e-01] [ 2.73214213e-02 -1.04103579e-02 9.99572491e-01 -4.80913161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67240100800001 meters Centerline goodness : 0.850226 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.41, Z:-0.48 [[ 9.99626763e-01 -3.12205694e-03 -2.71401439e-02 9.98716516e+00] [ 3.38271705e-03 9.99948546e-01 9.56362651e-03 -4.06012733e-01] [ 2.71088892e-02 -9.65186444e-03 9.99585889e-01 -4.80511488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters Centerline goodness : 0.845457 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.40, Z:-0.48 [[ 9.99619932e-01 5.62198701e-04 -2.75622288e-02 9.98779595e+00] [-2.47210366e-04 9.99934641e-01 1.14303364e-02 -3.98168878e-01] [ 2.75668534e-02 -1.14191784e-02 9.99554736e-01 -4.81526865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73240100800001 meters Centerline goodness : 0.846239 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.40, Z:-0.48 [[ 9.99594867e-01 3.81141338e-03 -2.82059262e-02 9.98981402e+00] [-3.40177362e-03 9.99888255e-01 1.45569420e-02 -3.95461501e-01] [ 2.82582569e-02 -1.44550944e-02 9.99496134e-01 -4.82005849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76240100800001 meters Centerline goodness : 0.842884 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.39, Z:-0.48 [[ 9.99556618e-01 7.16103507e-03 -2.89013455e-02 9.99165260e+00] [-6.64336149e-03 9.99816488e-01 1.79681944e-02 -3.93277122e-01] [ 2.90247127e-02 -1.77682255e-02 9.99420760e-01 -4.81833897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79240100800001 meters Centerline goodness : 0.842406 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.39, Z:-0.48 [[ 9.99552250e-01 8.23799386e-03 -2.87651690e-02 9.99088463e+00] [-7.74428108e-03 9.99821509e-01 1.72329900e-02 -3.86073269e-01] [ 2.89019999e-02 -1.70025084e-02 9.99437636e-01 -4.82745263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82240100800001 meters Centerline goodness : 0.839925 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.38, Z:-0.48 [[ 9.99543418e-01 7.75345909e-03 -2.92034286e-02 9.99227226e+00] [-7.29629967e-03 9.99849678e-01 1.57284707e-02 -3.82310044e-01] [ 2.93209888e-02 -1.55082124e-02 9.99449736e-01 -4.84201534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85240100800002 meters Centerline goodness : 0.841403 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.38, Z:-0.48 [[ 9.99540629e-01 7.78775479e-03 -2.92896257e-02 9.99240491e+00] [-7.35778839e-03 9.99864007e-01 1.47590576e-02 -3.78663047e-01] [ 2.94005824e-02 -1.45367708e-02 9.99461999e-01 -4.84907341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88240100800002 meters Centerline goodness : 0.839571 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.38, Z:-0.48 [[ 0.999491 0.01121115 -0.02986732 9.99385524] [-0.01065411 0.99976754 0.01874466 -0.37802149] [ 0.03007052 -0.0184169 0.9993781 -0.48390674] [ 0. 0. 0. 1. ]] SLAMing on 65.91240100800002 meters Centerline goodness : 0.840347 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99484522e-01 1.03054865e-02 -3.04053818e-02 9.99571874e+00] [-9.79789333e-03 9.99810926e-01 1.67962135e-02 -3.73190120e-01] [ 3.05727261e-02 -1.64896467e-02 9.99396518e-01 -4.85680453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94240100800002 meters Centerline goodness : 0.840250 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99481991e-01 9.94485071e-03 -3.06080064e-02 9.99632272e+00] [-9.44291998e-03 9.99819278e-01 1.64997679e-02 -3.72006752e-01] [ 3.07665626e-02 -1.62021919e-02 9.99395271e-01 -4.85563656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972401008 meters Centerline goodness : 0.840250 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99483541e-01 9.98959268e-03 -3.05427347e-02 9.99619232e+00] [-9.49368075e-03 9.99821441e-01 1.63387888e-02 -3.71574046e-01] [ 3.07004989e-02 -1.60403875e-02 9.99399913e-01 -4.85622518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002401008 meters Centerline goodness : 0.841784 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99472747e-01 9.12281254e-03 -3.11609079e-02 9.99808543e+00] [-8.63670628e-03 9.99839461e-01 1.56990108e-02 -3.70504193e-01] [ 3.12991245e-02 -1.54216058e-02 9.99391084e-01 -4.86067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03240100800001 meters Centerline goodness : 0.838868 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99466879e-01 8.37544737e-03 -3.15564649e-02 9.99937039e+00] [-7.89742668e-03 9.99852639e-01 1.52424159e-02 -3.69190110e-01] [ 3.16794768e-02 -1.49850750e-02 9.99385740e-01 -4.86182569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters Centerline goodness : 0.839532 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99463644e-01 6.92605641e-03 -3.20071019e-02 1.00011103e+01] [-6.47511435e-03 9.99878620e-01 1.41710530e-02 -3.66063616e-01] [ 3.21013664e-02 -1.39562026e-02 9.99387176e-01 -4.86382697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09240100800001 meters Centerline goodness : 0.842097 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.37, Z:-0.49 [[ 9.99464104e-01 6.67492532e-03 -3.20460488e-02 1.00010116e+01] [-6.22631013e-03 9.99881507e-01 1.40785191e-02 -3.65155719e-01] [ 3.21362246e-02 -1.38714459e-02 9.99387235e-01 -4.85776483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters Centerline goodness : 0.841476 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.36, Z:-0.48 [[ 9.99493743e-01 3.17076542e-03 -3.16576071e-02 9.99912668e+00] [-2.86031173e-03 9.99947425e-01 9.84708155e-03 -3.61865849e-01] [ 3.16871655e-02 -9.75154577e-03 9.99450264e-01 -4.84998011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15240100800001 meters Centerline goodness : 0.843068 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.36, Z:-0.48 [[ 9.99514295e-01 2.89361014e-04 -3.11623222e-02 9.99711742e+00] [-8.74564255e-05 9.99978999e-01 6.48029336e-03 -3.56331431e-01] [ 3.11635429e-02 -6.47442050e-03 9.99493329e-01 -4.83652231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18240100800001 meters Centerline goodness : 0.842875 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.35, Z:-0.48 [[ 9.99472528e-01 -1.81200678e-03 -3.24250151e-02 9.97784857e+00] [ 2.20640644e-03 9.99923973e-01 1.21317939e-02 -3.52889352e-01] [ 3.24005670e-02 -1.21969375e-02 9.99400539e-01 -4.80683970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21240100800001 meters Centerline goodness : 0.843515 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.35, Z:-0.48 [[ 9.99511604e-01 -4.09593359e-03 -3.09802533e-02 9.95672648e+00] [ 4.59154012e-03 9.99862355e-01 1.59433116e-02 -3.47809199e-01] [ 3.09106863e-02 -1.60777720e-02 9.99392833e-01 -4.80434674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24240100800002 meters Centerline goodness : 0.844328 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.34, Z:-0.48 [[ 9.99514256e-01 -4.08726161e-03 -3.08957418e-02 9.95632362e+00] [ 4.55345318e-03 9.99876616e-01 1.50339185e-02 -3.43639682e-01] [ 3.08304822e-02 -1.51672982e-02 9.99409543e-01 -4.80710921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27240100800002 meters Centerline goodness : 0.844658 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.34, Z:-0.48 [[ 9.99525018e-01 -3.15145195e-03 -3.06562774e-02 9.95440166e+00] [ 3.58160919e-03 9.99895765e-01 1.39868430e-02 -3.36196679e-01] [ 3.06090031e-02 -1.40899983e-02 9.99432119e-01 -4.80294237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30240100800002 meters Centerline goodness : 0.845185 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-0.48 [[ 9.99526906e-01 -2.77963239e-03 -3.06306577e-02 9.95346694e+00] [ 3.19204242e-03 9.99904808e-01 1.34232994e-02 -3.32657416e-01] [ 3.05904301e-02 -1.35147233e-02 9.99440632e-01 -4.79771780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332401008 meters Centerline goodness : 0.845953 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.33, Z:-0.48 [[ 9.99532985e-01 -2.25368355e-03 -3.04751321e-02 9.95241402e+00] [ 2.64525501e-03 9.99914390e-01 1.28146788e-02 -3.28802521e-01] [ 3.04436428e-02 -1.28893087e-02 9.99453376e-01 -4.79624762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters Centerline goodness : 0.846316 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-0.48 [[ 9.99529479e-01 -2.03627892e-03 -3.06051212e-02 9.95250247e+00] [ 2.39350458e-03 9.99929388e-01 1.16399884e-02 -3.23843768e-01] [ 3.05792578e-02 -1.17077651e-02 9.99463775e-01 -4.80458015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39240100800001 meters Centerline goodness : 0.847680 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.32, Z:-0.48 [[ 9.99521579e-01 3.66686048e-03 -3.07110154e-02 9.95088496e+00] [-3.20874168e-03 9.99883047e-01 1.49531061e-02 -3.17639979e-01] [ 3.07622546e-02 -1.48474085e-02 9.99416449e-01 -4.80019664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters Centerline goodness : 0.849203 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.31, Z:-0.48 [[ 9.99513657e-01 5.39825002e-03 -3.07133102e-02 9.94935105e+00] [-4.94268135e-03 9.99876928e-01 1.48895748e-02 -3.13710380e-01] [ 3.07899079e-02 -1.47305272e-02 9.99417327e-01 -4.79697859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45240100800001 meters Centerline goodness : 0.849783 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.31, Z:-0.48 [[ 9.99505350e-01 7.29783434e-03 -3.05908122e-02 9.94751659e+00] [-6.83869788e-03 9.99862801e-01 1.50868163e-02 -3.10278049e-01] [ 3.06967162e-02 -1.48701523e-02 9.99418126e-01 -4.79275279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48240100800001 meters Centerline goodness : 0.849888 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.31, Z:-0.48 [[ 9.99495902e-01 9.17074851e-03 -3.03947315e-02 9.94573790e+00] [-8.71489412e-03 9.99848062e-01 1.50965034e-02 -3.06515026e-01] [ 3.05285596e-02 -1.48240065e-02 9.99423962e-01 -4.79266341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51240100800001 meters Centerline goodness : 0.848968 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.30, Z:-0.49 [[ 9.99522617e-01 1.77874262e-02 -2.52615314e-02 9.94954772e+00] [-1.76684194e-02 9.99831765e-01 4.92641945e-03 -3.01571508e-01] [ 2.53449098e-02 -4.47773633e-03 9.99668738e-01 -4.86909893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54240100800001 meters Centerline goodness : 0.850913 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.30, Z:-0.49 [[ 9.99583193e-01 2.10008453e-02 -1.98092051e-02 9.96060561e+00] [-2.10904780e-02 9.99768209e-01 -4.32676837e-03 -2.99561254e-01] [ 1.97137477e-02 4.74275054e-03 9.99794416e-01 -4.92306531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57240100800001 meters Centerline goodness : 0.851427 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.30, Z:-0.49 [[ 9.99569775e-01 2.18684749e-02 -1.95456846e-02 9.95904547e+00] [-2.19422777e-02 9.99752867e-01 -3.56943635e-03 -3.00636066e-01] [ 1.94627961e-02 3.99677752e-03 9.99802593e-01 -4.91114939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60240100800002 meters Centerline goodness : 0.852511 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.30, Z:-0.49 [[ 9.99556906e-01 2.26161057e-02 -1.93520759e-02 9.95779326e+00] [-2.26572594e-02 9.99741467e-01 -1.90994560e-03 -3.04140241e-01] [ 1.93038772e-02 2.34756431e-03 9.99810907e-01 -4.89278909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63240100800002 meters Centerline goodness : 0.851223 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.31, Z:-0.49 [[ 9.99555693e-01 2.22547350e-02 -1.98278190e-02 9.95913315e+00] [-2.22843484e-02 9.99750862e-01 -1.27380603e-03 -3.06678523e-01] [ 1.97945309e-02 1.71509010e-03 9.99802598e-01 -4.88969239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66240100800002 meters Centerline goodness : 0.849656 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.31, Z:-0.49 [[ 9.99564820e-01 2.13668024e-02 -2.03378840e-02 9.96111596e+00] [-2.13881510e-02 9.99770901e-01 -8.32736250e-04 -3.09935134e-01] [ 2.03154317e-02 1.26736360e-03 9.99792817e-01 -4.89080105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69240100800002 meters Centerline goodness : 0.848731 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.31, Z:-0.49 [[ 9.99574063e-01 2.01508388e-02 -2.11101218e-02 9.96408491e+00] [-2.01622736e-02 9.99796667e-01 -3.28953925e-04 -3.13593695e-01] [ 2.10992007e-02 7.54441862e-04 9.99777102e-01 -4.89288180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722401008 meters Centerline goodness : 0.846068 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.32, Z:-0.49 [[ 9.99656468e-01 1.41705702e-02 -2.20486068e-02 9.96903473e+00] [-1.42795520e-02 9.99886553e-01 -4.79322606e-03 -3.17400715e-01] [ 2.19781827e-02 5.10642366e-03 9.99745410e-01 -4.92441964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752401008 meters Centerline goodness : 0.846873 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.32, Z:-0.49 [[ 9.99652418e-01 1.27370340e-02 -2.30826868e-02 9.97306433e+00] [-1.28546427e-02 9.99905104e-01 -4.95390106e-03 -3.19978192e-01] [ 2.30173983e-02 5.24889887e-03 9.99721285e-01 -4.93776291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78240100800001 meters Centerline goodness : 0.846230 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.32, Z:-0.49 [[ 9.99643885e-01 1.16707115e-02 -2.39978670e-02 9.97630245e+00] [-1.17905507e-02 9.99918686e-01 -4.85832302e-03 -3.22327192e-01] [ 2.39392155e-02 5.13954096e-03 9.99700205e-01 -4.94443665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81240100800001 meters Centerline goodness : 0.845205 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.32, Z:-0.49 [[ 9.99636456e-01 1.10252756e-02 -2.46048793e-02 9.97838447e+00] [-1.11405136e-02 9.99927584e-01 -4.55138565e-03 -3.24262904e-01] [ 2.45529173e-02 4.82384202e-03 9.99686893e-01 -4.94412295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84240100800001 meters Centerline goodness : 0.847521 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.33, Z:-0.49 [[ 9.99638361e-01 1.00593462e-02 -2.49390663e-02 9.97977149e+00] [-1.01482532e-02 9.99942585e-01 -3.44096604e-03 -3.28546517e-01] [ 2.49030206e-02 3.69280961e-03 9.99683051e-01 -4.93081266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87240100800001 meters Centerline goodness : 0.847129 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.49 [[ 9.99604946e-01 1.00222269e-02 -2.62584555e-02 9.98690518e+00] [-9.93520130e-03 9.99944719e-01 3.44256691e-03 -3.32342997e-01] [ 2.62915060e-02 -3.18032387e-03 9.99649260e-01 -4.87647951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90240100800001 meters Centerline goodness : 0.847774 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.49 [[ 9.99602925e-01 9.57947139e-03 -2.64995427e-02 9.98773712e+00] [-9.48554161e-03 9.99948284e-01 3.66801908e-03 -3.33460656e-01] [ 2.65333100e-02 -3.41520009e-03 9.99642096e-01 -4.87433438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93240100800001 meters Centerline goodness : 0.847374 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.49 [[ 9.99602037e-01 9.38488716e-03 -2.66024852e-02 9.98819409e+00] [-9.28221431e-03 9.99948997e-01 3.98038677e-03 -3.34505150e-01] [ 2.66384839e-02 -3.73187275e-03 9.99638167e-01 -4.87211209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96240100800001 meters Centerline goodness : 0.847196 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.34, Z:-0.49 [[ 9.99597182e-01 9.52806205e-03 -2.67336878e-02 9.98838399e+00] [-9.40712998e-03 9.99944960e-01 4.64571205e-03 -3.36390369e-01] [ 2.67764810e-02 -4.39235340e-03 9.99631796e-01 -4.86550030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99240100800002 meters Centerline goodness : 0.846275 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.34, Z:-0.48 [[ 9.99540010e-01 1.35501433e-02 -2.71323229e-02 9.98907445e+00] [-1.32897925e-02 9.99864121e-01 9.75304604e-03 -3.38751068e-01] [ 2.72607913e-02 -9.38797679e-03 9.99584271e-01 -4.84816542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02240100800002 meters Centerline goodness : 0.846019 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.34, Z:-0.48 [[ 9.99538072e-01 1.44252229e-02 -2.67498648e-02 9.98766597e+00] [-1.41731316e-02 9.99853568e-01 9.58980490e-03 -3.36967952e-01] [ 2.68842829e-02 -9.20624575e-03 9.99596159e-01 -4.84936152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05240100800002 meters Centerline goodness : 0.844332 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.49 [[ 9.99528916e-01 1.51658001e-02 -2.66822953e-02 9.98715238e+00] [-1.49287612e-02 9.99847507e-01 9.06064767e-03 -3.34585351e-01] [ 2.68156384e-02 -8.65804573e-03 9.99602901e-01 -4.85612939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082401008 meters Centerline goodness : 0.842007 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.49 [[ 0.99944312 0.01984793 -0.02682364 9.98714972] [-0.01950856 0.99972704 0.0128551 -0.33331309] [ 0.02707146 -0.01232465 0.99955752 -0.48573249] [ 0. 0. 0. 1. ]] SLAMing on 67.112401008 meters Centerline goodness : 0.844781 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.33, Z:-0.49 [[ 9.99483989e-01 2.31875515e-02 -2.22281852e-02 1.00009256e+01] [-2.30911322e-02 9.99722852e-01 4.58464084e-03 -3.30328995e-01] [ 2.23283312e-02 -4.06900115e-03 9.99742411e-01 -4.91739397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14240100800001 meters Centerline goodness : 0.841900 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.33, Z:-0.49 [[ 9.99384333e-01 2.66095051e-02 -2.28667849e-02 1.00030087e+01] [-2.64163485e-02 9.99613098e-01 8.70804556e-03 -3.31812469e-01] [ 2.30896545e-02 -8.09862734e-03 9.99700595e-01 -4.91615778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17240100800001 meters Centerline goodness : 0.840593 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.33, Z:-0.49 [[ 9.99470143e-01 2.30654744e-02 -2.29655795e-02 1.00031074e+01] [-2.29742244e-02 9.99727112e-01 4.22931549e-03 -3.31307774e-01] [ 2.30568637e-02 -3.69945817e-03 9.99727310e-01 -4.93034051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20240100800001 meters Centerline goodness : 0.842008 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.33, Z:-0.49 [[ 9.99467418e-01 2.24765883e-02 -2.36576216e-02 1.00050391e+01] [-2.23741954e-02 9.99739157e-01 4.58398389e-03 -3.33707898e-01] [ 2.37544830e-02 -4.05222230e-03 9.99709610e-01 -4.92833549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23240100800001 meters Centerline goodness : 0.844235 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.34, Z:-0.49 [[ 0.99944999 0.02189388 -0.02490752 10.01293832] [-0.02161582 0.9997016 0.01137881 -0.33855267] [ 0.02514922 -0.01083415 0.999625 -0.48763327] [ 0. 0. 0. 1. ]] SLAMing on 67.26240100800001 meters Centerline goodness : 0.846021 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.34, Z:-0.48 [[ 0.9994436 0.02109516 -0.02583571 10.02083033] [-0.02062037 0.99961605 0.01850798 -0.34260049] [ 0.02621622 -0.01796494 0.99949486 -0.48183734] [ 0. 0. 0. 1. ]] SLAMing on 67.29240100800001 meters Centerline goodness : 0.845362 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.35, Z:-0.48 [[ 0.9995306 0.01720258 -0.02535037 10.01894735] [-0.01679345 0.99972668 0.01626476 -0.34580287] [ 0.02562324 -0.01583141 0.99954631 -0.47899065] [ 0. 0. 0. 1. ]] SLAMing on 67.32240100800001 meters Centerline goodness : 0.844629 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.35, Z:-0.47 [[ 0.99953039 0.01737705 -0.02523958 10.02451335] [-0.01671965 0.99952138 0.02602812 -0.35162063] [ 0.02567979 -0.0255939 0.99934253 -0.4693872 ] [ 0. 0. 0. 1. ]] SLAMing on 67.35240100800002 meters Centerline goodness : 0.847291 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.35, Z:-0.47 [[ 0.99952581 0.01748564 -0.02534564 10.02428154] [-0.01678965 0.99948307 0.02741733 -0.35372489] [ 0.02581195 -0.02697878 0.9993027 -0.46700953] [ 0. 0. 0. 1. ]] SLAMing on 67.38240100800002 meters Centerline goodness : 0.850059 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.36, Z:-0.47 [[ 0.99952987 0.01739696 -0.02524663 10.02409333] [-0.01668953 0.99946954 0.02796588 -0.35518204] [ 0.02571976 -0.02753138 0.99929001 -0.46608116] [ 0. 0. 0. 1. ]] SLAMing on 67.41240100800002 meters Centerline goodness : 0.849366 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.35, Z:-0.47 [[ 0.9995267 0.01691939 -0.02569276 10.02552711] [-0.01621796 0.99949659 0.02726791 -0.35460253] [ 0.02614118 -0.02683832 0.99929793 -0.46692631] [ 0. 0. 0. 1. ]] SLAMing on 67.44240100800002 meters Centerline goodness : 0.850643 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.9996155 0.01761129 -0.02141696 10.03868723] [-0.01729122 0.99973738 0.01503945 -0.35174958] [ 0.0216762 -0.01466334 0.99965751 -0.47405625] [ 0. 0. 0. 1. ]] SLAMing on 67.472401008 meters Centerline goodness : 0.852377 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99961303 0.01795113 -0.02124972 10.037822 ] [-0.01762971 0.99972877 0.01521752 -0.35123536] [ 0.02151712 -0.014837 0.99965838 -0.47334825] [ 0. 0. 0. 1. ]] SLAMing on 67.502401008 meters Centerline goodness : 0.857813 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99960792 0.01873523 -0.02080851 10.03604709] [-0.01841528 0.99971085 0.0154624 -0.34949682] [ 0.02109219 -0.01507315 0.9996639 -0.47236995] [ 0. 0. 0. 1. ]] SLAMing on 67.53240100800001 meters Centerline goodness : 0.855155 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99952711 0.02194529 -0.02153997 10.03824955] [-0.02151624 0.99956938 0.01995274 -0.3509178 ] [ 0.02196856 -0.01947985 0.99956887 -0.47137323] [ 0. 0. 0. 1. ]] SLAMing on 67.56240100800001 meters Centerline goodness : 0.857642 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99944506 0.0248784 -0.02215017 10.04077417] [-0.02434122 0.99941077 0.02419968 -0.35253142] [ 0.02273916 -0.02364709 0.99946173 -0.47092972] [ 0. 0. 0. 1. ]] SLAMing on 67.59240100800001 meters Centerline goodness : 0.857650 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99952829 0.0216496 -0.02178298 10.03987279] [-0.0212265 0.99958508 0.01947058 -0.34935249] [ 0.02219548 -0.01899902 0.99957311 -0.47251429] [ 0. 0. 0. 1. ]] SLAMing on 67.62240100800001 meters Centerline goodness : 0.856628 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99951686 0.0216918 -0.02226006 10.04116034] [-0.02125718 0.99958231 0.01957881 -0.35001922] [ 0.02267546 -0.01909616 0.99956048 -0.47279742] [ 0. 0. 0. 1. ]] SLAMing on 67.65240100800001 meters Centerline goodness : 0.857549 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99950986 0.02177233 -0.02249435 10.04192083] [-0.02134175 0.99958771 0.01920763 -0.34909499] [ 0.02290327 -0.01871814 0.99956244 -0.47352825] [ 0. 0. 0. 1. ]] SLAMing on 67.68240100800001 meters Centerline goodness : 0.854418 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.35, Z:-0.47 [[ 0.99950533 0.0217881 -0.02267987 10.04277876] [-0.02136647 0.99959738 0.01866957 -0.34811605] [ 0.02307752 -0.01817574 0.99956844 -0.47467643] [ 0. 0. 0. 1. ]] SLAMing on 67.71240100800001 meters Centerline goodness : 0.855597 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.35, Z:-0.48 [[ 0.99940094 0.02559503 -0.02329484 10.0453248 ] [-0.02506843 0.99942971 0.02262378 -0.34920417] [ 0.02386061 -0.02202627 0.99947262 -0.47577909] [ 0. 0. 0. 1. ]] SLAMing on 67.74240100800002 meters Centerline goodness : 0.855218 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.35, Z:-0.48 [[ 0.99929093 0.02929379 -0.02365381 10.04693281] [-0.02864493 0.99921625 0.02731953 -0.3515269 ] [ 0.02443556 -0.02662259 0.99934686 -0.4751019 ] [ 0. 0. 0. 1. ]] SLAMing on 67.77240100800002 meters Centerline goodness : 0.854552 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.35, Z:-0.47 [[ 0.99927894 0.02978208 -0.02355035 10.04641476] [-0.02912408 0.99918898 0.02780609 -0.35240678] [ 0.02435937 -0.02710015 0.99933588 -0.47470664] [ 0. 0. 0. 1. ]] SLAMing on 67.80240100800002 meters Centerline goodness : 0.854577 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.36, Z:-0.47 [[ 0.99914555 0.03397009 -0.02354135 10.04636693] [-0.03313382 0.99883625 0.0350471 -0.35783391] [ 0.02470451 -0.03423714 0.99910836 -0.46985509] [ 0. 0. 0. 1. ]] SLAMing on 67.832401008 meters Centerline goodness : 0.856851 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.36, Z:-0.47 [[ 0.99913469 0.03418221 -0.02369467 10.04654773] [-0.03332823 0.9988122 0.03554471 -0.35937746] [ 0.02488153 -0.03472425 0.99908715 -0.46946046] [ 0. 0. 0. 1. ]] SLAMing on 67.862401008 meters Centerline goodness : 0.851507 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.36, Z:-0.48 [[ 0.99916608 0.03616365 -0.01895636 10.05997359] [-0.03568567 0.99905096 0.02497427 -0.35800063] [ 0.01984153 -0.02427697 0.99950835 -0.47762092] [ 0. 0. 0. 1. ]] SLAMing on 67.89240100800001 meters Centerline goodness : 0.851507 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.36, Z:-0.48 [[ 0.99916508 0.03620862 -0.01892293 10.05988977] [-0.03573306 0.9990513 0.02489281 -0.35782875] [ 0.01980631 -0.02419585 0.99951102 -0.47767557] [ 0. 0. 0. 1. ]] SLAMing on 67.92240100800001 meters Centerline goodness : 0.852139 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.36, Z:-0.48 [[ 0.99918489 0.03759161 -0.01471164 10.07294763] [-0.03739438 0.99920993 0.01345984 -0.35537666] [ 0.015206 -0.01289874 0.99980118 -0.4846685 ] [ 0. 0. 0. 1. ]] SLAMing on 67.95240100800001 meters Centerline goodness : 0.852320 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.35, Z:-0.49 [[ 9.99170780e-01 3.95729075e-02 -9.57799580e-03 1.00852244e+01] [-3.95368283e-02 9.99210395e-01 3.92743773e-03 -3.54323012e-01] [ 9.72585310e-03 -3.54549744e-03 9.99946417e-01 -4.89615888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98240100800001 meters Centerline goodness : 0.854389 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.36, Z:-0.49 [[ 9.99143003e-01 4.02582116e-02 -9.61960453e-03 1.00841192e+01] [-4.02147613e-02 9.99180153e-01 4.66845352e-03 -3.55962848e-01] [ 9.79966151e-03 -4.27760257e-03 9.99942833e-01 -4.88011852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01240100800001 meters Centerline goodness : 0.856726 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.49 [[ 9.99066917e-01 4.29738661e-02 -4.30617280e-03 1.00956637e+01] [-4.29895370e-02 9.99068982e-01 -3.61515424e-03 -3.56814228e-01] [ 4.14680652e-03 3.79690137e-03 9.99984194e-01 -4.91372893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04240100800001 meters Centerline goodness : 0.856039 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.49 [[ 9.99066115e-01 4.29870450e-02 -4.36019462e-03 1.00961319e+01] [-4.30037419e-02 9.99067644e-01 -3.81075283e-03 -3.56376953e-01] [ 4.19231636e-03 3.99469871e-03 9.99983233e-01 -4.92025748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07240100800001 meters Centerline goodness : 0.855514 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.49 [[ 9.99075423e-01 4.27588267e-02 -4.47011630e-03 1.00971916e+01] [-4.27781289e-02 9.99075277e-01 -4.31547906e-03 -3.55441326e-01] [ 4.28145786e-03 4.50271228e-03 9.99980697e-01 -4.93372956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10240100800002 meters Centerline goodness : 0.854028 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.50 [[ 9.99100025e-01 4.21258823e-02 -4.95470797e-03 1.00995073e+01] [-4.21502901e-02 9.99099121e-01 -4.92943625e-03 -3.55140890e-01] [ 4.74258753e-03 5.13384226e-03 9.99975575e-01 -4.95152118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13240100800002 meters Centerline goodness : 0.855098 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.50 [[ 9.99117774e-01 4.16197290e-02 -5.60996747e-03 1.01016473e+01] [-4.16485434e-02 9.99119198e-01 -5.12118205e-03 -3.56045963e-01] [ 5.39188399e-03 5.35031098e-03 9.99971150e-01 -4.96081647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16240100800002 meters Centerline goodness : 0.856692 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.49 [[ 9.99111194e-01 4.17553705e-02 -5.77161774e-03 1.01017538e+01] [-4.17761139e-02 9.99120791e-01 -3.52141721e-03 -3.61213824e-01] [ 5.61950521e-03 3.75940311e-03 9.99977144e-01 -4.94581907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19240100800002 meters Centerline goodness : 0.856710 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.36, Z:-0.49 [[ 9.99116349e-01 4.15458851e-02 -6.36091008e-03 1.01028009e+01] [-4.15637359e-02 9.99132206e-01 -2.70028725e-03 -3.64287715e-01] [ 6.24320430e-03 2.96228432e-03 9.99976123e-01 -4.93546174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222401008 meters Centerline goodness : 0.858235 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.37, Z:-0.49 [[ 9.99184243e-01 3.96909641e-02 -7.44817848e-03 1.01063461e+01] [-3.96906211e-02 9.99211998e-01 1.93914729e-04 -3.72105557e-01] [ 7.45000597e-03 1.01866289e-04 9.99972243e-01 -4.89462726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252401008 meters Centerline goodness : 0.856861 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.38, Z:-0.49 [[ 9.99210974e-01 3.88718550e-02 -8.14914467e-03 1.01084911e+01] [-3.88649964e-02 9.99243972e-01 9.98368528e-04 -3.76476195e-01] [ 8.18179212e-03 -6.80864311e-04 9.99966297e-01 -4.88947751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28240100800001 meters Centerline goodness : 0.859283 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.38, Z:-0.49 [[ 9.99365135e-01 3.46656830e-02 -8.22291965e-03 1.01090571e+01] [-3.46918762e-02 9.99393358e-01 -3.06439923e-03 -3.78219624e-01] [ 8.11170178e-03 3.34772226e-03 9.99961496e-01 -4.90118487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31240100800001 meters Centerline goodness : 0.858899 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.38, Z:-0.49 [[ 9.99387773e-01 3.38321183e-02 -8.91438111e-03 1.01114452e+01] [-3.38522608e-02 9.99424603e-01 -2.11839138e-03 -3.83011696e-01] [ 8.83758213e-03 2.41886640e-03 9.99958022e-01 -4.89820470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34240100800001 meters Centerline goodness : 0.856474 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.39, Z:-0.48 [[ 9.99545149e-01 2.87928164e-02 -8.97049316e-03 1.01259742e+01] [-2.87466285e-02 9.99573017e-01 5.23597610e-03 -3.92357791e-01] [ 9.11742141e-03 -4.97572307e-03 9.99946056e-01 -4.84854962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37240100800001 meters Centerline goodness : 0.861291 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.39, Z:-0.49 [[ 9.99560723e-01 2.79667856e-02 -9.80915546e-03 1.01290983e+01] [-2.79163000e-02 9.99596496e-01 5.24651290e-03 -3.94736843e-01] [ 9.95192552e-03 -4.97037290e-03 9.99938125e-01 -4.86076644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40240100800001 meters Centerline goodness : 0.864695 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.40, Z:-0.49 [[ 9.99567603e-01 2.74565485e-02 -1.05235861e-02 1.01317334e+01] [-2.73994914e-02 9.99609277e-01 5.52821549e-03 -3.96993347e-01] [ 1.06712600e-02 -5.23748420e-03 9.99929344e-01 -4.86840336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43240100800001 meters Centerline goodness : 0.859905 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.40, Z:-0.49 [[ 9.99567904e-01 2.72292680e-02 -1.10712300e-02 1.01333114e+01] [-2.71646284e-02 9.99613280e-01 5.94759907e-03 -3.99839736e-01] [ 1.12288973e-02 -5.64428328e-03 9.99921024e-01 -4.86972856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46240100800001 meters Centerline goodness : 0.863000 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.41, Z:-0.48 [[ 9.99541300e-01 2.79442742e-02 -1.16750983e-02 1.01337560e+01] [-2.78526338e-02 9.99580510e-01 7.93947399e-03 -4.06219219e-01] [ 1.18920636e-02 -7.61064992e-03 9.99900323e-01 -4.84804715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49240100800002 meters Centerline goodness : 0.866051 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.40, Z:-0.49 [[ 9.99611777e-01 2.51563913e-02 -1.19770741e-02 1.01337707e+01] [-2.51161122e-02 9.99678408e-01 3.50166125e-03 -4.04580074e-01] [ 1.20613115e-02 -3.19948429e-03 9.99922141e-01 -4.86609906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52240100800002 meters Centerline goodness : 0.866924 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99612274e-01 2.49501889e-02 -1.23608272e-02 1.01352877e+01] [-2.49165671e-02 9.99685424e-01 2.86662454e-03 -4.03782641e-01] [ 1.24284616e-02 -2.55752369e-03 9.99919493e-01 -4.88139386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55240100800002 meters Centerline goodness : 0.865329 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99605441e-01 2.53136378e-02 -1.21730086e-02 1.01355170e+01] [-2.52870672e-02 9.99677512e-01 2.33176068e-03 -4.03125888e-01] [ 1.22281083e-02 -2.02302098e-03 9.99923187e-01 -4.90183340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582401008 meters Centerline goodness : 0.868601 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99503699e-01 2.87924207e-02 -1.27809369e-02 1.01372970e+01] [-2.86946173e-02 9.99558019e-01 7.77085729e-03 -4.06925598e-01] [ 1.29990297e-02 -7.40025651e-03 9.99888124e-01 -4.88072686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612401008 meters Centerline goodness : 0.865588 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.48 [[ 0.99938705 0.03241655 -0.01321727 10.1384115 ] [-0.03222749 0.99937861 0.01427523 -0.41162076] [ 0.01367181 -0.01384052 0.99981074 -0.48408403] [ 0. 0. 0. 1. ]] SLAMing on 68.64240100800001 meters Centerline goodness : 0.865349 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99489601e-01 2.92882337e-02 -1.27568723e-02 1.01366234e+01] [-2.91665132e-02 9.99528222e-01 9.62536994e-03 -4.09400283e-01] [ 1.30327640e-02 -9.24838367e-03 9.99872299e-01 -4.85176394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67240100800001 meters Centerline goodness : 0.864164 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99570712e-01 2.64417650e-02 -1.26184453e-02 1.01357148e+01] [-2.63816846e-02 9.99639913e-01 4.90428713e-03 -4.06970392e-01] [ 1.27435796e-02 -4.56928594e-03 9.99908357e-01 -4.87155710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70240100800001 meters Centerline goodness : 0.864877 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99572985e-01 2.62333084e-02 -1.28709125e-02 1.01366502e+01] [-2.61797150e-02 9.99647940e-01 4.31490806e-03 -4.06021710e-01] [ 1.29795755e-02 -3.97610871e-03 9.99907856e-01 -4.88098036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73240100800001 meters Centerline goodness : 0.864109 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99568417e-01 2.64104100e-02 -1.28635500e-02 1.01366245e+01] [-2.63628447e-02 9.99645013e-01 3.85334646e-03 -4.04834656e-01] [ 1.29607521e-02 -3.51256364e-03 9.99909836e-01 -4.88775810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76240100800001 meters Centerline goodness : 0.864093 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99559674e-01 2.67361859e-02 -1.28699157e-02 1.01362265e+01] [-2.66924197e-02 9.99637353e-01 3.56052849e-03 -4.03802573e-01] [ 1.29604434e-02 -3.21543150e-03 9.99910840e-01 -4.88827229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79240100800001 meters Centerline goodness : 0.867137 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99538143e-01 2.75956439e-02 -1.27271993e-02 1.01352105e+01] [-2.75621071e-02 9.99616163e-01 2.80299746e-03 -4.01798946e-01] [ 1.27996647e-02 -2.45091444e-03 9.99915077e-01 -4.89822540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82240100800001 meters Centerline goodness : 0.868685 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99547107e-01 2.71197706e-02 -1.30421863e-02 1.01371334e+01] [-2.71032519e-02 9.99631600e-01 1.44167788e-03 -3.99415677e-01] [ 1.30764796e-02 -1.08753929e-03 9.99913908e-01 -4.92401325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85240100800002 meters Centerline goodness : 0.864574 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.49 [[ 9.99556658e-01 2.67012373e-02 -1.31731677e-02 1.01387451e+01] [-2.67009202e-02 9.99643447e-01 1.99981836e-04 -3.97179441e-01] [ 1.31738105e-02 1.51842523e-04 9.99913210e-01 -4.94968990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88240100800002 meters Centerline goodness : 0.865017 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.50 [[ 9.99566713e-01 2.61711659e-02 -1.34705445e-02 1.01406213e+01] [-2.61837970e-02 9.99656855e-01 -7.62143970e-04 -3.95722188e-01] [ 1.34459759e-02 1.11452375e-03 9.99908978e-01 -4.97024749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91240100800002 meters Centerline goodness : 0.866433 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.50 [[ 9.99567811e-01 2.61286205e-02 -1.34716893e-02 1.01411621e+01] [-2.61384656e-02 9.99658178e-01 -5.55217841e-04 -3.97462735e-01] [ 1.34525773e-02 9.07107169e-04 9.99909099e-01 -4.97670971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94240100800002 meters Centerline goodness : 0.866354 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.50 [[ 9.99567578e-01 2.58597612e-02 -1.39974831e-02 1.01423361e+01] [-2.58609846e-02 9.99665544e-01 9.36255195e-05 -4.00107860e-01] [ 1.39952227e-02 2.68403662e-04 9.99902026e-01 -4.96909212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972401008 meters Centerline goodness : 0.865953 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.50 [[ 9.99569896e-01 2.55428964e-02 -1.44077460e-02 1.01431830e+01] [-2.55306238e-02 9.99673505e-01 1.03511652e-03 -4.03639505e-01] [ 1.44294818e-02 -6.66832565e-04 9.99895667e-01 -4.95612702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002401008 meters Centerline goodness : 0.866634 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.40, Z:-0.50 [[ 9.99657717e-01 2.21626542e-02 -1.39019963e-02 1.01413387e+01] [-2.22016202e-02 9.99749989e-01 -2.65484930e-03 -4.04716762e-01] [ 1.38396822e-02 2.96258743e-03 9.99899838e-01 -4.95474678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03240100800001 meters Centerline goodness : 0.872152 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99723049e-01 1.95298517e-02 -1.31304757e-02 1.01380518e+01] [-1.95888888e-02 9.99798513e-01 -4.38270457e-03 -4.09913824e-01] [ 1.30422365e-02 4.63870221e-03 9.99904187e-01 -4.92927481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06240100800001 meters Centerline goodness : 0.874293 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.41, Z:-0.49 [[ 9.99716745e-01 1.96340895e-02 -1.34510897e-02 1.01385786e+01] [-1.96793812e-02 9.99801082e-01 -3.24308466e-03 -4.13287791e-01] [ 1.33847391e-02 3.50687517e-03 9.99904271e-01 -4.91782149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09240100800001 meters Centerline goodness : 0.874435 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.42, Z:-0.49 [[ 9.99710082e-01 1.98880656e-02 -1.35726422e-02 1.01389179e+01] [-1.99244492e-02 9.99798235e-01 -2.55071148e-03 -4.16022147e-01] [ 1.35191750e-02 2.82039940e-03 9.99904634e-01 -4.91680373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12240100800001 meters Centerline goodness : 0.878434 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.42, Z:-0.49 [[ 9.99704001e-01 2.03519300e-02 -1.33307528e-02 1.01385838e+01] [-2.03837469e-02 9.99789686e-01 -2.25520946e-03 -4.17923236e-01] [ 1.32820513e-02 2.52627261e-03 9.99908598e-01 -4.92426894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15240100800001 meters Centerline goodness : 0.876768 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.42, Z:-0.49 [[ 9.99683510e-01 2.14642049e-02 -1.31212899e-02 1.01365926e+01] [-2.14629970e-02 9.99769616e-01 2.32884709e-04 -4.24831596e-01] [ 1.31232657e-02 4.88112036e-05 9.99913885e-01 -4.89239687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18240100800001 meters Centerline goodness : 0.879124 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.43, Z:-0.49 [[ 9.99759435e-01 1.77537417e-02 -1.28793232e-02 1.01350630e+01] [-1.77975643e-02 9.99836178e-01 -3.29594620e-03 -4.25513458e-01] [ 1.28186979e-02 3.52437390e-03 9.99911626e-01 -4.88006785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21240100800001 meters Centerline goodness : 0.883479 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.43, Z:-0.49 [[ 9.99794675e-01 1.47662222e-02 -1.38768546e-02 1.01411503e+01] [-1.48304710e-02 9.99879722e-01 -4.53847508e-03 -4.25457860e-01] [ 1.38081694e-02 4.74334351e-03 9.99893412e-01 -4.90660892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24240100800002 meters Centerline goodness : 0.872306 Centerline is valid? [False, False] Translation: X:10.15, Y:-0.42, Z:-0.49 [[ 9.99813591e-01 1.18206487e-02 -1.52661366e-02 1.01482913e+01] [-1.19129142e-02 9.99911234e-01 -5.96707054e-03 -4.24379365e-01] [ 1.51942468e-02 6.14782240e-03 9.99865661e-01 -4.93825498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27240100800002 meters Centerline goodness : 0.874167 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99811227e-01 7.65047416e-03 -1.78600167e-02 1.01655548e+01] [-7.73727102e-03 9.99958567e-01 -4.79581043e-03 -4.23680504e-01] [ 1.78225865e-02 4.93309290e-03 9.99828995e-01 -4.98989691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30240100800002 meters Centerline goodness : 0.874446 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99805452e-01 7.05004390e-03 -1.84216160e-02 1.01678848e+01] [-7.15883389e-03 9.99957285e-01 -5.84630546e-03 -4.21518640e-01] [ 1.83796124e-02 5.97704536e-03 9.99813215e-01 -5.00852931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33240100800002 meters Centerline goodness : 0.877572 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99753715e-01 1.02172413e-02 -1.97006761e-02 1.01711605e+01] [-1.02439974e-02 9.99946738e-01 -1.25769105e-03 -4.23074302e-01] [ 1.96867767e-02 1.45919498e-03 9.99805132e-01 -4.99534813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362401008 meters Centerline goodness : 0.870559 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99736591e-01 1.24636431e-02 -1.92719229e-02 1.01663973e+01] [-1.24578750e-02 9.99922310e-01 4.19331227e-04 -4.24434503e-01] [ 1.92756520e-02 -1.79133565e-04 9.99814191e-01 -4.95287877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39240100800001 meters Centerline goodness : 0.873037 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.42, Z:-0.49 [[ 9.99732874e-01 1.33686233e-02 -1.88536763e-02 1.01640351e+01] [-1.33522236e-02 9.99910360e-01 9.95453948e-04 -4.24677918e-01] [ 1.88652941e-02 -7.43449534e-04 9.99821758e-01 -4.93718879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters Centerline goodness : 0.873851 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.43, Z:-0.49 [[ 9.99668299e-01 1.63072872e-02 -1.99340016e-02 1.01670815e+01] [-1.61953111e-02 9.99852222e-01 5.76594188e-03 -4.26359230e-01] [ 2.00250827e-02 -5.44119195e-03 9.99784672e-01 -4.91952523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45240100800001 meters Centerline goodness : 0.868614 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.49 [[ 9.99676298e-01 1.61239245e-02 -1.96803905e-02 1.01673349e+01] [-1.60354852e-02 9.99860642e-01 4.64335424e-03 -4.23309226e-01] [ 1.97525170e-02 -4.32626657e-03 9.99795540e-01 -4.93852609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters Centerline goodness : 0.866317 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99681588e-01 1.57946484e-02 -1.96787225e-02 1.01682752e+01] [-1.57270140e-02 9.99869889e-01 3.58696987e-03 -4.20375269e-01] [ 1.97328170e-02 -3.27634019e-03 9.99799921e-01 -4.95691171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51240100800001 meters Centerline goodness : 0.863180 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99687538e-01 1.57244878e-02 -1.94310858e-02 1.01681785e+01] [-1.56752475e-02 9.99873534e-01 2.68382222e-03 -4.17397116e-01] [ 1.94708301e-02 -2.37839655e-03 9.99807596e-01 -4.97003329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54240100800001 meters Centerline goodness : 0.860508 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99684155e-01 1.57105795e-02 -1.96154857e-02 1.01682716e+01] [-1.56633885e-02 9.99874052e-01 2.55713465e-03 -4.16770068e-01] [ 1.96531892e-02 -2.24908202e-03 9.99804328e-01 -4.96608191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57240100800001 meters Centerline goodness : 0.869448 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99680713e-01 1.56371100e-02 -1.98482273e-02 1.01683886e+01] [-1.55887018e-02 9.99875131e-01 2.59131034e-03 -4.16574590e-01] [ 1.98862694e-02 -2.28107487e-03 9.99799646e-01 -4.95839712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60240100800002 meters Centerline goodness : 0.861369 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.50 [[ 9.99676792e-01 1.54470793e-02 -2.01915529e-02 1.01688640e+01] [-1.53983033e-02 9.99878139e-01 2.56891999e-03 -4.16334977e-01] [ 2.02287746e-02 -2.25717404e-03 9.99792829e-01 -4.95213536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63240100800002 meters Centerline goodness : 0.856216 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.49 [[ 9.99670520e-01 1.57091243e-02 -2.02996334e-02 1.01679128e+01] [-1.56323092e-02 9.99870056e-01 3.93723040e-03 -4.17967207e-01] [ 2.03588461e-02 -3.61860302e-03 9.99786189e-01 -4.92178263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66240100800002 meters Centerline goodness : 0.852942 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.49 [[ 9.99670579e-01 1.51812678e-02 -2.06945291e-02 1.01690070e+01] [-1.50975558e-02 9.99877224e-01 4.19538494e-03 -4.18894673e-01] [ 2.07556795e-02 -3.88156608e-03 9.99777043e-01 -4.91496750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69240100800002 meters Centerline goodness : 0.854826 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.49 [[ 9.99669961e-01 1.45875689e-02 -2.11464199e-02 1.01706173e+01] [-1.44968743e-02 9.99885075e-01 4.43586236e-03 -4.19569390e-01] [ 2.12086981e-02 -4.12784136e-03 9.99766549e-01 -4.91252415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters Centerline goodness : 0.849082 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.42, Z:-0.49 [[ 9.99675906e-01 1.38567860e-02 -2.13558309e-02 1.01721852e+01] [-1.37731468e-02 9.99896909e-01 4.05858166e-03 -4.19143525e-01] [ 2.14098682e-02 -3.76312930e-03 9.99763700e-01 -4.92170025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752401008 meters Centerline goodness : 0.844732 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.42, Z:-0.49 [[ 9.99746421e-01 9.54478631e-03 -2.03958302e-02 1.01927701e+01] [-9.25072543e-03 9.99852601e-01 1.44637299e-02 -4.21301866e-01] [ 2.05308770e-02 -1.42713860e-02 9.99687356e-01 -4.87185651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters Centerline goodness : 0.844732 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.42, Z:-0.49 [[ 9.99746421e-01 9.54478631e-03 -2.03958302e-02 1.01927701e+01] [-9.25072543e-03 9.99852601e-01 1.44637299e-02 -4.21301866e-01] [ 2.05308770e-02 -1.42713860e-02 9.99687356e-01 -4.87185651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81240100800001 meters Centerline goodness : 0.842168 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.42, Z:-0.49 [[ 9.99786233e-01 5.43609291e-03 -1.99483837e-02 1.01922496e+01] [-5.24965507e-03 9.99942166e-01 9.38650770e-03 -4.19556604e-01] [ 1.99982559e-02 -9.27977904e-03 9.99756948e-01 -4.89080484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84240100800001 meters Centerline goodness : 0.842807 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-0.49 [[ 9.99775262e-01 4.38287969e-03 -2.07416260e-02 1.01951569e+01] [-4.19353444e-03 9.99949221e-01 9.16346358e-03 -4.20416929e-01] [ 2.07807351e-02 -9.07442348e-03 9.99742875e-01 -4.89551899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87240100800001 meters Centerline goodness : 0.845770 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-0.49 [[ 9.99760889e-01 3.18131000e-03 -2.16343120e-02 1.01984866e+01] [-2.99322786e-03 9.99957496e-01 8.72052809e-03 -4.20807429e-01] [ 2.16611352e-02 -8.65368650e-03 9.99727917e-01 -4.90388543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90240100800001 meters Centerline goodness : 0.840330 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-0.49 [[ 9.99744514e-01 2.14009292e-03 -2.25016854e-02 1.02013318e+01] [-1.95262821e-03 9.99963233e-01 8.34981400e-03 -4.20893777e-01] [ 2.25187275e-02 -8.30374332e-03 9.99711936e-01 -4.90784637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93240100800001 meters Centerline goodness : 0.842722 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.42, Z:-0.49 [[ 9.99733557e-01 1.27750242e-03 -2.30474191e-02 1.02030827e+01] [-1.08253077e-03 9.99963542e-01 8.47008125e-03 -4.21315275e-01] [ 2.30573994e-02 -8.44287492e-03 9.99698492e-01 -4.90085583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96240100800001 meters Centerline goodness : 0.837983 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.42, Z:-0.49 [[ 9.99697838e-01 3.44918311e-03 -2.43379695e-02 1.02074394e+01] [-3.11835763e-03 9.99902410e-01 1.36178628e-02 -4.23597063e-01] [ 2.43825648e-02 -1.35378535e-02 9.99611033e-01 -4.87606507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99240100800002 meters Centerline goodness : 0.839752 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.42, Z:-0.49 [[ 9.99688164e-01 2.49971486e-03 -2.48460354e-02 1.02098887e+01] [-2.18018025e-03 9.99914681e-01 1.28793663e-02 -4.22173308e-01] [ 2.48761103e-02 -1.28211813e-02 9.99608322e-01 -4.88872848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02240100800002 meters Centerline goodness : 0.840896 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.42, Z:-0.49 [[ 9.99653415e-01 5.20118154e-03 -2.58069355e-02 1.02130174e+01] [-4.73756296e-03 9.99826878e-01 1.79936167e-02 -4.24781976e-01] [ 2.58960558e-02 -1.78651184e-02 9.99504993e-01 -4.86652790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05240100800002 meters Centerline goodness : 0.837921 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.43, Z:-0.48 [[ 9.99610760e-01 8.12471247e-03 -2.66892721e-02 1.02157143e+01] [-7.49724069e-03 9.99695094e-01 2.35267840e-02 -4.27627110e-01] [ 2.68722828e-02 -2.33175305e-02 9.99366886e-01 -4.83620752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08240100800002 meters Centerline goodness : 0.837473 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.43, Z:-0.48 [[ 9.99611065e-01 8.07263353e-03 -2.66936700e-02 1.02155141e+01] [-7.44585864e-03 9.99696182e-01 2.34968900e-02 -4.27332263e-01] [ 2.68752418e-02 -2.32889939e-02 9.99367472e-01 -4.83120521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112401008 meters Centerline goodness : 0.835671 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.42, Z:-0.49 [[ 9.99729613e-01 8.46924587e-03 -2.16557930e-02 1.02273043e+01] [-8.24049212e-03 9.99909537e-01 1.06306764e-02 -4.23124978e-01] [ 2.17438677e-02 -1.04493476e-02 9.99708965e-01 -4.89932408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14240100800001 meters Centerline goodness : 0.840288 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.42, Z:-0.50 [[ 9.99792575e-01 1.12803289e-02 -1.69576508e-02 1.02425919e+01] [-1.12345629e-02 9.99932993e-01 2.79168644e-03 -4.20320433e-01] [ 1.69880057e-02 -2.60059558e-03 9.99852311e-01 -4.95817844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17240100800001 meters Centerline goodness : 0.838566 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.42, Z:-0.50 [[ 9.99792745e-01 1.19090826e-02 -1.65118449e-02 1.02415240e+01] [-1.18723963e-02 9.99926834e-01 2.31806762e-03 -4.17834691e-01] [ 1.65382428e-02 -2.12155203e-03 9.99860983e-01 -4.96777136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20240100800001 meters Centerline goodness : 0.837568 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.42, Z:-0.50 [[ 9.99788403e-01 1.25168175e-02 -1.63241865e-02 1.02410218e+01] [-1.24887959e-02 9.99920360e-01 1.81738472e-03 -4.15032975e-01] [ 1.63456343e-02 -1.61313073e-03 9.99865100e-01 -4.97798912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23240100800001 meters Centerline goodness : 0.835099 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.41, Z:-0.50 [[ 9.99723197e-01 1.73696392e-02 -1.58690027e-02 1.02400786e+01] [-1.72919748e-02 9.99837889e-01 5.01827953e-03 -4.12415991e-01] [ 1.59535959e-02 -4.74248406e-03 9.99861486e-01 -4.99454952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26240100800001 meters Centerline goodness : 0.833372 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.41, Z:-0.50 [[ 9.99714407e-01 1.80527802e-02 -1.56589396e-02 1.02393260e+01] [-1.79879412e-02 9.99829079e-01 4.27172632e-03 -4.09999397e-01] [ 1.57333797e-02 -3.98883426e-03 9.99868266e-01 -5.00671693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29240100800001 meters Centerline goodness : 0.832774 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.41, Z:-0.50 [[ 9.99707710e-01 1.88099560e-02 -1.51881577e-02 1.02377563e+01] [-1.87516046e-02 9.99816271e-01 3.97522396e-03 -4.08682053e-01] [ 1.52601409e-02 -3.68925971e-03 9.99876751e-01 -5.01070289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32240100800001 meters Centerline goodness : 0.835195 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.51 [[ 9.99697176e-01 2.24588191e-02 -1.00576912e-02 1.02492846e+01] [-2.25021738e-02 9.99737894e-01 -4.21837174e-03 -4.08438496e-01] [ 9.96031536e-03 4.44341423e-03 9.99940522e-01 -5.05204018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35240100800002 meters Centerline goodness : 0.837245 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.50 [[ 9.99687019e-01 2.29169221e-02 -1.00338362e-02 1.02486498e+01] [-2.29545911e-02 9.99729826e-01 -3.65525582e-03 -4.09469376e-01] [ 9.94735806e-03 3.88443440e-03 9.99942979e-01 -5.04352724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38240100800002 meters Centerline goodness : 0.835932 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.50 [[ 9.99682321e-01 2.32232755e-02 -9.79470758e-03 1.02482549e+01] [-2.32589243e-02 9.99723202e-01 -3.54150959e-03 -4.09772438e-01] [ 9.70975097e-03 3.76819889e-03 9.99945759e-01 -5.04788248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41240100800002 meters Centerline goodness : 0.837015 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.50 [[ 9.99600075e-01 2.63260079e-02 -1.03262402e-02 1.02506535e+01] [-2.63192795e-02 9.99653278e-01 7.86962437e-04 -4.12624703e-01] [ 1.03433774e-02 -5.14868511e-04 9.99946373e-01 -5.04787015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44240100800002 meters Centerline goodness : 0.833951 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.51 [[ 9.99601252e-01 2.63361322e-02 -1.01855041e-02 1.02514701e+01] [-2.63331954e-02 9.99653132e-01 4.22359420e-04 -4.13793104e-01] [ 1.01930944e-02 -1.53974135e-04 9.99948037e-01 -5.07036544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472401008 meters Centerline goodness : 0.832407 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.41, Z:-0.51 [[ 9.99602928e-01 2.62023782e-02 -1.03644716e-02 1.02524527e+01] [-2.61994072e-02 9.99656647e-01 4.22348576e-04 -4.14816968e-01] [ 1.03719795e-02 -1.50637861e-04 9.99946198e-01 -5.07825828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502401008 meters Centerline goodness : 0.834024 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.42, Z:-0.51 [[ 9.99599390e-01 2.62419277e-02 -1.06028193e-02 1.02530431e+01] [-2.62348101e-02 9.99655480e-01 8.09841401e-04 -4.16844491e-01] [ 1.06204182e-02 -5.31354020e-04 9.99943461e-01 -5.07810008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53240100800001 meters Centerline goodness : 0.835452 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.42, Z:-0.51 [[ 9.99595415e-01 2.62646089e-02 -1.09168460e-02 1.02536849e+01] [-2.62472727e-02 9.99653987e-01 1.72829967e-03 -4.19816947e-01] [ 1.09584618e-02 -1.44106299e-03 9.99938916e-01 -5.06862022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56240100800001 meters Centerline goodness : 0.839405 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.42, Z:-0.51 [[ 9.99676211e-01 2.30751927e-02 -1.07242007e-02 1.02519600e+01] [-2.30849955e-02 9.99733193e-01 -7.91180719e-04 -4.24451151e-01] [ 1.07030828e-02 1.03849267e-03 9.99942181e-01 -5.05139022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59240100800001 meters Centerline goodness : 0.838626 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.43, Z:-0.50 [[ 9.99684220e-01 2.23630769e-02 -1.14609472e-02 1.02541252e+01] [-2.23670637e-02 9.99749802e-01 -2.19790140e-04 -4.26923528e-01] [ 1.14531645e-02 4.76068472e-04 9.99934297e-01 -5.04540123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62240100800001 meters Centerline goodness : 0.838828 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99694271e-01 2.15864936e-02 -1.20577100e-02 1.02565270e+01] [-2.15904066e-02 9.99766881e-01 -1.94432225e-04 -4.28196224e-01] [ 1.20507020e-02 4.54703644e-04 9.99927284e-01 -5.05180813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65240100800001 meters Centerline goodness : 0.838783 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99705710e-01 2.06682564e-02 -1.27010671e-02 1.02591735e+01] [-2.06764705e-02 9.99786086e-01 -5.15737667e-04 -4.28322049e-01] [ 1.26876908e-02 7.78199129e-04 9.99919205e-01 -5.06114760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68240100800001 meters Centerline goodness : 0.836659 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99722326e-01 1.94388581e-02 -1.33192277e-02 1.02625800e+01] [-1.94613272e-02 9.99809394e-01 -1.55942881e-03 -4.26909646e-01] [ 1.32863754e-02 1.81820565e-03 9.99910079e-01 -5.08494691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71240100800001 meters Centerline goodness : 0.834426 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99721910e-01 1.93910996e-02 -1.34197108e-02 1.02629828e+01] [-1.94144125e-02 9.99810228e-01 -1.60911705e-03 -4.26922627e-01] [ 1.33859615e-02 1.86920537e-03 9.99908657e-01 -5.08787147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74240100800002 meters Centerline goodness : 0.838050 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99716921e-01 1.93992067e-02 -1.37749190e-02 1.02634152e+01] [-1.94170834e-02 9.99810792e-01 -1.16520577e-03 -4.27759043e-01] [ 1.37497086e-02 1.43234468e-03 9.99904442e-01 -5.07819504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77240100800002 meters Centerline goodness : 0.838201 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99711471e-01 1.94472526e-02 -1.40989246e-02 1.02635863e+01] [-1.94608313e-02 9.99810278e-01 -8.26537711e-04 -4.28361802e-01] [ 1.40801758e-02 1.10067602e-03 9.99900264e-01 -5.06754186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80240100800002 meters Centerline goodness : 0.839994 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99702996e-01 2.02533354e-02 -1.35543923e-02 1.02613667e+01] [-2.02626509e-02 9.99794540e-01 -5.50270478e-04 -4.28094093e-01] [ 1.35404626e-02 8.24754965e-04 9.99907984e-01 -5.05981028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83240100800002 meters Centerline goodness : 0.842544 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.50 [[ 9.99619273e-01 2.34983132e-02 -1.44616347e-02 1.02639124e+01] [-2.34377303e-02 9.99715858e-01 4.34455978e-03 -4.29877203e-01] [ 1.45596154e-02 -4.00395780e-03 9.99885986e-01 -5.04332977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862401008 meters Centerline goodness : 0.838488 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99624602e-01 2.34086022e-02 -1.42370130e-02 1.02640178e+01] [-2.33589569e-02 9.99720503e-01 3.64342950e-03 -4.28218488e-01] [ 1.43183214e-02 -3.30949999e-03 9.99892011e-01 -5.05707021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89240100800001 meters Centerline goodness : 0.840239 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.43, Z:-0.51 [[ 9.99631534e-01 2.31418226e-02 -1.41863279e-02 1.02646943e+01] [-2.31055068e-02 9.99729336e-01 2.71851590e-03 -4.25884113e-01] [ 1.42453996e-02 -2.38973192e-03 9.99895673e-01 -5.07252262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92240100800001 meters Centerline goodness : 0.839661 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.42, Z:-0.51 [[ 9.99628590e-01 2.35230267e-02 -1.37603922e-02 1.02639681e+01] [-2.35006918e-02 9.99722231e-01 1.78260575e-03 -4.22439253e-01] [ 1.37985023e-02 -1.45856494e-03 9.99903732e-01 -5.08791203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95240100800001 meters Centerline goodness : 0.839746 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.42, Z:-0.51 [[ 9.99630360e-01 2.32841001e-02 -1.40354846e-02 1.02647588e+01] [-2.32681735e-02 9.99728418e-01 1.29699210e-03 -4.21436533e-01] [ 1.40618721e-02 -9.69932584e-04 9.99900657e-01 -5.09238067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98240100800001 meters Centerline goodness : 0.839166 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.42, Z:-0.51 [[ 9.99636626e-01 2.28545894e-02 -1.42928188e-02 1.02659807e+01] [-2.28472017e-02 9.99738737e-01 6.79976334e-04 -4.21197364e-01] [ 1.43046252e-02 -3.53178333e-04 9.99897621e-01 -5.10322172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01240100800001 meters Centerline goodness : 0.846240 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.42, Z:-0.51 [[ 9.99733913e-01 1.71888408e-02 -1.53833402e-02 1.02700313e+01] [-1.72629205e-02 9.99839958e-01 -4.69580842e-03 -4.20447313e-01] [ 1.53001627e-02 4.96012031e-03 9.99870643e-01 -5.12466394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04240100800001 meters Centerline goodness : 0.847356 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.42, Z:-0.51 [[ 9.99736539e-01 1.62510736e-02 -1.62097555e-02 1.02729131e+01] [-1.63347744e-02 9.99853853e-01 -5.04463594e-03 -4.20310281e-01] [ 1.61254057e-02 5.30808958e-03 9.99855887e-01 -5.13158859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07240100800001 meters Centerline goodness : 0.846529 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.42, Z:-0.51 [[ 9.99741970e-01 1.53750920e-02 -1.67212163e-02 1.02754080e+01] [-1.54710185e-02 9.99864507e-01 -5.62265597e-03 -4.19862296e-01] [ 1.66325019e-02 5.87989940e-03 9.99844381e-01 -5.14578054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10240100800002 meters Centerline goodness : 0.848915 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.42, Z:-0.51 [[ 9.99711621e-01 1.54195264e-02 -1.84096002e-02 1.02839383e+01] [-1.54204177e-02 9.99881094e-01 9.35461596e-05 -4.22796805e-01] [ 1.84088536e-02 1.90364542e-04 9.99830525e-01 -5.11328436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13240100800002 meters Centerline goodness : 0.850715 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.42, Z:-0.51 [[ 9.99766567e-01 1.16734555e-02 -1.81808347e-02 1.02829120e+01] [-1.17439247e-02 9.99923915e-01 -3.77407942e-03 -4.23143980e-01] [ 1.81353949e-02 3.98671277e-03 9.99827592e-01 -5.11177206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16240100800002 meters Centerline goodness : 0.852210 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.43, Z:-0.51 [[ 9.99716332e-01 1.36319744e-02 -1.95300834e-02 1.02878702e+01] [-1.35742602e-02 9.99903107e-01 3.08467563e-03 -4.27430762e-01] [ 1.95702413e-02 -2.81869417e-03 9.99804511e-01 -5.06176939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19240100800002 meters Centerline goodness : 0.847232 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.43, Z:-0.51 [[ 9.99717320e-01 1.32080612e-02 -1.97693407e-02 1.02889998e+01] [-1.31443423e-02 9.99907999e-01 3.34959919e-03 -4.27949550e-01] [ 1.98117636e-02 -3.08879735e-03 9.99798956e-01 -5.06023650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222401008 meters Centerline goodness : 0.849927 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.43, Z:-0.51 [[ 9.99716681e-01 1.26704378e-02 -2.01498998e-02 1.02905908e+01] [-1.26082938e-02 9.99915366e-01 3.20814398e-03 -4.27896300e-01] [ 2.01888430e-02 -2.95317919e-03 9.99791823e-01 -5.06478465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252401008 meters Centerline goodness : 0.850214 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99770905e-01 1.54379630e-02 -1.48258961e-02 1.03037865e+01] [-1.55052772e-02 9.99869945e-01 -4.43614636e-03 -4.25447905e-01] [ 1.47554829e-02 4.66500969e-03 9.99880250e-01 -5.09740052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28240100800001 meters Centerline goodness : 0.854905 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99761267e-01 1.62798403e-02 -1.45731138e-02 1.03018167e+01] [-1.63374294e-02 9.99859156e-01 -3.84143544e-03 -4.25143133e-01] [ 1.45085233e-02 4.07860558e-03 9.99886427e-01 -5.08056120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31240100800001 meters Centerline goodness : 0.857500 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.42, Z:-0.51 [[ 9.99754489e-01 1.66637265e-02 -1.46041418e-02 1.03012211e+01] [-1.67230820e-02 9.99852351e-01 -3.95163623e-03 -4.23680888e-01] [ 1.45361365e-02 4.19489232e-03 9.99885545e-01 -5.07589883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34240100800001 meters Centerline goodness : 0.861525 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99677475e-01 2.01417579e-02 -1.54679130e-02 1.03034576e+01] [-2.01362041e-02 9.99797114e-01 5.14730280e-04 -4.25142524e-01] [ 1.54751423e-02 -2.03099214e-04 9.99880232e-01 -5.06543694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37240100800001 meters Centerline goodness : 0.861213 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.42, Z:-0.51 [[ 9.99675408e-01 2.01769320e-02 -1.55553775e-02 1.03039462e+01] [-2.01824445e-02 9.99796294e-01 -1.97463248e-04 -4.23941101e-01] [ 1.55482245e-02 5.11344695e-04 9.99878988e-01 -5.07771446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40240100800001 meters Centerline goodness : 0.858648 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99662569e-01 2.06023811e-02 -1.58205507e-02 1.03050818e+01] [-2.06334253e-02 9.99785485e-01 -1.80153861e-03 -4.20999016e-01] [ 1.57800410e-02 2.12736287e-03 9.99873224e-01 -5.11247727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43240100800001 meters Centerline goodness : 0.860076 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99663563e-01 2.06781166e-02 -1.56581260e-02 1.03054501e+01] [-2.07182801e-02 9.99782456e-01 -2.40715558e-03 -4.19666825e-01] [ 1.56049442e-02 2.73075517e-03 9.99874506e-01 -5.12915767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46240100800001 meters Centerline goodness : 0.858306 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99663845e-01 2.08242571e-02 -1.54450063e-02 1.03053556e+01] [-2.08668788e-02 9.99778873e-01 -2.60356015e-03 -4.19306652e-01] [ 1.53873737e-02 2.92497402e-03 9.99877329e-01 -5.13749521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49240100800002 meters Centerline goodness : 0.861705 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99656577e-01 2.09533654e-02 -1.57380277e-02 1.03053539e+01] [-2.09842113e-02 9.99778192e-01 -1.79737099e-03 -4.21053849e-01] [ 1.56968759e-02 2.12700383e-03 9.99874534e-01 -5.12192739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52240100800002 meters Centerline goodness : 0.865213 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99642128e-01 2.13247326e-02 -1.61515473e-02 1.03047918e+01] [-2.13248658e-02 9.99772586e-01 1.63996856e-04 -4.25587497e-01] [ 1.61513714e-02 1.80491413e-04 9.99869542e-01 -5.08557635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55240100800002 meters Centerline goodness : 0.863859 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99641261e-01 2.13213148e-02 -1.62095898e-02 1.03046885e+01] [-2.13161300e-02 9.99772664e-01 4.92581635e-04 -4.26353853e-01] [ 1.62164072e-02 -1.46879203e-04 9.99868495e-01 -5.07859239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58240100800002 meters Centerline goodness : 0.861585 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.43, Z:-0.51 [[ 9.99641614e-01 2.13217413e-02 -1.61872756e-02 1.03046564e+01] [-2.13174520e-02 9.99772662e-01 4.37497753e-04 -4.25913553e-01] [ 1.61929239e-02 -9.22694884e-05 9.99868882e-01 -5.07872637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612401008 meters Centerline goodness : 0.861795 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.42, Z:-0.51 [[ 9.99642250e-01 2.15205150e-02 -1.58820506e-02 1.03041907e+01] [-2.15223818e-02 9.99768365e-01 5.33905579e-05 -4.24425838e-01] [ 1.58795208e-02 2.88448100e-04 9.99873871e-01 -5.08647588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64240100800001 meters Centerline goodness : 0.858500 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99645789e-01 2.13725814e-02 -1.58590661e-02 1.03050797e+01] [-2.13922786e-02 9.99770583e-01 -1.07339581e-03 -4.20879898e-01] [ 1.58324865e-02 1.41227716e-03 9.99873661e-01 -5.10751095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67240100800001 meters Centerline goodness : 0.856845 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99653069e-01 2.07235470e-02 -1.62565914e-02 1.03068869e+01] [-2.07502671e-02 9.99783600e-01 -1.47667775e-03 -4.20817445e-01] [ 1.62224714e-02 1.81349406e-03 9.99866762e-01 -5.11648820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70240100800001 meters Centerline goodness : 0.856845 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99653069e-01 2.07235470e-02 -1.62565914e-02 1.03068869e+01] [-2.07502671e-02 9.99783600e-01 -1.47667775e-03 -4.20817445e-01] [ 1.62224714e-02 1.81349406e-03 9.99866762e-01 -5.11648820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73240100800001 meters Centerline goodness : 0.861025 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99656583e-01 1.97151212e-02 -1.72635510e-02 1.03099624e+01] [-1.97455824e-02 9.99803763e-01 -1.59579205e-03 -4.21602004e-01] [ 1.72287020e-02 1.93612289e-03 9.99849700e-01 -5.11762832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76240100800001 meters Centerline goodness : 0.861196 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.42, Z:-0.51 [[ 9.99662870e-01 1.83058437e-02 -1.84131308e-02 1.03140905e+01] [-1.83520749e-02 9.99828837e-01 -2.34492568e-03 -4.21705274e-01] [ 1.83670533e-02 2.68205429e-03 9.99827714e-01 -5.13071724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79240100800001 meters Centerline goodness : 0.860227 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.42, Z:-0.51 [[ 9.99665097e-01 1.80022387e-02 -1.85906597e-02 1.03150437e+01] [-1.80546168e-02 9.99833481e-01 -2.65344322e-03 -4.21183968e-01] [ 1.85397961e-02 2.98820181e-03 9.99823658e-01 -5.13760397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82240100800001 meters Centerline goodness : 0.861462 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.42, Z:-0.51 [[ 9.99632511e-01 1.93111769e-02 -1.90242285e-02 1.03186312e+01] [-1.93027474e-02 9.99813488e-01 6.26633374e-04 -4.22573489e-01] [ 1.90327813e-02 -2.59183216e-04 9.99818827e-01 -5.13845355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85240100800002 meters Centerline goodness : 0.856584 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.42, Z:-0.51 [[ 9.99633695e-01 1.89534505e-02 -1.93194618e-02 1.03195942e+01] [-1.89421255e-02 9.99820286e-01 7.69037771e-04 -4.23248227e-01] [ 1.93305658e-02 -4.02804399e-04 9.99813066e-01 -5.13682502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88240100800002 meters Centerline goodness : 0.860896 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.43, Z:-0.51 [[ 9.99665498e-01 1.57755953e-02 -2.04944405e-02 1.03255603e+01] [-1.56899375e-02 9.99867514e-01 4.33366201e-03 -4.28654710e-01] [ 2.05600914e-02 -4.01065590e-03 9.99780575e-01 -5.07171386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91240100800002 meters Centerline goodness : 0.861957 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.43, Z:-0.51 [[ 9.99725005e-01 1.17901632e-02 -2.02708339e-02 1.03246658e+01] [-1.17752102e-02 9.99930303e-01 8.56866092e-04 -4.29950306e-01] [ 2.02795237e-02 -6.17937128e-04 9.99794158e-01 -5.06348672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94240100800002 meters Centerline goodness : 0.858637 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.43, Z:-0.50 [[ 9.99721282e-01 1.04414984e-02 -2.11738733e-02 1.03275341e+01] [-1.03907181e-02 9.99942873e-01 2.50685742e-03 -4.34073694e-01] [ 2.11988391e-02 -2.28614697e-03 9.99772666e-01 -5.03576362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972401008 meters Centerline goodness : 0.857660 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.44, Z:-0.49 [[ 9.99784749e-01 3.48352958e-03 -2.04528908e-02 1.03461872e+01] [-3.24994441e-03 9.99929248e-01 1.14427962e-02 -4.38175987e-01] [ 2.04913051e-02 -1.13738624e-02 9.99725333e-01 -4.94673998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002401008 meters Centerline goodness : 0.857717 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.44, Z:-0.49 [[ 9.99773997e-01 2.57674604e-03 -2.11024799e-02 1.03485492e+01] [-2.33789104e-03 9.99933016e-01 1.13356711e-02 -4.38403652e-01] [ 2.11302755e-02 -1.12837739e-02 9.99713053e-01 -4.94739737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03240100800001 meters Centerline goodness : 0.856991 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.44, Z:-0.50 [[ 9.99755802e-01 1.28359634e-03 -2.20610072e-02 1.03521598e+01] [-1.05016056e-03 9.99943376e-01 1.05897042e-02 -4.37828838e-01] [ 2.20733509e-02 -1.05639506e-02 9.99700540e-01 -4.95918613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06240100800001 meters Centerline goodness : 0.858896 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.44, Z:-0.50 [[ 9.99709899e-01 -1.44043579e-04 -2.40851989e-02 1.03630949e+01] [ 4.61990265e-04 9.99912824e-01 1.31958728e-02 -4.37482894e-01] [ 2.40811984e-02 -1.32031718e-02 9.99622815e-01 -4.96807183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09240100800001 meters Centerline goodness : 0.860991 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.44, Z:-0.50 [[ 9.99669656e-01 2.56294548e-03 -2.55736213e-02 1.03674044e+01] [-2.11906354e-03 9.99846901e-01 1.73690525e-02 -4.39088267e-01] [ 2.56142220e-02 -1.73091226e-02 9.99522039e-01 -4.96128153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12240100800001 meters Centerline goodness : 0.859504 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.44, Z:-0.50 [[ 9.99745151e-01 3.74698396e-03 -2.22619173e-02 1.03846267e+01] [-3.59101798e-03 9.99968758e-01 7.04180543e-03 -4.35388639e-01] [ 2.22876074e-02 -6.96006789e-03 9.99727373e-01 -5.03721650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15240100800001 meters Centerline goodness : 0.860906 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.44, Z:-0.50 [[ 9.99701958e-01 6.64731625e-03 -2.34905854e-02 1.03883610e+01] [-6.39078409e-03 9.99919308e-01 1.09788874e-02 -4.36297878e-01] [ 2.35616700e-02 -1.08254920e-02 9.99663772e-01 -5.03594179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18240100800001 meters Centerline goodness : 0.857272 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.44, Z:-0.50 [[ 9.99649702e-01 9.84104988e-03 -2.45688264e-02 1.03914330e+01] [-9.46146196e-03 9.99834811e-01 1.55187154e-02 -4.37411975e-01] [ 2.47174884e-02 -1.52808222e-02 9.99577682e-01 -5.02425405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21240100800001 meters Centerline goodness : 0.857190 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.43, Z:-0.50 [[ 9.99650290e-01 1.06960078e-02 -2.41845582e-02 1.03898045e+01] [-1.03481380e-02 9.99841847e-01 1.44636505e-02 -4.33280505e-01] [ 2.43354366e-02 -1.42083273e-02 9.99602876e-01 -5.03717750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24240100800002 meters Centerline goodness : 0.860493 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.43, Z:-0.51 [[ 9.99733130e-01 1.29594843e-02 -1.91238381e-02 1.04034852e+01] [-1.28688103e-02 9.99905398e-01 4.85688662e-03 -4.29347692e-01] [ 1.91849717e-02 -4.60948942e-03 9.99805326e-01 -5.10011539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27240100800002 meters Centerline goodness : 0.858702 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99776923e-01 1.57248547e-02 -1.41008527e-02 1.04180735e+01] [-1.57634497e-02 9.99872290e-01 -2.63010645e-03 -4.26738762e-01] [ 1.40576938e-02 2.85179781e-03 9.99897119e-01 -5.14280540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30240100800002 meters Centerline goodness : 0.863780 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99767287e-01 1.68268529e-02 -1.34992059e-02 1.04152876e+01] [-1.68584927e-02 9.99855391e-01 -2.23346221e-03 -4.26074587e-01] [ 1.34596716e-02 2.46051872e-03 9.99906387e-01 -5.13085166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33240100800002 meters Centerline goodness : 0.863027 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.43, Z:-0.51 [[ 9.99667591e-01 2.20814264e-02 -1.33085472e-02 1.04126362e+01] [-2.20324509e-02 9.99749975e-01 3.81547263e-03 -4.27413651e-01] [ 1.33894709e-02 -3.52098442e-03 9.99904158e-01 -5.08520138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362401008 meters Centerline goodness : 0.861709 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.43, Z:-0.51 [[ 9.99659822e-01 2.27741711e-02 -1.27113408e-02 1.04107997e+01] [-2.27342483e-02 9.99736175e-01 3.27645469e-03 -4.25236979e-01] [ 1.27826058e-02 -2.98635733e-03 9.99913840e-01 -5.09124957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39240100800001 meters Centerline goodness : 0.867461 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.42, Z:-0.51 [[ 9.99658578e-01 2.28949117e-02 -1.25916746e-02 1.04103836e+01] [-2.28602149e-02 9.99734486e-01 2.89261922e-03 -4.23436729e-01] [ 1.26545576e-02 -2.60378323e-03 9.99916538e-01 -5.09290858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42240100800001 meters Centerline goodness : 0.866480 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.42, Z:-0.51 [[ 9.99658517e-01 2.27942567e-02 -1.27777532e-02 1.04106669e+01] [-2.27625151e-02 9.99737457e-01 2.62410064e-03 -4.22861166e-01] [ 1.28342129e-02 -2.33235075e-03 9.99914918e-01 -5.09314488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45240100800001 meters Centerline goodness : 0.867659 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.42, Z:-0.51 [[ 9.99663483e-01 2.22248254e-02 -1.33782870e-02 1.04126503e+01] [-2.21983763e-02 9.99751333e-01 2.12229662e-03 -4.22503161e-01] [ 1.34221279e-02 -1.82460618e-03 9.99908254e-01 -5.10128039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48240100800001 meters Centerline goodness : 0.868290 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.42, Z:-0.51 [[ 9.99672102e-01 2.16304011e-02 -1.37045147e-02 1.04144222e+01] [-2.16091084e-02 9.99765051e-01 1.69989426e-03 -4.22554325e-01] [ 1.37380643e-02 -1.40319453e-03 9.99904644e-01 -5.11314708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51240100800001 meters Centerline goodness : 0.866176 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.42, Z:-0.51 [[ 9.99683230e-01 2.08249732e-02 -1.41336792e-02 1.04168745e+01] [-2.08117393e-02 9.99782826e-01 1.08278853e-03 -4.22004889e-01] [ 1.41531588e-02 -7.88299087e-04 9.99899528e-01 -5.13022921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54240100800001 meters Centerline goodness : 0.862905 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.42, Z:-0.52 [[ 9.99694426e-01 2.00578214e-02 -1.44477573e-02 1.04190386e+01] [-2.00556542e-02 9.99798822e-01 2.94891558e-04 -4.21425271e-01] [ 1.44507656e-02 -5.04222170e-06 9.99895582e-01 -5.15021837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57240100800001 meters Centerline goodness : 0.862184 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.42, Z:-0.52 [[ 9.99709157e-01 1.86402623e-02 -1.53016931e-02 1.04228221e+01] [-1.86425676e-02 9.99826212e-01 -8.01861908e-06 -4.22907205e-01] [ 1.52988844e-02 2.93279136e-04 9.99882922e-01 -5.16271027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60240100800002 meters Centerline goodness : 0.863985 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.42, Z:-0.52 [[ 9.99773471e-01 1.53445107e-02 -1.47496514e-02 1.04208804e+01] [-1.54073871e-02 9.99872650e-01 -4.15876729e-03 -4.22020405e-01] [ 1.46839588e-02 4.38507880e-03 9.99882569e-01 -5.16609804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63240100800002 meters Centerline goodness : 0.866626 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.42, Z:-0.51 [[ 9.99765731e-01 1.53909263e-02 -1.52185182e-02 1.04211063e+01] [-1.54356380e-02 9.99876873e-01 -2.82488758e-03 -4.24662556e-01] [ 1.51731668e-02 3.05913334e-03 9.99880201e-01 -5.14036535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66240100800002 meters Centerline goodness : 0.865477 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99760570e-01 1.54929311e-02 -1.54522448e-02 1.04209013e+01] [-1.55242234e-02 9.99877673e-01 -1.90720032e-03 -4.26279781e-01] [ 1.54208064e-02 2.14662778e-03 9.99878788e-01 -5.12070530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69240100800002 meters Centerline goodness : 0.869018 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99762050e-01 1.56366946e-02 -1.52098033e-02 1.04202317e+01] [-1.56620976e-02 9.99876137e-01 -1.55248432e-03 -4.26889562e-01] [ 1.51836436e-02 1.79033233e-03 9.99883119e-01 -5.11617050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722401008 meters Centerline goodness : 0.868140 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99764220e-01 1.53930677e-02 -1.53152848e-02 1.04208506e+01] [-1.54192033e-02 9.99879853e-01 -1.58988130e-03 -4.27292584e-01] [ 1.52889715e-02 1.82565592e-03 9.99881450e-01 -5.11870441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752401008 meters Centerline goodness : 0.865000 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99764776e-01 1.48808856e-02 -1.57781855e-02 1.04224671e+01] [-1.49036432e-02 9.99888056e-01 -1.32574247e-03 -4.28206594e-01] [ 1.57566910e-02 1.56058307e-03 9.99874638e-01 -5.11626232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78240100800001 meters Centerline goodness : 0.864839 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.43, Z:-0.51 [[ 9.99763648e-01 1.43707237e-02 -1.63135102e-02 1.04240810e+01] [-1.43894681e-02 9.99895933e-01 -1.03221126e-03 -4.29357318e-01] [ 1.62969789e-02 1.26671002e-03 9.99866393e-01 -5.11228474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81240100800001 meters Centerline goodness : 0.865605 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.43, Z:-0.51 [[ 9.99763665e-01 1.35245878e-02 -1.70205643e-02 1.04267494e+01] [-1.35422221e-02 9.99907876e-01 -9.21221133e-04 -4.29945353e-01] [ 1.70065372e-02 1.15149968e-03 9.99854715e-01 -5.11390836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84240100800001 meters Centerline goodness : 0.865685 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.43, Z:-0.51 [[ 9.99771753e-01 1.10671714e-02 -1.82745414e-02 1.04328039e+01] [-1.11000810e-02 9.99936946e-01 -1.70039461e-03 -4.30643093e-01] [ 1.82545706e-02 1.90285539e-03 9.99831561e-01 -5.13384024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87240100800001 meters Centerline goodness : 0.867043 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.43, Z:-0.51 [[ 9.99765592e-01 9.89914674e-03 -1.92553108e-02 1.04362347e+01] [-9.93020550e-03 9.99949542e-01 -1.51805086e-03 -4.32093130e-01] [ 1.92393118e-02 1.70890421e-03 9.99813447e-01 -5.13368103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90240100800001 meters Centerline goodness : 0.868652 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.43, Z:-0.51 [[ 9.99764130e-01 7.29947693e-03 -2.04548664e-02 1.04472551e+01] [-7.21845016e-03 9.99965817e-01 4.03228528e-03 -4.34826594e-01] [ 2.04836008e-02 -3.88368175e-03 9.99782646e-01 -5.08760458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93240100800001 meters Centerline goodness : 0.867085 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.44, Z:-0.50 [[ 9.99779999e-01 1.30184657e-03 -2.09346208e-02 1.04645202e+01] [-1.06123681e-03 9.99933305e-01 1.15003948e-02 -4.38624081e-01] [ 2.09481963e-02 -1.14756481e-02 9.99714701e-01 -5.01568228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96240100800001 meters Centerline goodness : 0.866307 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.44, Z:-0.50 [[ 9.99757021e-01 -2.20342650e-04 -2.20420273e-02 1.04684192e+01] [ 4.78980722e-04 9.99931095e-01 1.17292692e-02 -4.39733635e-01] [ 2.20379241e-02 -1.17369770e-02 9.99688238e-01 -5.01046354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99240100800002 meters Centerline goodness : 0.865607 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.44, Z:-0.50 [[ 9.99742823e-01 -1.36042974e-03 -2.26370700e-02 1.04707314e+01] [ 1.63088859e-03 9.99927464e-01 1.19334396e-02 -4.40920975e-01] [ 2.26191933e-02 -1.19672892e-02 9.99672524e-01 -5.00632543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02240100800002 meters Centerline goodness : 0.865823 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.44, Z:-0.50 [[ 9.99734591e-01 -2.16755852e-03 -2.29357839e-02 1.04719194e+01] [ 2.45188266e-03 9.99920412e-01 1.23756788e-02 -4.42510823e-01] [ 2.29071335e-02 -1.24286300e-02 9.99660339e-01 -4.99821209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05240100800002 meters Centerline goodness : 0.865429 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.44, Z:-0.49 [[ 9.99750085e-01 -7.47126813e-03 -2.10700488e-02 1.04278168e+01] [ 7.95578371e-03 9.99703667e-01 2.30061782e-02 -4.43077626e-01] [ 2.08919197e-02 -2.31680574e-02 9.99513266e-01 -4.93056002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08240100800002 meters Centerline goodness : 0.864370 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.44, Z:-0.49 [[ 0.99969086 -0.01464779 -0.02009047 10.40439372] [ 0.01507451 0.99966043 0.02125531 -0.4392606 ] [ 0.0197723 -0.02155159 0.9995722 -0.49387596] [ 0. 0. 0. 1. ]] SLAMing on 73.112401008 meters Centerline goodness : 0.862492 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.44, Z:-0.50 [[ 9.99933544e-01 -9.40983358e-03 -6.66045287e-03 1.04028901e+01] [ 9.54307194e-03 9.99749126e-01 2.02636145e-02 -4.41676461e-01] [ 6.46810469e-03 -2.03258290e-02 9.99772486e-01 -5.00509038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14240100800001 meters Centerline goodness : 0.864768 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.44, Z:-0.50 [[ 9.99899504e-01 -1.27459351e-02 -6.20674641e-03 1.04014484e+01] [ 1.28378286e-02 9.99805110e-01 1.49977687e-02 -4.37383123e-01] [ 6.01437619e-03 -1.50759426e-02 9.99868263e-01 -5.02073631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17240100800001 meters Centerline goodness : 0.860664 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.43, Z:-0.50 [[ 9.99907807e-01 -1.28498395e-02 -4.38862377e-03 1.03982614e+01] [ 1.29209101e-02 9.99779230e-01 1.65692639e-02 -4.30847818e-01] [ 4.17474251e-03 -1.66244413e-02 9.99853089e-01 -5.01404130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20240100800001 meters Centerline goodness : 0.853231 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.43, Z:-0.50 [[ 9.99906575e-01 -1.30842102e-02 -3.95521389e-03 1.03993769e+01] [ 1.31493269e-02 9.99770512e-01 1.69120809e-02 -4.27515024e-01] [ 3.73302499e-03 -1.69625093e-02 9.99849158e-01 -5.03878702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23240100800001 meters Centerline goodness : 0.856194 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.42, Z:-0.51 [[ 9.99897901e-01 -1.36661430e-02 -4.17414600e-03 1.04004859e+01] [ 1.37292775e-02 9.99785748e-01 1.54907753e-02 -4.23463910e-01] [ 3.96155253e-03 -1.55465017e-02 9.99871298e-01 -5.05454241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26240100800001 meters Centerline goodness : 0.856917 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.42, Z:-0.51 [[ 9.99895478e-01 -1.38562762e-02 -4.12765001e-03 1.04005048e+01] [ 1.39147543e-02 9.99798151e-01 1.44926286e-02 -4.20243046e-01] [ 3.92600299e-03 -1.45485490e-02 9.99886457e-01 -5.06320768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29240100800001 meters Centerline goodness : 0.854464 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.41, Z:-0.51 [[ 9.99889010e-01 -1.42019655e-02 -4.50247951e-03 1.04010180e+01] [ 1.42561149e-02 9.99823559e-01 1.22316936e-02 -4.13436639e-01] [ 4.32797100e-03 -1.22945239e-02 9.99915053e-01 -5.07936895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32240100800001 meters Centerline goodness : 0.853215 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.41, Z:-0.51 [[ 9.99884210e-01 -1.44508734e-02 -4.76855029e-03 1.04015935e+01] [ 1.45017238e-02 9.99836438e-01 1.08072414e-02 -4.08655832e-01] [ 4.61159626e-03 -1.08751423e-02 9.99930230e-01 -5.09085268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35240100800002 meters Centerline goodness : 0.854808 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.40, Z:-0.51 [[ 9.99885157e-01 -1.44168041e-02 -4.67212541e-03 1.04014554e+01] [ 1.44603298e-02 9.99851069e-01 9.42015000e-03 -4.03282181e-01] [ 4.53562112e-03 -9.48662863e-03 9.99944714e-01 -5.10439065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38240100800002 meters Centerline goodness : 0.854823 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.40, Z:-0.51 [[ 9.99885658e-01 -1.44451550e-02 -4.47316273e-03 1.04011683e+01] [ 1.44808423e-02 9.99862732e-01 8.05120868e-03 -3.97537115e-01] [ 4.35624775e-03 -8.11506325e-03 9.99957584e-01 -5.11807689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41240100800002 meters Centerline goodness : 0.854761 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.39, Z:-0.51 [[ 9.99925754e-01 -1.11140293e-02 -4.99651311e-03 1.04018954e+01] [ 1.11665473e-02 9.99881373e-01 1.06088676e-02 -3.90241550e-01] [ 4.87801312e-03 -1.06638737e-02 9.99931241e-01 -5.11629462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44240100800002 meters Centerline goodness : 0.848862 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.39, Z:-0.51 [[ 9.99929007e-01 -1.08989114e-02 -4.81611298e-03 1.04007288e+01] [ 1.09470527e-02 9.99889219e-01 1.00852130e-02 -3.86330998e-01] [ 4.70566160e-03 -1.01372192e-02 9.99937545e-01 -5.10997647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472401008 meters Centerline goodness : 0.851880 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.38, Z:-0.51 [[ 9.99923341e-01 -1.22901848e-02 -1.50472948e-03 1.03764565e+01] [ 1.23119559e-02 9.99805098e-01 1.54331178e-02 -3.82702277e-01] [ 1.31476033e-03 -1.54504609e-02 9.99879770e-01 -5.07975303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502401008 meters Centerline goodness : 0.855248 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.38, Z:-0.51 [[ 9.99926534e-01 -1.20505070e-02 -1.30827708e-03 1.03749969e+01] [ 1.20688527e-02 9.99813741e-01 1.50607405e-02 -3.79250596e-01] [ 1.12654385e-03 -1.50754234e-02 9.99885725e-01 -5.06891853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53240100800001 meters Centerline goodness : 0.856393 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.38, Z:-0.50 [[ 9.99925755e-01 -1.16949138e-02 -3.42247443e-03 1.03574002e+01] [ 1.17838426e-02 9.99559660e-01 2.72328289e-02 -3.78694587e-01] [ 3.10248179e-03 -2.72711369e-02 9.99623259e-01 -4.98229543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56240100800001 meters Centerline goodness : 0.856737 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.37, Z:-0.50 [[ 9.99960231e-01 -8.12656123e-03 -3.67368845e-03 1.03569834e+01] [ 8.23344529e-03 9.99513540e-01 3.00814465e-02 -3.72545570e-01] [ 3.42744264e-03 -3.01104972e-02 9.99540700e-01 -4.97207007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59240100800001 meters Centerline goodness : 0.856737 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.37, Z:-0.50 [[ 9.99941306e-01 -1.04483384e-02 -2.86661244e-03 1.03305072e+01] [ 1.05254176e-02 9.99542956e-01 2.83389357e-02 -3.69463713e-01] [ 2.56920748e-03 -2.83674447e-02 9.99594261e-01 -5.00489943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62240100800001 meters Centerline goodness : 0.860869 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.50 [[ 9.99943274e-01 -1.02989903e-02 -2.71652731e-03 1.03299347e+01] [ 1.03686607e-02 9.99581165e-01 2.70182588e-02 -3.64537996e-01] [ 2.43712875e-03 -2.70448929e-02 9.99631249e-01 -5.01494826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65240100800001 meters Centerline goodness : 0.860437 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.50 [[ 9.99947995e-01 -9.88866657e-03 -2.49448401e-03 1.03290900e+01] [ 9.94947659e-03 9.99620873e-01 2.56733074e-02 -3.59589166e-01] [ 2.23966350e-03 -2.56967910e-02 9.99667274e-01 -5.02660776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68240100800001 meters Centerline goodness : 0.856788 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.36, Z:-0.50 [[ 9.99954459e-01 -9.15374375e-03 -2.69981729e-03 1.03081804e+01] [ 9.23453846e-03 9.99457648e-01 3.16090728e-02 -3.55108467e-01] [ 2.40901169e-03 -3.16325649e-02 9.99496662e-01 -5.02041973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71240100800001 meters Centerline goodness : 0.853918 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.34, Z:-0.51 [[ 9.99980937e-01 -5.19750116e-03 -3.33335056e-03 1.03097281e+01] [ 5.29682309e-03 9.99520302e-01 3.05140976e-02 -3.44196962e-01] [ 3.17315450e-03 -3.05311721e-02 9.99528778e-01 -5.09150367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74240100800002 meters Centerline goodness : 0.860122 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.34, Z:-0.51 [[ 9.99980492e-01 -5.04233594e-03 -3.68652100e-03 1.03105480e+01] [ 5.14727745e-03 9.99565178e-01 2.90337727e-02 -3.38273110e-01] [ 3.53851999e-03 -2.90521818e-02 9.99571633e-01 -5.10929735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77240100800002 meters Centerline goodness : 0.853573 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.33, Z:-0.51 [[ 9.99983135e-01 -4.69910375e-03 -3.41306466e-03 1.03093352e+01] [ 4.79290484e-03 9.99595998e-01 2.80154987e-02 -3.33614533e-01] [ 3.28003804e-03 -2.80313847e-02 9.99601662e-01 -5.11207724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80240100800002 meters Centerline goodness : 0.858328 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.33, Z:-0.51 [[ 9.99984131e-01 -4.49198472e-03 -3.40006556e-03 1.03084781e+01] [ 4.58353180e-03 9.99613654e-01 2.74141201e-02 -3.30630207e-01] [ 3.27560815e-03 -2.74292694e-02 9.99618380e-01 -5.10595813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83240100800002 meters Centerline goodness : 0.860098 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.32, Z:-0.52 [[ 9.99985749e-01 -4.78380062e-03 2.36983753e-03 1.03184049e+01] [ 4.75017967e-03 9.99890780e-01 1.39951177e-02 -3.24062674e-01] [-2.43652855e-03 -1.39836611e-02 9.99899255e-01 -5.15384793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862401008 meters Centerline goodness : 0.862795 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.33, Z:-0.51 [[ 9.99996846e-01 -2.21300090e-03 1.18748908e-03 1.03211489e+01] [ 2.18766378e-03 9.99778553e-01 2.09298427e-02 -3.26361353e-01] [-1.23354388e-03 -2.09271789e-02 9.99780242e-01 -5.09298821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89240100800001 meters Centerline goodness : 0.858921 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.32, Z:-0.51 [[ 9.99999925e-01 3.69073916e-04 1.16451878e-04 1.03248147e+01] [-3.71730143e-04 9.99719050e-01 2.36998367e-02 -3.22233529e-01] [-1.07672170e-04 -2.36998782e-02 9.99719113e-01 -5.10426780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92240100800001 meters Centerline goodness : 0.859689 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.32, Z:-0.51 [[ 9.99999591e-01 8.91566635e-04 1.50779343e-04 1.03245851e+01] [-8.94808745e-04 9.99733290e-01 2.30769912e-02 -3.18336974e-01] [-1.30164453e-04 -2.30771167e-02 9.99733679e-01 -5.11162104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95240100800001 meters Centerline goodness : 0.862711 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.51 [[ 9.99989107e-01 4.63552078e-03 -5.45450343e-04 1.03259769e+01] [-4.61923202e-03 9.99629881e-01 2.68097520e-02 -3.17139588e-01] [ 6.69525624e-04 -2.68069404e-02 9.99640405e-01 -5.10742098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98240100800001 meters Centerline goodness : 0.862821 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.31, Z:-0.51 [[ 9.99984022e-01 5.62634864e-03 -5.48242636e-04 1.03248259e+01] [-5.61006272e-03 9.99641295e-01 2.61879596e-02 -3.13446945e-01] [ 6.95388569e-04 -2.61844654e-02 9.99656886e-01 -5.10703304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01240100800001 meters Centerline goodness : 0.861185 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.31, Z:-0.52 [[ 9.99892901e-01 1.43493398e-02 2.87785435e-03 1.03274848e+01] [-1.43891918e-02 9.99793617e-01 1.43413837e-02 -3.05714728e-01] [-2.67147102e-03 -1.43812577e-02 9.99893016e-01 -5.17293726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04240100800001 meters Centerline goodness : 0.863174 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.30, Z:-0.52 [[ 9.99882595e-01 1.50281558e-02 2.99170341e-03 1.03266048e+01] [-1.50680534e-02 9.99791332e-01 1.37929418e-02 -3.02638843e-01] [-2.78379666e-03 -1.38364016e-02 9.99900397e-01 -5.17466919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07240100800001 meters Centerline goodness : 0.867832 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.30, Z:-0.52 [[ 9.99878936e-01 1.52777750e-02 2.95006131e-03 1.03262778e+01] [-1.53159603e-02 9.99793084e-01 1.33869338e-02 -3.00766294e-01] [-2.74492833e-03 -1.34304962e-02 9.99906039e-01 -5.17399905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10240100800002 meters Centerline goodness : 0.866135 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.30, Z:-0.52 [[ 9.99918200e-01 1.24115527e-02 3.08960793e-03 1.03249044e+01] [-1.24390851e-02 9.99881608e-01 9.05754834e-03 -2.98165848e-01] [-2.97682391e-03 -9.09523933e-03 9.99954207e-01 -5.17658541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13240100800002 meters Centerline goodness : 0.867954 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.30, Z:-0.52 [[ 9.99955220e-01 8.79707688e-03 3.48846974e-03 1.03233693e+01] [-8.81712154e-03 9.99944465e-01 5.77283924e-03 -2.99968906e-01] [-3.43749190e-03 -5.80333899e-03 9.99977252e-01 -5.16450600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16240100800002 meters Centerline goodness : 0.871882 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.30, Z:-0.51 [[ 9.99963091e-01 8.10756384e-03 2.84337689e-03 1.03249957e+01] [-8.12714371e-03 9.99942867e-01 6.94354447e-03 -3.04124666e-01] [-2.78691921e-03 -6.96639672e-03 9.99971851e-01 -5.14881783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19240100800002 meters Centerline goodness : 0.869407 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.31, Z:-0.52 [[ 9.99988932e-01 3.89423142e-03 2.64033444e-03 1.03259589e+01] [-3.90200699e-03 9.99988047e-01 2.94619373e-03 -3.05525968e-01] [-2.62882972e-03 -2.95646373e-03 9.99992174e-01 -5.15591960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222401008 meters Centerline goodness : 0.872605 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.31, Z:-0.52 [[ 9.99994045e-01 2.96615210e-03 1.76424972e-03 1.03290284e+01] [-2.97273819e-03 9.99988579e-01 3.74224980e-03 -3.09497708e-01] [-1.75312949e-03 -3.74747216e-03 9.99991441e-01 -5.15525184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252401008 meters Centerline goodness : 0.870191 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.31, Z:-0.52 [[ 9.99997752e-01 1.95844101e-03 8.13151930e-04 1.03326898e+01] [-1.96136386e-03 9.99991563e-01 3.60936708e-03 -3.11910613e-01] [-8.06076336e-04 -3.61095385e-03 9.99993156e-01 -5.17126557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28240100800001 meters Centerline goodness : 0.871194 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.31, Z:-0.52 [[ 9.99999097e-01 1.34241835e-03 5.62179736e-05 1.03356122e+01] [-1.34260915e-03 9.99992819e-01 3.54394436e-03 -3.13506591e-01] [-5.14601139e-05 -3.54401664e-03 9.99993719e-01 -5.18522067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31240100800001 meters Centerline goodness : 0.869731 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.32, Z:-0.52 [[ 9.99997041e-01 2.42579669e-03 -1.84285721e-04 1.03361835e+01] [-2.42494893e-03 9.99987074e-01 4.46904109e-03 -3.17781586e-01] [ 1.95124324e-04 -4.46858098e-03 9.99989997e-01 -5.19368823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34240100800001 meters Centerline goodness : 0.870262 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.32, Z:-0.52 [[ 9.99995171e-01 3.08731608e-03 -3.56512911e-04 1.03364487e+01] [-3.08563282e-03 9.99984524e-01 4.62924077e-03 -3.18955698e-01] [ 3.70799323e-04 -4.62811835e-03 9.99989221e-01 -5.19948686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37240100800001 meters Centerline goodness : 0.870922 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.53 [[ 9.99975664e-01 6.97120977e-03 2.71887211e-04 1.03333256e+01] [-6.97207061e-03 9.99970232e-01 3.30533947e-03 -3.19096670e-01] [-2.48836903e-04 -3.30715464e-03 9.99994500e-01 -5.25679368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40240100800001 meters Centerline goodness : 0.867706 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.53 [[ 9.99969935e-01 7.73554787e-03 5.38291984e-04 1.03331287e+01] [-7.73711656e-03 9.99965640e-01 2.97583933e-03 -3.18349075e-01] [-5.15253741e-04 -2.97991469e-03 9.99995427e-01 -5.27444494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43240100800001 meters Centerline goodness : 0.866801 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.53 [[ 9.99962935e-01 8.56103042e-03 9.14603253e-04 1.03324465e+01] [-8.56373338e-03 9.99958850e-01 2.99347206e-03 -3.18780332e-01] [-8.88938412e-04 -3.00119352e-03 9.99995101e-01 -5.28584563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46240100800001 meters Centerline goodness : 0.869457 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.53 [[ 9.99957742e-01 9.13816977e-03 1.00448335e-03 1.03322881e+01] [-9.14147551e-03 9.99952647e-01 3.33719135e-03 -3.20363951e-01] [-9.73939967e-04 -3.34623279e-03 9.99993927e-01 -5.29052799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49240100800002 meters Centerline goodness : 0.869170 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.32, Z:-0.53 [[ 9.99976727e-01 6.67646402e-03 1.40383214e-03 1.03307475e+01] [-6.67576661e-03 9.99977591e-01 -5.00891369e-04 -3.20573701e-01] [-1.40714487e-03 4.91508055e-04 9.99998889e-01 -5.30064819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52240100800002 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.33, Z:-0.53 [[ 9.99968739e-01 7.77317158e-03 1.44895209e-03 1.03298840e+01] [-7.77601964e-03 9.99967825e-01 1.97044474e-03 -3.29621763e-01] [-1.43358886e-03 -1.98165022e-03 9.99997009e-01 -5.28325025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55240100800002 meters Centerline goodness : 0.873683 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.33, Z:-0.53 [[ 9.99964510e-01 8.31433113e-03 1.36066191e-03 1.03293722e+01] [-8.31907177e-03 9.99959213e-01 3.51630704e-03 -3.34815624e-01] [-1.33137067e-03 -3.52750168e-03 9.99992892e-01 -5.26701179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58240100800002 meters Centerline goodness : 0.876509 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.34, Z:-0.53 [[ 9.99959439e-01 8.89684757e-03 1.40252877e-03 1.03286315e+01] [-8.90379643e-03 9.99947716e-01 5.02868231e-03 -3.40012233e-01] [-1.35771602e-03 -5.04096617e-03 9.99986373e-01 -5.25169568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612401008 meters Centerline goodness : 0.879482 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.34, Z:-0.53 [[ 9.99979139e-01 6.11607984e-03 2.07752258e-03 1.03264342e+01] [-6.11933889e-03 9.99980050e-01 1.56600339e-03 -3.41927763e-01] [-2.06790333e-03 -1.57868379e-03 9.99996616e-01 -5.25255586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64240100800001 meters Centerline goodness : 0.881453 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.35, Z:-0.52 [[ 9.99992702e-01 2.91939260e-03 2.46425952e-03 1.03247095e+01] [-2.91590904e-03 9.99994746e-01 -1.41604271e-03 -3.45081192e-01] [-2.46838056e-03 1.40884681e-03 9.99995961e-01 -5.24166094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67240100800001 meters Centerline goodness : 0.878026 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.35, Z:-0.52 [[ 9.99996955e-01 -9.07564148e-04 2.29501371e-03 1.03251160e+01] [ 9.15624714e-04 9.99993408e-01 -3.51360019e-03 -3.52189936e-01] [-2.29180977e-03 3.51569086e-03 9.99991194e-01 -5.22802739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70240100800001 meters Centerline goodness : 0.880375 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.52 [[ 9.99997462e-01 -1.77646727e-03 1.38569613e-03 1.03282646e+01] [ 1.78021843e-03 9.99994742e-01 -2.71053352e-03 -3.56196774e-01] [-1.38087367e-03 2.71299348e-03 9.99995366e-01 -5.22779470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73240100800001 meters Centerline goodness : 0.879611 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.52 [[ 9.99996051e-01 -2.76312900e-03 5.12726440e-04 1.03315635e+01] [ 2.76421057e-03 9.99993931e-01 -2.12087096e-03 -3.59626923e-01] [-5.06863088e-04 2.12227987e-03 9.99997620e-01 -5.23073982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76240100800001 meters Centerline goodness : 0.877525 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.36, Z:-0.52 [[ 9.99992092e-01 -3.93573262e-03 -5.71165376e-04 1.03354953e+01] [ 3.93483548e-03 9.99991036e-01 -1.56343477e-03 -3.63051401e-01] [ 5.77313518e-04 1.56117497e-03 9.99998615e-01 -5.23395444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79240100800001 meters Centerline goodness : 0.880202 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.37, Z:-0.53 [[ 9.99943771e-01 -1.04453758e-02 -1.83014727e-03 1.03421499e+01] [ 1.04346985e-02 9.99929027e-01 -5.74967958e-03 -3.66490468e-01] [ 1.89007494e-03 5.73025925e-03 9.99981796e-01 -5.25731996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82240100800001 meters Centerline goodness : 0.883302 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.37, Z:-0.52 [[ 9.99915418e-01 -1.25746909e-02 -3.32160592e-03 1.03477214e+01] [ 1.25592927e-02 9.99910471e-01 -4.61664661e-03 -3.69962381e-01] [ 3.37936145e-03 4.57453910e-03 9.99983827e-01 -5.24422357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85240100800002 meters Centerline goodness : 0.880728 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.38, Z:-0.52 [[ 9.99900152e-01 -1.15512740e-02 -8.13963091e-03 1.03786447e+01] [ 1.15452844e-02 9.99933045e-01 -7.82455183e-04 -3.76096481e-01] [ 8.14812428e-03 6.88402703e-04 9.99966567e-01 -5.18620287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88240100800002 meters Centerline goodness : 0.881070 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.52 [[ 9.99841242e-01 -1.48035318e-02 -9.91700357e-03 1.03868633e+01] [ 1.47922996e-02 9.99889862e-01 -1.20502478e-03 -3.77899404e-01] [ 9.93374995e-03 1.05813818e-03 9.99950099e-01 -5.20325007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91240100800002 meters Centerline goodness : 0.881301 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.38, Z:-0.52 [[ 9.99855121e-01 -1.25522587e-02 -1.14968663e-02 1.03917486e+01] [ 1.25937749e-02 9.99914408e-01 3.54583227e-03 -3.79741657e-01] [ 1.14513740e-02 -3.69010750e-03 9.99927622e-01 -5.18875208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94240100800002 meters Centerline goodness : 0.881843 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:-0.52 [[ 9.99902780e-01 -8.78343206e-03 -1.08296844e-02 1.04131758e+01] [ 8.79004762e-03 9.99961208e-01 5.63425506e-04 -3.78729466e-01] [ 1.08243155e-02 -6.58564171e-04 9.99941199e-01 -5.20441886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972401008 meters Centerline goodness : 0.879123 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:-0.52 [[ 9.99920221e-01 -4.88790113e-03 -1.16473565e-02 1.04144121e+01] [ 4.95009647e-03 9.99973612e-01 5.31703501e-03 -3.79501024e-01] [ 1.16210600e-02 -5.37426636e-03 9.99918031e-01 -5.18624929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002401008 meters Centerline goodness : 0.882718 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:-0.52 [[ 9.99930343e-01 -2.59968618e-03 -1.15130549e-02 1.04114143e+01] [ 2.66063963e-03 9.99982510e-01 5.28214122e-03 -3.75424294e-01] [ 1.14991216e-02 -5.31240537e-03 9.99919771e-01 -5.18020716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03240100800001 meters Centerline goodness : 0.884191 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.52 [[ 9.99933702e-01 -2.13245514e-03 -1.13156693e-02 1.04103950e+01] [ 2.18899587e-03 9.99985171e-01 4.98664540e-03 -3.73594189e-01] [ 1.13048676e-02 -5.01108475e-03 9.99923542e-01 -5.17990804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06240100800001 meters Centerline goodness : 0.885619 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:-0.52 [[ 9.99926126e-01 1.35398846e-03 -1.20793149e-02 1.04120483e+01] [-1.23458060e-03 9.99950357e-01 9.88730338e-03 -3.75239571e-01] [ 1.20921026e-02 -9.87166008e-03 9.99878158e-01 -5.16030643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09240100800001 meters Centerline goodness : 0.886554 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.52 [[ 9.99924956e-01 1.13008343e-03 -1.21985432e-02 1.04125995e+01] [-1.01617906e-03 9.99955868e-01 9.33970163e-03 -3.74007359e-01] [ 1.22085595e-02 -9.32660484e-03 9.99881976e-01 -5.16660074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12240100800001 meters Centerline goodness : 0.887049 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.37, Z:-0.52 [[ 9.99919512e-01 5.61533361e-04 -1.26749121e-02 1.04140110e+01] [-4.45414159e-04 9.99957926e-01 9.16230629e-03 -3.73894170e-01] [ 1.26795238e-02 -9.15592325e-03 9.99877692e-01 -5.16627644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15240100800001 meters Centerline goodness : 0.889253 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.37, Z:-0.52 [[ 9.99913945e-01 -1.05698600e-04 -1.31183845e-02 1.04155967e+01] [ 2.24761541e-04 9.99958797e-01 9.07489438e-03 -3.74585964e-01] [ 1.31168848e-02 -9.07706195e-03 9.99872769e-01 -5.16735937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18240100800001 meters Centerline goodness : 0.888059 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.38, Z:-0.52 [[ 9.99897902e-01 -2.24589314e-03 -1.41117413e-02 1.04196799e+01] [ 2.38476590e-03 9.99948823e-01 9.83182866e-03 -3.77701866e-01] [ 1.40889379e-02 -9.86447805e-03 9.99852086e-01 -5.15284125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21240100800001 meters Centerline goodness : 0.889873 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.38, Z:-0.51 [[ 9.99882115e-01 -3.15060591e-03 -1.50276611e-02 1.04222313e+01] [ 3.31091722e-03 9.99937754e-01 1.06548264e-02 -3.80479111e-01] [ 1.49931565e-02 -1.07033257e-02 9.99830308e-01 -5.13842523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24240100800002 meters Centerline goodness : 0.892679 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.38, Z:-0.51 [[ 9.99861026e-01 -4.12805504e-03 -1.61520384e-02 1.04251720e+01] [ 4.31139138e-03 9.99926492e-01 1.13323540e-02 -3.83314395e-01] [ 1.61040705e-02 -1.14004169e-02 9.99805326e-01 -5.12555400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27240100800002 meters Centerline goodness : 0.889816 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.39, Z:-0.51 [[ 9.99839844e-01 -5.16207766e-03 -1.71359254e-02 1.04283010e+01] [ 5.36471500e-03 9.99915981e-01 1.18004633e-02 -3.85765152e-01] [ 1.70735708e-02 -1.18905027e-02 9.99783531e-01 -5.11951890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30240100800002 meters Centerline goodness : 0.892023 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.39, Z:-0.51 [[ 9.99811708e-01 -7.29785936e-03 -1.79802438e-02 1.04322372e+01] [ 7.51053874e-03 9.99902295e-01 1.17895093e-02 -3.88836947e-01] [ 1.78924489e-02 -1.19223307e-02 9.99768832e-01 -5.11747418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33240100800002 meters Centerline goodness : 0.890752 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.39, Z:-0.51 [[ 9.99788119e-01 -6.89048652e-03 -1.93968654e-02 1.04389062e+01] [ 7.21829700e-03 9.99831446e-01 1.68812058e-02 -3.91864688e-01] [ 1.92772763e-02 -1.70176413e-02 9.99669339e-01 -5.08860648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362401008 meters Centerline goodness : 0.890151 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-0.51 [[ 9.99828784e-01 -6.10043480e-03 -1.74696010e-02 1.04591441e+01] [ 6.26613730e-03 9.99935750e-01 9.44621391e-03 -3.90214422e-01] [ 1.74108526e-02 -9.55406349e-03 9.99802772e-01 -5.12888361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39240100800001 meters Centerline goodness : 0.888561 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-0.51 [[ 9.99818485e-01 -6.61230694e-03 -1.78682486e-02 1.04605887e+01] [ 6.77352839e-03 9.99936761e-01 8.97738272e-03 -3.89623650e-01] [ 1.78077574e-02 -9.09678428e-03 9.99800046e-01 -5.13634146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42240100800001 meters Centerline goodness : 0.892803 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.39, Z:-0.51 [[ 9.99808291e-01 -3.83358072e-03 -1.92011593e-02 1.04640293e+01] [ 4.13899003e-03 9.99865157e-01 1.58913714e-02 -3.92612572e-01] [ 1.91376493e-02 -1.59677983e-02 9.99689342e-01 -5.07793941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45240100800001 meters Centerline goodness : 0.894337 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.39, Z:-0.51 [[ 9.99896844e-01 -2.09782834e-03 -1.42091846e-02 1.04776740e+01] [ 2.18070372e-03 9.99980689e-01 5.81954122e-03 -3.89118766e-01] [ 1.41967018e-02 -5.84992692e-03 9.99882109e-01 -5.13858891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48240100800001 meters Centerline goodness : 0.893674 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-0.51 [[ 9.99909326e-01 -3.68318961e-04 -1.34612450e-02 1.04733732e+01] [ 4.58022384e-04 9.99977708e-01 6.66135286e-03 -3.88119947e-01] [ 1.34584914e-02 -6.66691440e-03 9.99887204e-01 -5.11383097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51240100800001 meters Centerline goodness : 0.893674 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-0.51 [[ 9.99909326e-01 -3.68318961e-04 -1.34612450e-02 1.04733732e+01] [ 4.58022384e-04 9.99977708e-01 6.66135286e-03 -3.88119947e-01] [ 1.34584914e-02 -6.66691440e-03 9.99887204e-01 -5.11383097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54240100800001 meters Centerline goodness : 0.897485 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:-0.51 [[ 9.99911125e-01 -2.55118358e-04 -1.33295418e-02 1.04732394e+01] [ 3.34998574e-04 9.99981999e-01 5.99083123e-03 -3.85973030e-01] [ 1.33277735e-02 -5.99476417e-03 9.99893211e-01 -5.12301988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57240100800001 meters Centerline goodness : 0.893890 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.38, Z:-0.52 [[ 9.99946664e-01 4.54626700e-03 -9.27360816e-03 1.04874853e+01] [-4.55988443e-03 9.99988556e-01 -1.44779182e-03 -3.81569697e-01] [ 9.26691998e-03 1.49000118e-03 9.99955951e-01 -5.17782239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60240100800002 meters Centerline goodness : 0.896801 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.38, Z:-0.52 [[ 9.99940062e-01 6.19471392e-03 -9.02765060e-03 1.04847215e+01] [-6.20810289e-03 9.99979670e-01 -1.45583869e-03 -3.78488459e-01] [ 9.01844857e-03 1.51179601e-03 9.99958190e-01 -5.16802466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63240100800002 meters Centerline goodness : 0.896011 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.38, Z:-0.52 [[ 9.99935284e-01 7.05073968e-03 -8.92833749e-03 1.04834741e+01] [-7.06564270e-03 9.99973695e-01 -1.63873958e-03 -3.75548795e-01] [ 8.91654831e-03 1.70171797e-03 9.99958799e-01 -5.16494706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66240100800002 meters Centerline goodness : 0.893671 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.37, Z:-0.52 [[ 9.99901496e-01 1.02970920e-02 -9.53768671e-03 1.04857808e+01] [-1.02802368e-02 9.99945511e-01 1.81456474e-03 -3.73559678e-01] [ 9.55585175e-03 -1.71633632e-03 9.99952869e-01 -5.17066001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69240100800002 meters Centerline goodness : 0.895175 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.38, Z:-0.52 [[ 9.99863826e-01 1.26549523e-02 -1.05915429e-02 1.04898881e+01] [-1.25918116e-02 9.99902676e-01 6.00703256e-03 -3.75457732e-01] [ 1.06665308e-02 -5.87284785e-03 9.99925865e-01 -5.16802850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722401008 meters Centerline goodness : 0.892757 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.37, Z:-0.52 [[ 9.99905899e-01 8.99867465e-03 -1.03545889e-02 1.04898911e+01] [-8.98757502e-03 9.99958986e-01 1.11798740e-03 -3.72868039e-01] [ 1.03642246e-02 -1.02481955e-03 9.99945765e-01 -5.19038916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752401008 meters Centerline goodness : 0.894003 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.38, Z:-0.52 [[ 9.99892238e-01 8.75071724e-03 -1.17871501e-02 1.04974518e+01] [-8.68377125e-03 9.99945942e-01 5.71883161e-03 -3.75250705e-01] [ 1.18365568e-02 -5.61585842e-03 9.99914175e-01 -5.16824881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78240100800001 meters Centerline goodness : 0.894976 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.38, Z:-0.52 [[ 9.99890104e-01 7.83693393e-03 -1.25842022e-02 1.04999396e+01] [-7.76251023e-03 9.99952157e-01 5.95205157e-03 -3.76980648e-01] [ 1.26302459e-02 -5.85371247e-03 9.99903101e-01 -5.16408838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81240100800001 meters Centerline goodness : 0.894101 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.38, Z:-0.51 [[ 9.99889393e-01 3.94852056e-03 -1.43391491e-02 1.05080742e+01] [-3.81093430e-03 9.99946563e-01 9.60982981e-03 -3.82586633e-01] [ 1.43763275e-02 -9.55412134e-03 9.99851009e-01 -5.09775107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84240100800001 meters Centerline goodness : 0.895930 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.38, Z:-0.51 [[ 9.99878046e-01 2.60137146e-03 -1.53989181e-02 1.05119314e+01] [-2.45090618e-03 9.99949152e-01 9.78197976e-03 -3.84445620e-01] [ 1.54235817e-02 -9.74304550e-03 9.99833579e-01 -5.09856025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87240100800001 meters Centerline goodness : 0.893146 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.39, Z:-0.51 [[ 9.99865266e-01 1.47788766e-03 -1.63482658e-02 1.05155537e+01] [-1.31602503e-03 9.99950056e-01 9.90723644e-03 -3.85504982e-01] [ 1.63620911e-02 -9.88438687e-03 9.99817274e-01 -5.10203564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90240100800001 meters Centerline goodness : 0.893134 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.38, Z:-0.51 [[ 9.99866683e-01 -2.88448419e-03 -1.60715943e-02 1.05163733e+01] [ 2.95868687e-03 9.99985065e-01 4.59514526e-03 -3.83029367e-01] [ 1.60580997e-02 -4.64208346e-03 9.99860284e-01 -5.13213841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93240100800001 meters Centerline goodness : 0.893893 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.39, Z:-0.51 [[ 9.99820083e-01 -7.34304092e-03 -1.74894712e-02 1.05306985e+01] [ 7.52504823e-03 9.99917980e-01 1.03637039e-02 -3.86290578e-01] [ 1.74119356e-02 -1.04934484e-02 9.99793335e-01 -5.08269975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96240100800001 meters Centerline goodness : 0.892601 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.39, Z:-0.51 [[ 9.99784007e-01 -1.14714776e-02 -1.73304400e-02 1.05306892e+01] [ 1.15758374e-02 9.99915393e-01 5.93349579e-03 -3.85572315e-01] [ 1.72609078e-02 -6.13282855e-03 9.99832211e-01 -5.09044419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99240100800002 meters Centerline goodness : 0.890322 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.39, Z:-0.51 [[ 9.99761039e-01 -1.21980040e-02 -1.81403954e-02 1.05328226e+01] [ 1.23231105e-02 9.99900940e-01 6.80084741e-03 -3.87888919e-01] [ 1.80556417e-02 -7.02276837e-03 9.99812320e-01 -5.07579968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02240100800002 meters Centerline goodness : 0.893718 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.39, Z:-0.50 [[ 9.99722128e-01 -1.39166002e-02 -1.90261824e-02 1.05354050e+01] [ 1.40954159e-02 9.99857434e-01 9.29682222e-03 -3.91784025e-01] [ 1.88940898e-02 -9.56242084e-03 9.99775762e-01 -5.02286050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05240100800002 meters Centerline goodness : 0.897407 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.39, Z:-0.50 [[ 9.99716839e-01 -1.40113093e-02 -1.92334199e-02 1.05352647e+01] [ 1.42115086e-02 9.99845836e-01 1.03120070e-02 -3.93260204e-01] [ 1.90859701e-02 -1.05824229e-02 9.99761841e-01 -5.00014475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08240100800002 meters Centerline goodness : 0.898641 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.39, Z:-0.50 [[ 0.99971239 -0.01405203 -0.01943419 10.53499135] [ 0.01426952 0.99983659 0.0110983 -0.39439998] [ 0.01927506 -0.01137242 0.99974954 -0.49797338] [ 0. 0. 0. 1. ]] SLAMing on 76.112401008 meters Centerline goodness : 0.901054 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.40, Z:-0.50 [[ 0.99970645 -0.01405674 -0.01973361 10.5349385 ] [ 0.01429325 0.99982708 0.01189565 -0.39502305] [ 0.01956299 -0.01217421 0.9997345 -0.4959593 ] [ 0. 0. 0. 1. ]] SLAMing on 76.14240100800001 meters Centerline goodness : 0.901533 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.40, Z:-0.49 [[ 0.99973199 -0.01107893 -0.0203275 10.53663632] [ 0.01141133 0.99980187 0.01630967 -0.39566512] [ 0.02014277 -0.01653726 0.99966034 -0.49436344] [ 0. 0. 0. 1. ]] SLAMing on 76.17240100800001 meters Centerline goodness : 0.900140 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.39, Z:-0.50 [[ 0.99973462 -0.01094729 -0.02026913 10.53644948] [ 0.01126655 0.9998132 0.0157045 -0.39408073] [ 0.02009342 -0.01592869 0.99967121 -0.4951331 ] [ 0. 0. 0. 1. ]] SLAMing on 76.20240100800001 meters Centerline goodness : 0.903081 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.39, Z:-0.50 [[ 9.99832321e-01 -9.22332475e-03 -1.58196191e-02 1.05489379e+01] [ 9.27556288e-03 9.99951758e-01 3.23192136e-03 -3.89875351e-01] [ 1.57890468e-02 -3.37811530e-03 9.99869639e-01 -5.03511121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23240100800001 meters Centerline goodness : 0.903774 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.39, Z:-0.50 [[ 9.99847686e-01 -8.01155300e-03 -1.55054797e-02 1.05464277e+01] [ 8.07554602e-03 9.99959114e-01 4.06892080e-03 -3.89591216e-01] [ 1.54722474e-02 -4.19351626e-03 9.99871504e-01 -5.01480706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26240100800001 meters Centerline goodness : 0.903744 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.39, Z:-0.50 [[ 9.99878819e-01 -5.07180393e-03 -1.47181890e-02 1.05413546e+01] [ 5.14091829e-03 9.99975919e-01 4.66181757e-03 -3.87892882e-01] [ 1.46941908e-02 -4.73691766e-03 9.99880814e-01 -5.00241380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29240100800001 meters Centerline goodness : 0.902137 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.39, Z:-0.50 [[ 9.99887149e-01 -4.34233949e-03 -1.43817339e-02 1.05402953e+01] [ 4.40286498e-03 9.99981573e-01 4.17951304e-03 -3.86378075e-01] [ 1.43633200e-02 -4.24236220e-03 9.99887842e-01 -5.01205112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32240100800001 meters Centerline goodness : 0.904901 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.38, Z:-0.50 [[ 9.99892022e-01 -3.68981421e-03 -1.42242883e-02 1.05397254e+01] [ 3.74018777e-03 9.99986823e-01 3.51640248e-03 -3.84599474e-01] [ 1.42111260e-02 -3.56922430e-03 9.99892647e-01 -5.02493611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35240100800002 meters Centerline goodness : 0.905354 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.38, Z:-0.50 [[ 9.99897874e-01 -2.72263995e-03 -1.40295893e-02 1.05388706e+01] [ 2.76907127e-03 9.99990750e-01 3.29116613e-03 -3.82931527e-01] [ 1.40204989e-02 -3.32967895e-03 9.99896164e-01 -5.03325369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38240100800002 meters Centerline goodness : 0.901925 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.38, Z:-0.50 [[ 9.99905975e-01 -1.61231526e-03 -1.36176783e-02 1.05374136e+01] [ 1.64606248e-03 9.99995601e-01 2.46734717e-03 -3.80235950e-01] [ 1.36136403e-02 -2.48953073e-03 9.99904231e-01 -5.04990871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41240100800002 meters Centerline goodness : 0.900228 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.38, Z:-0.50 [[ 9.99901964e-01 4.13717285e-03 -1.33770720e-02 1.05349375e+01] [-4.04112336e-03 9.99965920e-01 7.19923417e-03 -3.80454583e-01] [ 1.34064006e-02 -7.14446999e-03 9.99884606e-01 -5.03682798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44240100800002 meters Centerline goodness : 0.900968 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.38, Z:-0.50 [[ 9.99895603e-01 5.04459960e-03 -1.35401181e-02 1.05339679e+01] [-4.94237374e-03 9.99959113e-01 7.57272384e-03 -3.80887514e-01] [ 1.35777658e-02 -7.50501295e-03 9.99879652e-01 -5.02687631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47240100800002 meters Centerline goodness : 0.900730 Centerline is valid? [False, False] Translation: X:10.53, Y:-0.38, Z:-0.50 [[ 9.99905782e-01 3.51871694e-03 -1.32682297e-02 1.05311721e+01] [-3.47136756e-03 9.99987531e-01 3.58997170e-03 -3.79309801e-01] [ 1.32806964e-02 -3.54357456e-03 9.99905529e-01 -5.03432564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502401008 meters Centerline goodness : 0.902811 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.51 [[ 9.99934662e-01 7.67404194e-03 -8.47234889e-03 1.05452067e+01] [-7.70627943e-03 9.99963166e-01 -3.77895756e-03 -3.77747982e-01] [ 8.44303694e-03 3.84400094e-03 9.99956968e-01 -5.09356864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53240100800001 meters Centerline goodness : 0.905529 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.38, Z:-0.51 [[ 9.99933018e-01 8.13931648e-03 -8.22865523e-03 1.05446048e+01] [-8.16907748e-03 9.99960190e-01 -3.58963349e-03 -3.78091906e-01] [ 8.19911048e-03 3.65661358e-03 9.99959701e-01 -5.09707871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56240100800001 meters Centerline goodness : 0.901626 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.51 [[ 9.99933823e-01 7.87228458e-03 -8.38903114e-03 1.05452875e+01] [-7.89756829e-03 9.99964358e-01 -2.98504759e-03 -3.80218957e-01] [ 8.36523300e-03 3.05110299e-03 9.99960356e-01 -5.09209780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59240100800001 meters Centerline goodness : 0.903478 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.51 [[ 9.99935302e-01 6.63916817e-03 -9.23646909e-03 1.05485224e+01] [-6.66341896e-03 9.99974426e-01 -2.59725598e-03 -3.82526722e-01] [ 9.21898926e-03 2.65863441e-03 9.99953970e-01 -5.09087042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62240100800001 meters Centerline goodness : 0.903705 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.39, Z:-0.51 [[ 9.99938641e-01 4.96099745e-03 -9.90471603e-03 1.05519164e+01] [-4.96575493e-03 9.99987567e-01 -4.55789419e-04 -3.88563924e-01] [ 9.90233171e-03 5.04945844e-04 9.99950843e-01 -5.06462160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65240100800001 meters Centerline goodness : 0.903152 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.39, Z:-0.50 [[ 9.99934009e-01 4.50644118e-03 -1.05674088e-02 1.05532629e+01] [-4.48853095e-03 9.99988451e-01 1.71796053e-03 -3.93064611e-01] [ 1.05750286e-02 -1.67041502e-03 9.99942688e-01 -5.03010895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68240100800001 meters Centerline goodness : 0.905914 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.40, Z:-0.50 [[ 9.99927961e-01 4.31173912e-03 -1.12018362e-02 1.05542757e+01] [-4.26156949e-03 9.99980800e-01 4.49871222e-03 -3.98534107e-01] [ 1.12210184e-02 -4.45065074e-03 9.99927138e-01 -4.98669412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71240100800001 meters Centerline goodness : 0.911150 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.40, Z:-0.50 [[ 9.99922615e-01 4.01264096e-03 -1.17755175e-02 1.05553148e+01] [-3.93344617e-03 9.99969544e-01 6.74084757e-03 -4.03138774e-01] [ 1.18022074e-02 -6.69400756e-03 9.99907945e-01 -4.95033915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74240100800002 meters Centerline goodness : 0.911189 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.41, Z:-0.50 [[ 9.99934197e-01 -2.80927343e-05 -1.14717314e-02 1.05553333e+01] [ 6.91837900e-05 9.99993584e-01 3.58155907e-03 -4.07195278e-01] [ 1.14715571e-02 -3.58211705e-03 9.99927783e-01 -4.95146076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77240100800002 meters Centerline goodness : 0.907016 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.41, Z:-0.50 [[ 9.99925796e-01 -7.94605996e-04 -1.21561469e-02 1.05582322e+01] [ 8.40424757e-04 9.99992561e-01 3.76454060e-03 -4.08757416e-01] [ 1.21530652e-02 -3.77447758e-03 9.99919025e-01 -4.95835466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80240100800002 meters Centerline goodness : 0.904035 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.41, Z:-0.50 [[ 9.99924001e-01 -4.05039808e-04 -1.23218914e-02 1.05629506e+01] [ 4.76101333e-04 9.99983271e-01 5.76470892e-03 -4.09583667e-01] [ 1.23193503e-02 -5.77013728e-03 9.99907465e-01 -4.98565243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83240100800002 meters Centerline goodness : 0.899784 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.41, Z:-0.50 [[ 9.99900006e-01 8.51958761e-04 -1.41156576e-02 1.05710508e+01] [-7.44446974e-04 9.99970690e-01 7.61999620e-03 -4.07058959e-01] [ 1.41217358e-02 -7.60872589e-03 9.99871334e-01 -5.02828465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862401008 meters Centerline goodness : 0.895528 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.41, Z:-0.50 [[ 9.99871354e-01 3.63133745e-03 -1.56233681e-02 1.05755724e+01] [-3.45309487e-03 9.99928820e-01 1.14206065e-02 -4.07302529e-01] [ 1.56637281e-02 -1.13651883e-02 9.99812723e-01 -5.02930974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89240100800001 meters Centerline goodness : 0.893826 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.41, Z:-0.50 [[ 9.99863393e-01 3.11910075e-03 -1.62316390e-02 1.05773762e+01] [-2.94796595e-03 9.99939933e-01 1.05565534e-02 -4.06410309e-01] [ 1.62635910e-02 -1.05072610e-02 9.99812529e-01 -5.03966308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92240100800001 meters Centerline goodness : 0.893255 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.41, Z:-0.50 [[ 9.99820140e-01 5.09191090e-03 -1.82691278e-02 1.05831424e+01] [-4.78528044e-03 9.99847608e-01 1.67887150e-02 -4.09779786e-01] [ 1.83518304e-02 -1.66982724e-02 9.99692142e-01 -4.99046691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95240100800001 meters Centerline goodness : 0.891821 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.41, Z:-0.50 [[ 9.99835473e-01 1.19722014e-03 -1.80995197e-02 1.05829522e+01] [-1.00521112e-03 9.99943166e-01 1.06138929e-02 -4.05964473e-01] [ 1.81111981e-02 -1.05939528e-02 9.99779852e-01 -5.02389361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98240100800001 meters Centerline goodness : 0.891279 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.40, Z:-0.50 [[ 9.99827221e-01 4.83505558e-04 -1.85820735e-02 1.05849104e+01] [-3.00188455e-04 9.99951277e-01 9.86678970e-03 -4.04880732e-01] [ 1.85859388e-02 -9.85950681e-03 9.99778652e-01 -5.03494158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01240100800001 meters Centerline goodness : 0.893056 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.40, Z:-0.50 [[ 9.99805640e-01 1.95718895e-03 -1.96176437e-02 1.05902343e+01] [-1.69002895e-03 9.99905738e-01 1.36256927e-02 -4.04872620e-01] [ 1.96424625e-02 -1.35898900e-02 9.99714704e-01 -5.03711474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04240100800001 meters Centerline goodness : 0.888859 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.40, Z:-0.50 [[ 9.99799913e-01 1.15265012e-03 -1.99701201e-02 1.05921355e+01] [-8.90697024e-04 9.99913517e-01 1.31211844e-02 -4.04293592e-01] [ 1.99835172e-02 -1.31007717e-02 9.99714474e-01 -5.04703142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07240100800001 meters Centerline goodness : 0.887355 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.41, Z:-0.50 [[ 9.99789741e-01 3.38307729e-04 -2.05026700e-02 1.05940513e+01] [-6.13684424e-05 9.99908780e-01 1.35065984e-02 -4.05357643e-01] [ 2.05053691e-02 -1.35025003e-02 9.99698561e-01 -5.03963088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10240100800002 meters Centerline goodness : 0.887577 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.41, Z:-0.49 [[ 9.99773915e-01 -2.93708171e-03 -2.10592533e-02 1.05994369e+01] [ 3.34076490e-03 9.99810860e-01 1.91594361e-02 -4.11291850e-01] [ 2.09989973e-02 -1.92254585e-02 9.99594630e-01 -4.93203355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13240100800002 meters Centerline goodness : 0.891483 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.42, Z:-0.48 [[ 9.99767985e-01 -2.92674202e-03 -2.13403532e-02 1.06059787e+01] [ 3.53631473e-03 9.99585174e-01 2.85827660e-02 -4.15821031e-01] [ 2.12478463e-02 -2.86516006e-02 9.99363605e-01 -4.82514925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16240100800002 meters Centerline goodness : 0.895892 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.42, Z:-0.48 [[ 9.99749050e-01 -3.51567321e-03 -2.21241334e-02 1.06073469e+01] [ 4.19022243e-03 9.99525459e-01 3.05171730e-02 -4.17611903e-01] [ 2.20063462e-02 -3.06022198e-02 9.99289360e-01 -4.77892201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19240100800002 meters Centerline goodness : 0.893354 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.41, Z:-0.48 [[ 9.99823511e-01 -6.16651074e-03 -1.77460049e-02 1.06240077e+01] [ 6.47525108e-03 9.99827759e-01 1.73931909e-02 -4.14223282e-01] [ 1.76356930e-02 -1.75050310e-02 9.99691230e-01 -4.84561736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22240100800002 meters Centerline goodness : 0.893348 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.42, Z:-0.48 [[ 9.99771024e-01 -1.03975486e-02 -1.87026659e-02 1.06377977e+01] [ 1.08380181e-02 9.99662589e-01 2.36060538e-02 -4.16022302e-01] [ 1.84509103e-02 -2.38033484e-02 9.99546379e-01 -4.78924363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252401008 meters Centerline goodness : 0.890640 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.42, Z:-0.47 [[ 0.9996542 -0.0122145 -0.02328724 10.62585325] [ 0.0130362 0.99928583 0.03546673 -0.41847023] [ 0.0228374 -0.03575805 0.9990995 -0.47179301] [ 0. 0. 0. 1. ]] SLAMing on 77.28240100800001 meters Centerline goodness : 0.888405 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.42, Z:-0.47 [[ 0.99963041 -0.01345355 -0.0236228 10.62860296] [ 0.01425442 0.99931786 0.03406795 -0.41698016] [ 0.02314835 -0.03439209 0.9991403 -0.47448242] [ 0. 0. 0. 1. ]] SLAMing on 77.31240100800001 meters Centerline goodness : 0.890161 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.42, Z:-0.47 [[ 0.99952838 -0.01437636 -0.02713571 10.61018982] [ 0.01549899 0.99901312 0.04162419 -0.41709976] [ 0.02651052 -0.04202514 0.99876478 -0.47103832] [ 0. 0. 0. 1. ]] SLAMing on 77.34240100800001 meters Centerline goodness : 0.891724 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.41, Z:-0.48 [[ 0.99957705 -0.01595976 -0.02431059 10.58312131] [ 0.01690888 0.99908244 0.03934934 -0.40910402] [ 0.02366028 -0.03974376 0.99892974 -0.4781507 ] [ 0. 0. 0. 1. ]] SLAMing on 77.37240100800001 meters Centerline goodness : 0.890397 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.41, Z:-0.48 [[ 0.99954433 -0.01457723 -0.0264318 10.58772425] [ 0.01552172 0.99923529 0.03588738 -0.40712087] [ 0.02588845 -0.03628129 0.99900623 -0.47876873] [ 0. 0. 0. 1. ]] SLAMing on 77.40240100800001 meters Centerline goodness : 0.890397 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.41, Z:-0.48 [[ 0.99954543 -0.01457597 -0.02639063 10.58765471] [ 0.01551519 0.99924062 0.03574148 -0.40677627] [ 0.02584962 -0.03613469 0.99901255 -0.47888191] [ 0. 0. 0. 1. ]] SLAMing on 77.43240100800001 meters Centerline goodness : 0.892209 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.40, Z:-0.48 [[ 0.99955984 -0.01369172 -0.02631831 10.58569314] [ 0.01462909 0.99925331 0.03576057 -0.4047368 ] [ 0.02580903 -0.03612984 0.99901378 -0.47741813] [ 0. 0. 0. 1. ]] SLAMing on 77.46240100800001 meters Centerline goodness : 0.892394 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.40, Z:-0.48 [[ 0.99957688 -0.01281117 -0.0261137 10.5835283 ] [ 0.01372947 0.99928263 0.03529485 -0.40157545] [ 0.0256428 -0.03563844 0.99903571 -0.47672564] [ 0. 0. 0. 1. ]] SLAMing on 77.49240100800002 meters Centerline goodness : 0.894112 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.40, Z:-0.48 [[ 9.99732951e-01 -7.06338089e-03 -2.20030946e-02 1.05993498e+01] [ 7.74754582e-03 9.99484208e-01 3.11655793e-02 -3.97757073e-01] [ 2.17716112e-02 -3.13277265e-02 9.99272020e-01 -4.79964252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52240100800002 meters Centerline goodness : 0.895474 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.39, Z:-0.49 [[ 9.99848609e-01 -2.50281899e-03 -1.72190254e-02 1.06099248e+01] [ 2.84079032e-03 9.99803250e-01 1.96314067e-02 -3.90603798e-01] [ 1.71665037e-02 -1.96773503e-02 9.99658998e-01 -4.89935455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55240100800002 meters Centerline goodness : 0.895116 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.38, Z:-0.49 [[ 9.99850656e-01 4.03208698e-03 -1.68050265e-02 1.06063786e+01] [-3.63765400e-03 9.99718722e-01 2.34359704e-02 -3.84522889e-01] [ 1.68947955e-02 -2.33713395e-02 9.99584087e-01 -4.89697975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58240100800002 meters Centerline goodness : 0.896928 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.38, Z:-0.50 [[ 9.99896766e-01 7.48081220e-03 -1.22676370e-02 1.06188897e+01] [-7.32548465e-03 9.99893050e-01 1.26579978e-02 -3.78786614e-01] [ 1.23610170e-02 -1.25668247e-02 9.99844628e-01 -4.97864023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612401008 meters Centerline goodness : 0.898455 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.37, Z:-0.51 [[ 9.99984462e-01 5.49596072e-03 -9.32814347e-04 1.06273426e+01] [-5.48413640e-03 9.99910080e-01 1.22375204e-02 -3.74191186e-01] [ 9.99987400e-04 -1.22322146e-02 9.99924684e-01 -5.05709030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64240100800001 meters Centerline goodness : 0.899219 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.37, Z:-0.50 [[ 9.99979446e-01 6.39867799e-03 -4.04746464e-04 1.06247695e+01] [-6.39317080e-03 9.99902756e-01 1.23938192e-02 -3.73042556e-01] [ 4.84011163e-04 -1.23909768e-02 9.99923112e-01 -5.04506921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67240100800001 meters Centerline goodness : 0.901330 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.37, Z:-0.51 [[ 9.99996143e-01 2.77168462e-03 -1.78363415e-04 1.06241472e+01] [-2.77030177e-03 9.99969260e-01 7.33522036e-03 -3.70645264e-01] [ 1.98688849e-04 -7.33469795e-03 9.99973081e-01 -5.06101666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70240100800001 meters Centerline goodness : 0.892643 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.37, Z:-0.51 [[ 9.99997359e-01 2.17272262e-03 -7.48544919e-04 1.06259389e+01] [-2.16724954e-03 9.99971468e-01 7.23644551e-03 -3.71273388e-01] [ 7.64246350e-04 -7.23480412e-03 9.99973536e-01 -5.06290441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73240100800001 meters Centerline goodness : 0.894676 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.37, Z:-0.51 [[ 9.99997470e-01 -3.16973176e-04 -2.22681598e-03 1.06325832e+01] [ 3.31068785e-04 9.99979895e-01 6.33242485e-03 -3.71777486e-01] [ 2.22476400e-03 -6.33314606e-03 9.99977471e-01 -5.08857313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76240100800001 meters Centerline goodness : 0.893229 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.37, Z:-0.51 [[ 9.99992403e-01 -1.89280355e-03 -3.40757672e-03 1.06373983e+01] [ 1.91183526e-03 9.99982545e-01 5.59054816e-03 -3.72401458e-01] [ 3.39693543e-03 -5.59702041e-03 9.99978567e-01 -5.10943970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79240100800001 meters Centerline goodness : 0.888908 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.37, Z:-0.51 [[ 9.99983734e-01 -3.32882376e-03 -4.63142776e-03 1.06420739e+01] [ 3.35314797e-03 9.99980575e-01 5.25417672e-03 -3.73584859e-01] [ 4.61384756e-03 -5.26962112e-03 9.99975471e-01 -5.12444630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82240100800001 meters Centerline goodness : 0.890907 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.37, Z:-0.51 [[ 9.99973424e-01 -4.54129878e-03 -5.70334671e-03 1.06460356e+01] [ 4.56989746e-03 9.99977001e-01 5.01138761e-03 -3.74587521e-01] [ 5.68045733e-03 -5.03731813e-03 9.99971178e-01 -5.13489126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85240100800002 meters Centerline goodness : 0.887924 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.38, Z:-0.51 [[ 9.99964732e-01 -5.30396948e-03 -6.51165991e-03 1.06485588e+01] [ 5.33741635e-03 9.99972598e-01 5.12986965e-03 -3.75724712e-01] [ 6.48427280e-03 -5.16444418e-03 9.99965641e-01 -5.13477911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88240100800002 meters Centerline goodness : 0.889416 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.38, Z:-0.51 [[ 9.99951234e-01 -6.15459314e-03 -7.72336819e-03 1.06509333e+01] [ 6.21163980e-03 9.99953444e-01 7.38411998e-03 -3.80344347e-01] [ 7.67756237e-03 -7.43173467e-03 9.99942911e-01 -5.09083225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91240100800002 meters Centerline goodness : 0.894723 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.38, Z:-0.51 [[ 9.99947495e-01 -3.88076832e-03 -9.48405198e-03 1.06740604e+01] [ 3.93567443e-03 9.99975565e-01 5.77751897e-03 -3.83698318e-01] [ 9.46139902e-03 -5.81454177e-03 9.99938335e-01 -5.06337840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94240100800002 meters Centerline goodness : 0.892057 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.39, Z:-0.51 [[ 9.99946245e-01 -1.60998427e-03 -1.02428137e-02 1.06771090e+01] [ 1.71256169e-03 9.99948395e-01 1.00136980e-02 -3.86583329e-01] [ 1.02261633e-02 -1.00307012e-02 9.99897400e-01 -5.05491157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97240100800002 meters Centerline goodness : 0.894360 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.38, Z:-0.51 [[ 9.99952157e-01 -1.64493437e-03 -9.64245348e-03 1.06764736e+01] [ 1.73415813e-03 9.99955694e-01 9.25217563e-03 -3.84173005e-01] [ 9.62680704e-03 -9.26845452e-03 9.99910706e-01 -5.07018363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002401008 meters Centerline goodness : 0.893666 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.38, Z:-0.51 [[ 9.99954396e-01 -1.34094396e-03 -9.45554414e-03 1.06756098e+01] [ 1.42759759e-03 9.99956995e-01 9.16353320e-03 -3.83348139e-01] [ 9.44284972e-03 -9.17661403e-03 9.99913307e-01 -5.06748291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03240100800001 meters Centerline goodness : 0.896806 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.39, Z:-0.50 [[ 9.99942792e-01 2.80493021e-03 -1.03220217e-02 1.06760417e+01] [-2.63508394e-03 9.99861518e-01 1.64317211e-02 -3.87535806e-01] [ 1.03666822e-02 -1.64035817e-02 9.99811709e-01 -5.00434787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06240100800001 meters Centerline goodness : 0.896878 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99975292e-01 4.35469976e-03 -5.51832010e-03 1.06883275e+01] [-4.32606063e-03 9.99977168e-01 5.19117897e-03 -3.84732485e-01] [ 5.54080014e-03 -5.16717812e-03 9.99971299e-01 -5.06333501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09240100800001 meters Centerline goodness : 0.898716 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99972743e-01 5.17639633e-03 -5.26474018e-03 1.06864568e+01] [-5.14697628e-03 9.99971150e-01 5.58641083e-03 -3.84714379e-01] [ 5.29350577e-03 -5.55916107e-03 9.99970537e-01 -5.05052751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12240100800001 meters Centerline goodness : 0.900582 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.38, Z:-0.51 [[ 9.99966349e-01 6.69251051e-03 -4.74467189e-03 1.06840246e+01] [-6.66812525e-03 9.99964574e-01 5.13682868e-03 -3.82413987e-01] [ 4.77888209e-03 -5.10501775e-03 9.99975550e-01 -5.05735945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15240100800001 meters Centerline goodness : 0.899906 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.38, Z:-0.51 [[ 9.99966329e-01 6.68711739e-03 -4.75643497e-03 1.06846836e+01] [-6.66799052e-03 9.99969665e-01 4.02581685e-03 -3.80049814e-01] [ 4.78321179e-03 -3.99396543e-03 9.99980584e-01 -5.07811640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18240100800001 meters Centerline goodness : 0.901384 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99966940e-01 6.54208344e-03 -4.82916280e-03 1.06856949e+01] [-6.52827032e-03 9.99974570e-01 2.87059805e-03 -3.77892422e-01] [ 4.84781969e-03 -2.83897706e-03 9.99984219e-01 -5.10131769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21240100800001 meters Centerline goodness : 0.895205 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99967289e-01 6.49581328e-03 -4.81921644e-03 1.06862630e+01] [-6.48532684e-03 9.99976575e-01 2.18840869e-03 -3.76354590e-01] [ 4.83331905e-03 -2.15708291e-03 9.99985993e-01 -5.11561595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24240100800002 meters Centerline goodness : 0.896055 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99945165e-01 8.61813575e-03 -5.94941057e-03 1.06903943e+01] [-8.57918213e-03 9.99941797e-01 6.54223709e-03 -3.80793344e-01] [ 6.00544618e-03 -6.49083727e-03 9.99960901e-01 -5.10774744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27240100800002 meters Centerline goodness : 0.896740 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99971236e-01 5.02803132e-03 -5.67861634e-03 1.06898130e+01] [-5.01722770e-03 9.99985580e-01 1.91515644e-03 -3.80726839e-01] [ 5.68816392e-03 -1.88661044e-03 9.99982043e-01 -5.12297985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30240100800002 meters Centerline goodness : 0.893440 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99969339e-01 4.60960993e-03 -6.33033333e-03 1.06916109e+01] [-4.59469182e-03 9.99986638e-01 2.36913157e-03 -3.83328323e-01] [ 6.34116951e-03 -2.33997300e-03 9.99977157e-01 -5.12000179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33240100800002 meters Centerline goodness : 0.894909 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.38, Z:-0.51 [[ 9.99968392e-01 3.96468949e-03 -6.89179644e-03 1.06938829e+01] [-3.94897399e-03 9.99989575e-01 2.29243411e-03 -3.84538336e-01] [ 6.90081338e-03 -2.26514613e-03 9.99973624e-01 -5.12823304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362401008 meters Centerline goodness : 0.893620 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.38, Z:-0.52 [[ 9.99969178e-01 3.12193500e-03 -7.20399129e-03 1.06970964e+01] [-3.11354143e-03 9.99994461e-01 1.17604867e-03 -3.84166382e-01] [ 7.20762293e-03 -1.15358250e-03 9.99973359e-01 -5.16754674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39240100800001 meters Centerline goodness : 0.890877 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.39, Z:-0.52 [[ 9.99966227e-01 2.48332915e-03 -7.83446304e-03 1.06993443e+01] [-2.47236571e-03 9.99995951e-01 1.40876190e-03 -3.85765441e-01] [ 7.83792974e-03 -1.38934466e-03 9.99968318e-01 -5.16945648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42240100800001 meters Centerline goodness : 0.893798 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.39, Z:-0.52 [[ 9.99961126e-01 2.00285269e-03 -8.58685471e-03 1.07011171e+01] [-1.98003259e-03 9.99994488e-01 2.66524053e-03 -3.89080528e-01] [ 8.59214546e-03 -2.64813467e-03 9.99959580e-01 -5.15032606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45240100800001 meters Centerline goodness : 0.895630 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.39, Z:-0.51 [[ 9.99962822e-01 -1.55361501e-03 -8.48177936e-03 1.07000327e+01] [ 1.55225016e-03 9.99998781e-01 -1.67496546e-04 -3.92731834e-01] [ 8.48202925e-03 1.54324475e-04 9.99964015e-01 -5.13323072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48240100800001 meters Centerline goodness : 0.895557 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.51 [[ 9.99960609e-01 -1.43078325e-03 -8.75970306e-03 1.06999753e+01] [ 1.44183403e-03 9.99998173e-01 1.25536227e-03 -3.95704831e-01] [ 8.75789090e-03 -1.26794286e-03 9.99960845e-01 -5.10919883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51240100800001 meters Centerline goodness : 0.897964 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.51 [[ 9.99960264e-01 -1.28111690e-03 -8.82210099e-03 1.06997326e+01] [ 1.29898236e-03 9.99997117e-01 2.01964864e-03 -3.97710508e-01] [ 8.81948815e-03 -2.03102814e-03 9.99959045e-01 -5.09823738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54240100800001 meters Centerline goodness : 0.898786 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.51 [[ 9.99954707e-01 1.76729016e-03 -9.35209224e-03 1.07016215e+01] [-1.69324614e-03 9.99967208e-01 7.91937853e-03 -4.01813786e-01] [ 9.36578140e-03 -7.90318444e-03 9.99924908e-01 -5.06707230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57240100800001 meters Centerline goodness : 0.907349 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.50 [[ 9.99957645e-01 2.79823397e-03 -8.76796793e-03 1.06985575e+01] [-2.72501932e-03 9.99961416e-01 8.35109117e-03 -4.00509572e-01] [ 8.79099793e-03 -8.32684458e-03 9.99926688e-01 -5.04883033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60240100800002 meters Centerline goodness : 0.907462 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.50 [[ 9.99958282e-01 2.88664147e-03 -8.66609113e-03 1.06980098e+01] [-2.81410486e-03 9.99961005e-01 8.37072263e-03 -4.00197974e-01] [ 8.68991647e-03 -8.34598613e-03 9.99927412e-01 -5.04478870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63240100800002 meters Centerline goodness : 0.905490 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.51 [[ 9.99956134e-01 2.25793158e-03 -9.09020891e-03 1.06998189e+01] [-2.18807086e-03 9.99968054e-01 7.68789537e-03 -3.99542087e-01] [ 9.10727726e-03 -7.66766811e-03 9.99929130e-01 -5.05711284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66240100800002 meters Centerline goodness : 0.903643 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.40, Z:-0.51 [[ 9.99953626e-01 8.58752879e-04 -9.59206301e-03 1.07033205e+01] [-8.00242646e-04 9.99981062e-01 6.10203249e-03 -3.97840014e-01] [ 9.59712149e-03 -6.09407354e-03 9.99935377e-01 -5.09110291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69240100800002 meters Centerline goodness : 0.904884 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.40, Z:-0.51 [[ 9.99937530e-01 6.47056856e-04 -1.11587757e-02 1.07114010e+01] [-5.26360678e-04 9.99941369e-01 1.08158033e-02 -3.99658140e-01] [ 1.11651199e-02 -1.08092541e-02 9.99879243e-01 -5.06971636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72240100800002 meters Centerline goodness : 0.900997 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.40, Z:-0.51 [[ 9.99926566e-01 -2.70410253e-04 -1.21156954e-02 1.07141426e+01] [ 4.02424241e-04 9.99940567e-01 1.08950005e-02 -4.00749085e-01] [ 1.21120292e-02 -1.08990761e-02 9.99867246e-01 -5.06605520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752401008 meters Centerline goodness : 0.901917 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.40, Z:-0.51 [[ 9.99913812e-01 -1.29832645e-03 -1.30645667e-02 1.07167840e+01] [ 1.44268399e-03 9.99937948e-01 1.10461960e-02 -4.02886009e-01] [ 1.30494145e-02 -1.10640920e-02 9.99853639e-01 -5.05977125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78240100800001 meters Centerline goodness : 0.896371 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.41, Z:-0.50 [[ 9.99852814e-01 -8.22415112e-03 -1.50569916e-02 1.07406793e+01] [ 8.53395598e-03 9.99750794e-01 2.06281776e-02 -4.05186811e-01] [ 1.48835901e-02 -2.07536371e-02 9.99673829e-01 -4.97156116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81240100800001 meters Centerline goodness : 0.896017 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.40, Z:-0.50 [[ 9.99810836e-01 -9.02598344e-03 -1.72285800e-02 1.07518751e+01] [ 9.42673765e-03 9.99683530e-01 2.33233072e-02 -4.03720885e-01] [ 1.70126119e-02 -2.34813045e-02 9.99579511e-01 -4.99287179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84240100800001 meters Centerline goodness : 0.892494 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.40, Z:-0.51 [[ 0.9997797 -0.01085431 -0.01796459 10.75695165] [ 0.01121681 0.99973299 0.02020244 -0.39959812] [ 0.01774051 -0.0203995 0.9996345 -0.50549424] [ 0. 0. 0. 1. ]] SLAMing on 78.87240100800001 meters Centerline goodness : 0.888557 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.40, Z:-0.51 [[ 0.99974346 -0.01253328 -0.01886614 10.76154975] [ 0.01287352 0.9997547 0.01802279 -0.39616209] [ 0.01863562 -0.01826104 0.99965957 -0.50944477] [ 0. 0. 0. 1. ]] SLAMing on 78.90240100800001 meters Centerline goodness : 0.888651 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.39, Z:-0.51 [[ 9.99773215e-01 -1.37011337e-02 -1.63032837e-02 1.07823841e+01] [ 1.38490134e-02 9.99863661e-01 8.99248226e-03 -3.92985623e-01] [ 1.61778537e-02 -9.21622729e-03 9.99826654e-01 -5.12516740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93240100800001 meters Centerline goodness : 0.893359 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.39, Z:-0.51 [[ 9.99830201e-01 -1.39747814e-02 -1.20114031e-02 1.07984172e+01] [ 1.39801959e-02 9.99902205e-01 3.66927043e-04 -3.92142994e-01] [ 1.20051008e-02 -5.34786509e-04 9.99927793e-01 -5.13733329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96240100800001 meters Centerline goodness : 0.892823 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.40, Z:-0.51 [[ 9.99840257e-01 -1.30242078e-02 -1.22405145e-02 1.07960336e+01] [ 1.30617648e-02 9.99910211e-01 2.99333642e-03 -3.95447151e-01] [ 1.22004296e-02 -3.15274098e-03 9.99920602e-01 -5.07813890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99240100800002 meters Centerline goodness : 0.896228 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.40, Z:-0.50 [[ 0.9998395 -0.01162929 -0.01362868 10.80163319] [ 0.01180218 0.99985002 0.01267462 -0.39974629] [ 0.01347924 -0.01283343 0.99982679 -0.49656152] [ 0. 0. 0. 1. ]] SLAMing on 79.02240100800002 meters Centerline goodness : 0.900403 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.39, Z:-0.50 [[ 0.99984322 -0.01194372 -0.01307249 10.8013838 ] [ 0.01209446 0.99986058 0.01151286 -0.39478995] [ 0.01293316 -0.01166916 0.99984827 -0.49844166] [ 0. 0. 0. 1. ]] SLAMing on 79.05240100800002 meters Centerline goodness : 0.894216 Centerline is valid? [False, False] Translation: X:10.80, Y:-0.39, Z:-0.50 [[ 9.99866610e-01 -8.96330159e-03 -1.36536549e-02 1.08040919e+01] [ 9.16606684e-03 9.99847553e-01 1.48611502e-02 -3.93177652e-01] [ 1.35183685e-02 -1.49843182e-02 9.99796341e-01 -4.99728782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08240100800002 meters Centerline goodness : 0.897195 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.39, Z:-0.50 [[ 9.99883983e-01 -5.53706250e-03 -1.41902159e-02 1.08060149e+01] [ 5.80639421e-03 9.99802439e-01 1.90097163e-02 -3.92038211e-01] [ 1.40821545e-02 -1.90899049e-02 9.99718595e-01 -4.99320190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112401008 meters Centerline goodness : 0.894767 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.39, Z:-0.50 [[ 9.99888428e-01 -1.73392425e-03 -1.48365969e-02 1.08070042e+01] [ 2.08903103e-03 9.99710913e-01 2.39525921e-02 -3.92918504e-01] [ 1.47907759e-02 -2.39809138e-02 9.99602996e-01 -4.97104011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14240100800001 meters Centerline goodness : 0.894311 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.39, Z:-0.50 [[ 9.99942940e-01 9.15581305e-04 -1.06431909e-02 1.08203070e+01] [-7.52652895e-04 9.99882632e-01 1.53021679e-02 -3.91032611e-01] [ 1.06559522e-02 -1.52932842e-02 9.99826268e-01 -4.99813987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17240100800001 meters Centerline goodness : 0.896916 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.39, Z:-0.50 [[ 9.99942948e-01 -1.86987360e-03 -1.05168923e-02 1.08180640e+01] [ 1.98403381e-03 9.99939114e-01 1.08550000e-02 -3.88771081e-01] [ 1.04959545e-02 -1.08752466e-02 9.99885775e-01 -4.99418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20240100800001 meters Centerline goodness : 0.897256 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.39, Z:-0.50 [[ 9.99941807e-01 -1.68607938e-03 -1.06555375e-02 1.08177108e+01] [ 1.80408435e-03 9.99937047e-01 1.10746294e-02 -3.88858485e-01] [ 1.06361940e-02 -1.10932084e-02 9.99881899e-01 -4.98415207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23240100800001 meters Centerline goodness : 0.896451 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.39, Z:-0.50 [[ 9.99942560e-01 -2.18168130e-03 -1.04936434e-02 1.08188116e+01] [ 2.27802786e-03 9.99955284e-01 9.17824881e-03 -3.85467636e-01] [ 1.04731502e-02 -9.20162642e-03 9.99902817e-01 -5.01982984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26240100800001 meters Centerline goodness : 0.896147 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.39, Z:-0.50 [[ 9.99932713e-01 2.77196269e-04 -1.15970876e-02 1.08232487e+01] [-1.17193937e-04 9.99904835e-01 1.37951738e-02 -3.85839599e-01] [ 1.15998079e-02 -1.37928865e-02 9.99837587e-01 -5.01283336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29240100800001 meters Centerline goodness : 0.895189 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.38, Z:-0.50 [[ 9.99932127e-01 -3.19257225e-04 -1.16464349e-02 1.08244797e+01] [ 4.68893658e-04 9.99917354e-01 1.28477937e-02 -3.84074819e-01] [ 1.16413706e-02 -1.28523827e-02 9.99849636e-01 -5.03055951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32240100800001 meters Centerline goodness : 0.895189 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.38, Z:-0.50 [[ 9.99932127e-01 -3.19257225e-04 -1.16464349e-02 1.08244797e+01] [ 4.68893658e-04 9.99917354e-01 1.28477937e-02 -3.84074819e-01] [ 1.16413706e-02 -1.28523827e-02 9.99849636e-01 -5.03055951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35240100800002 meters Centerline goodness : 0.895245 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.38, Z:-0.50 [[ 9.99927469e-01 -8.12445344e-04 -1.20165487e-02 1.08257436e+01] [ 9.62279703e-04 9.99921802e-01 1.24684797e-02 -3.83532282e-01] [ 1.20054791e-02 -1.24791386e-02 9.99850059e-01 -5.03453631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38240100800002 meters Centerline goodness : 0.895304 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.39, Z:-0.50 [[ 9.99911688e-01 1.91774282e-03 -1.31506168e-02 1.08288166e+01] [-1.66368267e-03 9.99812294e-01 1.93030563e-02 -3.87053887e-01] [ 1.31851666e-02 -1.92794732e-02 9.99727189e-01 -4.97885201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41240100800002 meters Centerline goodness : 0.892376 Centerline is valid? [False, False] Translation: X:10.83, Y:-0.38, Z:-0.50 [[ 9.99916546e-01 -1.24615969e-03 -1.28587876e-02 1.08267164e+01] [ 1.43101721e-03 9.99895625e-01 1.43767962e-02 -3.83843730e-01] [ 1.28395297e-02 -1.43939975e-02 9.99813962e-01 -4.98172978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44240100800002 meters Centerline goodness : 0.894699 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.38, Z:-0.50 [[ 9.99937537e-01 1.05064804e-03 -1.11273853e-02 1.08471417e+01] [-9.46218641e-04 9.99955503e-01 9.38600983e-03 -3.83223441e-01] [ 1.11367515e-02 -9.37489461e-03 9.99894036e-01 -4.99739536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47240100800002 meters Centerline goodness : 0.893704 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.38, Z:-0.50 [[ 9.99930293e-01 5.12714894e-04 -1.17960582e-02 1.08490757e+01] [-4.11661570e-04 9.99963213e-01 8.56753647e-03 -3.81388148e-01] [ 1.18000169e-02 -8.56208327e-03 9.99893720e-01 -5.00610821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502401008 meters Centerline goodness : 0.887825 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.51 [[ 9.99927312e-01 2.44916349e-04 -1.20544823e-02 1.08509680e+01] [-1.83030010e-04 9.99986800e-01 5.13472151e-03 -3.74910447e-01] [ 1.20555808e-02 -5.13214194e-03 9.99914158e-01 -5.06714522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53240100800001 meters Centerline goodness : 0.887206 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.51 [[ 9.99908560e-01 2.99242718e-03 -1.31877290e-02 1.08549640e+01] [-2.87755648e-03 9.99957833e-01 8.72080740e-03 -3.74482140e-01] [ 1.32132693e-02 -8.68206154e-03 9.99875008e-01 -5.07589961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56240100800001 meters Centerline goodness : 0.888561 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.51 [[ 9.99879980e-01 5.96938416e-03 -1.42965682e-02 1.08583018e+01] [-5.77653695e-03 9.99892285e-01 1.34925748e-02 -3.75466479e-01] [ 1.43755706e-02 -1.34083707e-02 9.99806761e-01 -5.06131946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59240100800001 meters Centerline goodness : 0.887755 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.50 [[ 9.99841170e-01 8.98006503e-03 -1.53945714e-02 1.08611305e+01] [-8.68893235e-03 9.99784093e-01 1.88750880e-02 -3.77719645e-01] [ 1.55607471e-02 -1.87383277e-02 9.99703325e-01 -5.03328565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62240100800001 meters Centerline goodness : 0.888138 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.50 [[ 9.99870065e-01 4.80876314e-03 -1.53859891e-02 1.08604242e+01] [-4.59051547e-03 9.99888796e-01 1.41888427e-02 -3.75492117e-01] [ 1.54525088e-02 -1.41163695e-02 9.99780950e-01 -5.03000014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65240100800001 meters Centerline goodness : 0.887478 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.50 [[ 9.99859457e-01 4.44458910e-03 -1.61651703e-02 1.08615007e+01] [-4.19287800e-03 9.99869959e-01 1.55718991e-02 -3.77503011e-01] [ 1.62322789e-02 -1.55019320e-02 9.99748070e-01 -4.99878073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68240100800001 meters Centerline goodness : 0.890060 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.38, Z:-0.48 [[ 9.99894433e-01 1.73996096e-03 -1.44254876e-02 1.08798706e+01] [-1.25572629e-03 9.99437615e-01 3.35093493e-02 -3.83052283e-01] [ 1.44756799e-02 -3.34876974e-02 9.99334293e-01 -4.83252250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71240100800001 meters Centerline goodness : 0.892684 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.38, Z:-0.48 [[ 9.99891421e-01 1.33267777e-03 -1.46754895e-02 1.08801166e+01] [-8.28892004e-04 9.99411886e-01 3.42811054e-02 -3.83722312e-01] [ 1.47125444e-02 -3.42652188e-02 9.99304476e-01 -4.81233708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74240100800002 meters Centerline goodness : 0.895362 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.38, Z:-0.48 [[ 9.99892233e-01 8.22056360e-04 -1.46576319e-02 1.08804797e+01] [-3.20144569e-04 9.99414551e-01 3.42118715e-02 -3.83107389e-01] [ 1.46771747e-02 -3.42034920e-02 9.99307111e-01 -4.81113285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77240100800002 meters Centerline goodness : 0.885943 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.38, Z:-0.48 [[ 9.99937188e-01 -7.57600740e-03 -8.25976292e-03 1.08511877e+01] [ 7.95192540e-03 9.98887966e-01 4.64714675e-02 -3.80407173e-01] [ 7.89850960e-03 -4.65342296e-02 9.98885468e-01 -4.77921618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80240100800002 meters Centerline goodness : 0.890906 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.38, Z:-0.48 [[ 9.99924867e-01 -1.08649029e-02 -5.67574105e-03 1.08207408e+01] [ 1.11029441e-02 9.98981092e-01 4.37435954e-02 -3.77105412e-01] [ 5.19468808e-03 -4.38033263e-02 9.99026668e-01 -4.79698648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83240100800002 meters Centerline goodness : 0.891764 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.37, Z:-0.48 [[ 9.99883733e-01 -1.43933412e-02 -5.03505877e-03 1.08188939e+01] [ 1.45767774e-02 9.99151473e-01 3.85207973e-02 -3.73648686e-01] [ 4.47634341e-03 -3.85897136e-02 9.99245113e-01 -4.80726114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862401008 meters Centerline goodness : 0.892141 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.37, Z:-0.48 [[ 9.99880847e-01 -1.45227430e-02 -5.23277262e-03 1.08193204e+01] [ 1.47033886e-02 9.99232099e-01 3.63183539e-02 -3.67975345e-01] [ 4.70131224e-03 -3.63909660e-02 9.99326571e-01 -4.83028135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89240100800001 meters Centerline goodness : 0.884094 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.36, Z:-0.49 [[ 9.99880617e-01 -1.45825289e-02 -5.10904062e-03 1.08197707e+01] [ 1.47443655e-02 9.99339380e-01 3.32175784e-02 -3.61064762e-01] [ 4.62126918e-03 -3.32889424e-02 9.99435086e-01 -4.87714101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92240100800001 meters Centerline goodness : 0.886577 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.35, Z:-0.49 [[ 9.99883468e-01 -1.43117947e-02 -5.31252618e-03 1.08204718e+01] [ 1.44660468e-02 9.99438234e-01 3.02316201e-02 -3.53723464e-01] [ 4.87687304e-03 -3.03049484e-02 9.99528802e-01 -4.92271435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95240100800001 meters Centerline goodness : 0.880049 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.35, Z:-0.49 [[ 9.99962894e-01 -7.00121771e-03 -5.01922765e-03 1.08416028e+01] [ 7.14993207e-03 9.99516788e-01 3.02500993e-02 -3.51611804e-01] [ 4.80501477e-03 -3.02848640e-02 9.99529759e-01 -4.93175141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98240100800001 meters Centerline goodness : 0.883234 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.50 [[ 9.99995944e-01 1.34669460e-03 -2.50959050e-03 1.08450469e+01] [-1.30465125e-03 9.99860027e-01 1.66800669e-02 -3.43553367e-01] [ 2.53170218e-03 -1.66767251e-02 9.99857729e-01 -5.02190362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01240100800001 meters Centerline goodness : 0.882550 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.51 [[ 9.99988695e-01 4.53633578e-03 1.42534689e-03 1.08602512e+01] [-4.54855343e-03 9.99951908e-01 8.68868651e-03 -3.39070517e-01] [-1.38586354e-03 -8.69507155e-03 9.99961237e-01 -5.07254024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04240100800001 meters Centerline goodness : 0.881732 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.51 [[ 9.99987291e-01 4.76970893e-03 1.63343079e-03 1.08593646e+01] [-4.78267521e-03 9.99956335e-01 8.02836075e-03 -3.36203539e-01] [-1.59506652e-03 -8.03607089e-03 9.99966438e-01 -5.07378686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07240100800001 meters Centerline goodness : 0.882875 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.50 [[ 9.99980247e-01 5.83391649e-03 2.33887935e-03 1.08556003e+01] [-5.85527187e-03 9.99940258e-01 9.23016680e-03 -3.35783821e-01] [-2.28489160e-03 -9.24367926e-03 9.99954666e-01 -5.03631896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10240100800002 meters Centerline goodness : 0.886266 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.50 [[ 9.99977232e-01 6.25177608e-03 2.53992280e-03 1.08540880e+01] [-6.27791002e-03 9.99926055e-01 1.04149973e-02 -3.37355986e-01] [-2.47462275e-03 -1.04307056e-02 9.99942537e-01 -5.00952804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13240100800002 meters Centerline goodness : 0.891348 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.50 [[ 9.99976925e-01 6.31464392e-03 2.50487186e-03 1.08536653e+01] [-6.34211707e-03 9.99918104e-01 1.11159232e-02 -3.38393059e-01] [-2.43447362e-03 -1.11315529e-02 9.99935079e-01 -4.99345190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16240100800002 meters Centerline goodness : 0.892923 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.34, Z:-0.50 [[ 9.99979239e-01 5.98082788e-03 2.39798437e-03 1.08543297e+01] [-6.00607443e-03 9.99925111e-01 1.06630209e-02 -3.37583934e-01] [-2.33403110e-03 -1.06772020e-02 9.99940273e-01 -4.99938488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19240100800002 meters Centerline goodness : 0.893737 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.50 [[ 9.99982714e-01 5.48217816e-03 2.12539794e-03 1.08558684e+01] [-5.50250911e-03 9.99938000e-01 9.68088548e-03 -3.35758888e-01] [-2.07219382e-03 -9.69241316e-03 9.99950880e-01 -5.01701613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22240100800002 meters Centerline goodness : 0.892245 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.33, Z:-0.50 [[ 9.99985178e-01 5.26325853e-03 1.39363559e-03 1.08581899e+01] [-5.27489156e-03 9.99950136e-01 8.47946981e-03 -3.34392523e-01] [-1.34893645e-03 -8.48669540e-03 9.99963078e-01 -5.04113145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252401008 meters Centerline goodness : 0.890465 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.50 [[ 9.99986061e-01 5.20645196e-03 8.77373968e-04 1.08594390e+01] [-5.21351898e-03 9.99952338e-01 8.25475741e-03 -3.35187320e-01] [-8.34354152e-04 -8.25921656e-03 9.99965544e-01 -5.04645324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28240100800001 meters Centerline goodness : 0.894132 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.34, Z:-0.51 [[ 9.99995692e-01 2.93512958e-03 -4.28224690e-05 1.08603240e+01] [-2.93494196e-03 9.99988210e-01 3.86847754e-03 -3.35054003e-01] [ 5.41764470e-05 -3.86833519e-03 9.99992516e-01 -5.06777598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31240100800001 meters Centerline goodness : 0.894180 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.33, Z:-0.51 [[ 9.99997124e-01 2.32828130e-03 -5.76166877e-04 1.08627793e+01] [-2.32647016e-03 9.99992413e-01 3.12439879e-03 -3.34628828e-01] [ 5.83436985e-04 -3.12304937e-03 9.99994953e-01 -5.08811023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34240100800001 meters Centerline goodness : 0.890230 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.34, Z:-0.51 [[ 9.99987529e-01 4.62336794e-03 -1.88847026e-03 1.08678171e+01] [-4.60959863e-03 9.99963227e-01 7.23166541e-03 -3.36746057e-01] [ 1.92183546e-03 -7.22287013e-03 9.99972068e-01 -5.09639264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37240100800001 meters Centerline goodness : 0.885996 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.34, Z:-0.51 [[ 9.99989919e-01 3.77238539e-03 -2.43557035e-03 1.08707575e+01] [-3.75666590e-03 9.99972292e-01 6.42676736e-03 -3.36522299e-01] [ 2.45974711e-03 -6.41755295e-03 9.99976382e-01 -5.12023838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40240100800001 meters Centerline goodness : 0.886118 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.34, Z:-0.51 [[ 9.99991842e-01 2.54374140e-03 -3.13787836e-03 1.08739395e+01] [-2.52052801e-03 9.99969593e-01 7.37970122e-03 -3.41193440e-01] [ 3.15655499e-03 -7.37173190e-03 9.99967846e-01 -5.11762462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43240100800001 meters Centerline goodness : 0.888590 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.34, Z:-0.51 [[ 9.99994676e-01 -1.34885955e-03 -2.97145520e-03 1.08735669e+01] [ 1.35934568e-03 9.99992846e-01 3.52976545e-03 -3.42042548e-01] [ 2.96667279e-03 -3.53378589e-03 9.99989356e-01 -5.11802882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46240100800001 meters Centerline goodness : 0.888683 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99990538e-01 -2.07062762e-03 -3.82573455e-03 1.08758868e+01] [ 2.08814855e-03 9.99987325e-01 4.58145139e-03 -3.45500804e-01] [ 3.81619958e-03 -4.58939674e-03 9.99982187e-01 -5.10497945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49240100800002 meters Centerline goodness : 0.888937 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99984931e-01 -2.85474884e-03 -4.68921294e-03 1.08784259e+01] [ 2.87971953e-03 9.99981665e-01 5.32704229e-03 -3.48019705e-01] [ 4.67391959e-03 -5.34046563e-03 9.99974817e-01 -5.09639961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52240100800002 meters Centerline goodness : 0.890244 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99980981e-01 -3.24426376e-03 -5.24524178e-03 1.08799422e+01] [ 3.27526398e-03 9.99977158e-01 5.91241399e-03 -3.49808556e-01] [ 5.22594054e-03 -5.92948109e-03 9.99968765e-01 -5.08974508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55240100800002 meters Centerline goodness : 0.892301 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99979611e-01 -3.24222103e-03 -5.50144082e-03 1.08801130e+01] [ 3.28063761e-03 9.99970199e-01 6.98840785e-03 -3.53032022e-01] [ 5.47861891e-03 -7.00631360e-03 9.99960447e-01 -5.07223558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58240100800002 meters Centerline goodness : 0.890906 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99979605e-01 -3.20010602e-03 -5.52716493e-03 1.08803000e+01] [ 3.24035133e-03 9.99968193e-01 7.28782443e-03 -3.53867226e-01] [ 5.50366732e-03 -7.30558575e-03 9.99958168e-01 -5.07038459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612401008 meters Centerline goodness : 0.895061 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99977795e-01 -3.38418338e-03 -5.74074756e-03 1.08812121e+01] [ 3.42627251e-03 9.99967209e-01 7.33772432e-03 -3.53949129e-01] [ 5.71572711e-03 -7.35723075e-03 9.99956600e-01 -5.07365612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64240100800001 meters Centerline goodness : 0.892735 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.35, Z:-0.51 [[ 9.99970867e-01 -4.41895701e-03 -6.22394336e-03 1.08840355e+01] [ 4.46362843e-03 9.99964248e-01 7.18184135e-03 -3.54947574e-01] [ 6.19198460e-03 -7.20941349e-03 9.99954841e-01 -5.08762647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67240100800001 meters Centerline goodness : 0.893797 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.36, Z:-0.50 [[ 9.99952882e-01 -3.24402725e-03 -9.14936962e-03 1.09139224e+01] [ 3.36222125e-03 9.99910718e-01 1.29326081e-02 -3.60912281e-01] [ 9.10659901e-03 -1.29627610e-02 9.99874510e-01 -5.00293219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70240100800001 meters Centerline goodness : 0.893899 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.36, Z:-0.50 [[ 9.99929915e-01 -7.62262911e-03 -9.05870790e-03 1.09145132e+01] [ 7.70096120e-03 9.99932986e-01 8.64396888e-03 -3.61386751e-01] [ 8.99221108e-03 -8.71312382e-03 9.99921608e-01 -5.01283903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73240100800001 meters Centerline goodness : 0.896817 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.37, Z:-0.48 [[ 9.99807903e-01 -1.74072994e-02 -9.00789222e-03 1.09205532e+01] [ 1.76828611e-02 9.99348148e-01 3.14737132e-02 -3.71546215e-01] [ 8.45414806e-03 -3.16269525e-02 9.99463988e-01 -4.82891276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76240100800001 meters Centerline goodness : 0.901330 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.38, Z:-0.47 [[ 0.99972138 -0.01975448 -0.0129199 10.90385716] [ 0.02027935 0.99891844 0.04184128 -0.37644079] [ 0.01207938 -0.04209163 0.99904073 -0.47345818] [ 0. 0. 0. 1. ]] SLAMing on 80.79240100800001 meters Centerline goodness : 0.897342 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.38, Z:-0.47 [[ 0.99964865 -0.02125109 -0.01584173 10.8765688 ] [ 0.02191988 0.9988211 0.04331204 -0.37825173] [ 0.01490263 -0.04364407 0.99893599 -0.47116145] [ 0. 0. 0. 1. ]] SLAMing on 80.82240100800001 meters Centerline goodness : 0.899487 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.38, Z:-0.47 [[ 0.99962861 -0.02327856 -0.01416867 10.84505615] [ 0.02384049 0.99887978 0.04087558 -0.37744949] [ 0.01320127 -0.04119819 0.99906378 -0.47425485] [ 0. 0. 0. 1. ]] SLAMing on 80.85240100800002 meters Centerline goodness : 0.901641 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.38, Z:-0.48 [[ 0.99956854 -0.02627024 -0.01313786 10.84254841] [ 0.02672699 0.99899826 0.03589063 -0.3754585 ] [ 0.01218184 -0.03622628 0.99926936 -0.47613995] [ 0. 0. 0. 1. ]] SLAMing on 80.88240100800002 meters Centerline goodness : 0.900901 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.37, Z:-0.48 [[ 0.99956681 -0.02635667 -0.01309634 10.84308863] [ 0.0268006 0.99902915 0.03496396 -0.37395904] [ 0.01216209 -0.0352998 0.99930276 -0.4779074 ] [ 0. 0. 0. 1. ]] SLAMing on 80.91240100800002 meters Centerline goodness : 0.899103 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.48 [[ 0.99964185 -0.02285032 -0.01392936 10.84546909] [ 0.02337613 0.99897226 0.03883282 -0.37432309] [ 0.0130277 -0.03914453 0.99914863 -0.47840871] [ 0. 0. 0. 1. ]] SLAMing on 80.94240100800002 meters Centerline goodness : 0.899658 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.48 [[ 0.99965039 -0.02246842 -0.01393818 10.84564648] [ 0.02298213 0.99901869 0.03786144 -0.37161873] [ 0.01307381 -0.03816853 0.99918579 -0.48038027] [ 0. 0. 0. 1. ]] SLAMing on 80.97240100800002 meters Centerline goodness : 0.895133 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.49 [[ 0.99980916 -0.0157869 -0.01150704 10.84688673] [ 0.01603195 0.99963979 0.02152373 -0.36717272] [ 0.01116311 -0.0217041 0.99970211 -0.49078086] [ 0. 0. 0. 1. ]] SLAMing on 81.002401008 meters Centerline goodness : 0.897705 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.36, Z:-0.50 [[ 9.99897495e-01 -1.17578085e-02 -8.17033182e-03 1.08526805e+01] [ 1.18123854e-02 9.99908025e-01 6.66405462e-03 -3.63578931e-01] [ 8.09122568e-03 -6.75988263e-03 9.99944416e-01 -4.99190044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03240100800001 meters Centerline goodness : 0.901197 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.36, Z:-0.51 [[ 9.99983018e-01 -4.44847599e-03 -3.76499040e-03 1.08608727e+01] [ 4.43664844e-03 9.99985216e-01 -3.14399938e-03 -3.59268019e-01] [ 3.77892074e-03 3.12724205e-03 9.99987970e-01 -5.07822210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06240100800001 meters Centerline goodness : 0.897262 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.36, Z:-0.51 [[ 9.99991160e-01 -2.95842000e-04 -4.19432828e-03 1.08614004e+01] [ 3.01888471e-04 9.99998916e-01 1.44102276e-03 -3.59655530e-01] [ 4.19389742e-03 -1.44227624e-03 9.99990165e-01 -5.06687526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09240100800001 meters Centerline goodness : 0.899923 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.36, Z:-0.51 [[ 9.99992761e-01 7.44549519e-04 -3.73140728e-03 1.08595884e+01] [-7.40448767e-04 9.99999121e-01 1.10024361e-03 -3.57548728e-01] [ 3.73222318e-03 -1.09747273e-03 9.99992433e-01 -5.07143446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12240100800001 meters Centerline goodness : 0.898725 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.36, Z:-0.51 [[ 9.99993080e-01 1.70441328e-03 -3.30683377e-03 1.08578871e+01] [-1.70242894e-03 9.99998369e-01 6.02794170e-04 -3.55183537e-01] [ 3.30785579e-03 -5.97160349e-04 9.99994351e-01 -5.07722727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15240100800001 meters Centerline goodness : 0.897936 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.35, Z:-0.51 [[ 9.99973191e-01 6.69829962e-03 -2.95816668e-03 1.08567141e+01] [-6.68490885e-03 9.99967469e-01 4.51363579e-03 -3.54351961e-01] [ 2.98830413e-03 -4.49373971e-03 9.99985438e-01 -5.08417758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18240100800001 meters Centerline goodness : 0.897668 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.35, Z:-0.51 [[ 9.99970817e-01 7.18690051e-03 -2.59118923e-03 1.08558732e+01] [-7.17600770e-03 9.99965479e-01 4.18885665e-03 -3.53869328e-01] [ 2.62120467e-03 -4.17014001e-03 9.99987870e-01 -5.09335685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21240100800001 meters Centerline goodness : 0.897668 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.35, Z:-0.51 [[ 9.99970817e-01 7.18690051e-03 -2.59118923e-03 1.08558732e+01] [-7.17600770e-03 9.99965479e-01 4.18885665e-03 -3.53869328e-01] [ 2.62120467e-03 -4.17014001e-03 9.99987870e-01 -5.09335685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24240100800002 meters Centerline goodness : 0.900667 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.35, Z:-0.51 [[ 9.99991413e-01 3.55606428e-03 -2.12782979e-03 1.08546127e+01] [-3.55612940e-03 9.99993677e-01 -2.68227972e-05 -3.53996084e-01] [ 2.12772095e-03 3.43894049e-05 9.99997736e-01 -5.09844403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27240100800002 meters Centerline goodness : 0.901443 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.36, Z:-0.51 [[ 9.99990599e-01 3.59296756e-03 -2.42753726e-03 1.08546959e+01] [-3.59021802e-03 9.99992910e-01 1.13605559e-03 -3.58028032e-01] [ 2.43160186e-03 -1.12732952e-03 9.99996408e-01 -5.08073885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30240100800002 meters Centerline goodness : 0.903817 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.36, Z:-0.50 [[ 9.99998051e-01 1.57532070e-04 -1.96787615e-03 1.08529033e+01] [-1.58288347e-04 9.99999914e-01 -3.84161626e-04 -3.64566810e-01] [ 1.96781546e-03 3.84472369e-04 9.99997990e-01 -5.04990110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33240100800002 meters Centerline goodness : 0.906232 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:-0.50 [[ 9.99997331e-01 -2.38920930e-04 -2.29811252e-03 1.08540085e+01] [ 2.41244626e-04 9.99999460e-01 1.01090808e-03 -3.68965855e-01] [ 2.29786975e-03 -1.01145978e-03 9.99996848e-01 -5.03599711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362401008 meters Centerline goodness : 0.905170 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.37, Z:-0.50 [[ 9.99995920e-01 -1.01282407e-03 -2.67116515e-03 1.08559850e+01] [ 1.01740516e-03 9.99998013e-01 1.71421786e-03 -3.72671347e-01] [ 2.66942364e-03 -1.71692852e-03 9.99994963e-01 -5.03610236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39240100800001 meters Centerline goodness : 0.905896 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.50 [[ 9.99991931e-01 -2.02821930e-03 -3.46771519e-03 1.08589629e+01] [ 2.03632787e-03 9.99995197e-01 2.33637361e-03 -3.76301203e-01] [ 3.46295986e-03 -2.34341616e-03 9.99991258e-01 -5.03547803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42240100800001 meters Centerline goodness : 0.906549 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.50 [[ 9.99990341e-01 -2.26470460e-03 -3.76670128e-03 1.08603732e+01] [ 2.27381206e-03 9.99994498e-01 2.41536551e-03 -3.78575336e-01] [ 3.76121047e-03 -2.42390695e-03 9.99989989e-01 -5.04420205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45240100800001 meters Centerline goodness : 0.903148 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.51 [[ 9.99990163e-01 -2.25111313e-03 -3.82183888e-03 1.08609088e+01] [ 2.25857251e-03 9.99995551e-01 1.94858560e-03 -3.77501995e-01] [ 3.81743539e-03 -1.95719833e-03 9.99990798e-01 -5.05528410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48240100800001 meters Centerline goodness : 0.902686 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.38, Z:-0.51 [[ 9.99988691e-01 -2.40148126e-03 -4.10494617e-03 1.08619486e+01] [ 2.40745594e-03 9.99996049e-01 1.45116202e-03 -3.76339427e-01] [ 4.10144502e-03 -1.46102808e-03 9.99990522e-01 -5.06488013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51240100800001 meters Centerline goodness : 0.899768 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.38, Z:-0.51 [[ 9.99986530e-01 4.19698409e-04 -5.17329721e-03 1.08657451e+01] [-3.93582730e-04 9.99987181e-01 5.04815367e-03 -3.76682666e-01] [ 5.17534960e-03 -5.04604955e-03 9.99973876e-01 -5.07480434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54240100800001 meters Centerline goodness : 0.900446 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.38, Z:-0.51 [[ 9.99983773e-01 -3.24348629e-04 -5.68763120e-03 1.08675255e+01] [ 3.53385888e-04 9.99986907e-01 5.10507272e-03 -3.77041729e-01] [ 5.68590091e-03 -5.10699981e-03 9.99970794e-01 -5.07336312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57240100800001 meters Centerline goodness : 0.896506 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.38, Z:-0.51 [[ 9.99979901e-01 -1.37644049e-03 -6.18892106e-03 1.08703082e+01] [ 1.40141112e-03 9.99990889e-01 4.03220669e-03 -3.75330022e-01] [ 6.18331458e-03 -4.04079887e-03 9.99972719e-01 -5.09498717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60240100800002 meters Centerline goodness : 0.893403 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.51 [[ 9.99973873e-01 -2.40927609e-03 -6.81540121e-03 1.08734256e+01] [ 2.42769716e-03 9.99993419e-01 2.69587833e-03 -3.72664970e-01] [ 6.80886124e-03 -2.71235362e-03 9.99973141e-01 -5.12101421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63240100800002 meters Centerline goodness : 0.888755 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.37, Z:-0.51 [[ 9.99965089e-01 -4.86333437e-05 -8.35572403e-03 1.08783978e+01] [ 1.04849937e-04 9.99977364e-01 6.72760776e-03 -3.73225552e-01] [ 8.35520771e-03 -6.72824899e-03 9.99942459e-01 -5.11997309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66240100800002 meters Centerline goodness : 0.889798 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.37, Z:-0.51 [[ 9.99965920e-01 2.63881833e-04 -8.25158189e-03 1.08771284e+01] [-2.09237706e-04 9.99978050e-01 6.62242306e-03 -3.71651086e-01] [ 8.25314830e-03 -6.62047083e-03 9.99944026e-01 -5.10919213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69240100800002 meters Centerline goodness : 0.889726 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.51 [[ 9.99967539e-01 9.36945764e-04 -8.00272881e-03 1.08749871e+01] [-8.76184044e-04 9.99970791e-01 7.59275941e-03 -3.72638967e-01] [ 8.00960906e-03 -7.58550108e-03 9.99939151e-01 -5.08381010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72240100800002 meters Centerline goodness : 0.889936 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.51 [[ 9.99967687e-01 1.24461396e-03 -7.94202866e-03 1.08737707e+01] [-1.18036630e-03 9.99966586e-01 8.08914405e-03 -3.72976112e-01] [ 7.95183114e-03 -8.07950817e-03 9.99935743e-01 -5.06654517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752401008 meters Centerline goodness : 0.894567 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.51 [[ 9.99972554e-01 1.48462796e-03 -7.25861937e-03 1.08720315e+01] [-1.43027049e-03 9.99970941e-01 7.48814376e-03 -3.69725081e-01] [ 7.26952555e-03 -7.47755645e-03 9.99945619e-01 -5.06933931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78240100800001 meters Centerline goodness : 0.896292 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.51 [[ 9.99975208e-01 1.37971225e-03 -6.90507011e-03 1.08718436e+01] [-1.33480895e-03 9.99977962e-01 6.50333559e-03 -3.67390923e-01] [ 6.91389067e-03 -6.49395741e-03 9.99955012e-01 -5.08609777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81240100800001 meters Centerline goodness : 0.887452 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.36, Z:-0.51 [[ 9.99975717e-01 9.24498599e-04 -6.90724392e-03 1.08730531e+01] [-8.92654574e-04 9.99988967e-01 4.61189747e-03 -3.63239765e-01] [ 6.91143140e-03 -4.60561970e-03 9.99965510e-01 -5.11765347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84240100800001 meters Centerline goodness : 0.891146 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.36, Z:-0.51 [[ 9.99975218e-01 8.22932238e-04 -6.99183084e-03 1.08735194e+01] [-7.95355911e-04 9.99991898e-01 3.94594370e-03 -3.62019571e-01] [ 6.99502144e-03 -3.94028492e-03 9.99967771e-01 -5.12788262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87240100800001 meters Centerline goodness : 0.893155 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.36, Z:-0.51 [[ 9.99959958e-01 4.02932043e-03 -7.99037983e-03 1.08759031e+01] [-3.95618037e-03 9.99950327e-01 9.14829087e-03 -3.64828830e-01] [ 8.02684433e-03 -9.11631317e-03 9.99926229e-01 -5.10468655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90240100800001 meters Centerline goodness : 0.892004 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.36, Z:-0.51 [[ 9.99971380e-01 7.17749997e-04 -7.53152407e-03 1.08743610e+01] [-6.83463429e-04 9.99989397e-01 4.55399444e-03 -3.62519150e-01] [ 7.53471285e-03 -4.54871659e-03 9.99961268e-01 -5.11287722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93240100800001 meters Centerline goodness : 0.896316 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.36, Z:-0.51 [[ 9.99968329e-01 5.01424257e-04 -7.94288059e-03 1.08751090e+01] [-4.58845737e-04 9.99985522e-01 5.36150487e-03 -3.64144858e-01] [ 7.94545398e-03 -5.35769051e-03 9.99954081e-01 -5.09830327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96240100800001 meters Centerline goodness : 0.895198 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.37, Z:-0.51 [[ 9.99952528e-01 -2.86313705e-03 -9.31364222e-03 1.08815970e+01] [ 2.92264929e-03 9.99975361e-01 6.38247002e-03 -3.67468789e-01] [ 9.29513885e-03 -6.40938755e-03 9.99936258e-01 -5.08022588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99240100800002 meters Centerline goodness : 0.894647 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.37, Z:-0.51 [[ 9.99938781e-01 -4.17516225e-03 -1.02470187e-02 1.08850370e+01] [ 4.24294827e-03 9.99969202e-01 6.60239427e-03 -3.68831760e-01] [ 1.02191370e-02 -6.64546765e-03 9.99925701e-01 -5.07948963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02240100800002 meters Centerline goodness : 0.898020 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.37, Z:-0.51 [[ 9.99922833e-01 -5.51032800e-03 -1.11339131e-02 1.08885271e+01] [ 5.58568876e-03 9.99961626e-01 6.74885660e-03 -3.70359853e-01] [ 1.10962974e-02 -6.81052638e-03 9.99915241e-01 -5.08126177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05240100800002 meters Centerline goodness : 0.897332 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.37, Z:-0.50 [[ 9.99895273e-01 -7.78614123e-03 -1.21991519e-02 1.08995698e+01] [ 7.95385458e-03 9.99873687e-01 1.37602893e-02 -3.73522786e-01] [ 1.20904714e-02 -1.38558785e-02 9.99830903e-01 -5.02091601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08240100800002 meters Centerline goodness : 0.897200 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.38, Z:-0.50 [[ 9.99870541e-01 -9.24709436e-03 -1.31678206e-02 1.09028053e+01] [ 9.45313407e-03 9.99832501e-01 1.56719020e-02 -3.78268320e-01] [ 1.30206954e-02 -1.57943503e-02 9.99790478e-01 -4.98852179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112401008 meters Centerline goodness : 0.895021 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.38, Z:-0.49 [[ 9.99854712e-01 -8.29405256e-03 -1.48917233e-02 1.09096816e+01] [ 8.62637174e-03 9.99712053e-01 2.23919102e-02 -3.81909290e-01] [ 1.47017156e-02 -2.25171185e-02 9.99638354e-01 -4.93659181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14240100800001 meters Centerline goodness : 0.897843 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.38, Z:-0.50 [[ 9.99845322e-01 -8.85452708e-03 -1.51963721e-02 1.09115627e+01] [ 9.17732195e-03 9.99730902e-01 2.13049590e-02 -3.81136729e-01] [ 1.50036374e-02 -2.14411256e-02 9.99657526e-01 -4.95941591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17240100800001 meters Centerline goodness : 0.900662 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.38, Z:-0.50 [[ 9.99834079e-01 -9.44429918e-03 -1.55762328e-02 1.09137425e+01] [ 9.75509535e-03 9.99752400e-01 1.99994448e-02 -3.79120880e-01] [ 1.53834954e-02 -2.01480741e-02 9.99678650e-01 -4.98563545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20240100800001 meters Centerline goodness : 0.894618 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.38, Z:-0.50 [[ 9.99845335e-01 -6.05054843e-03 -1.65135297e-02 1.09161933e+01] [ 6.45062739e-03 9.99684323e-01 2.42825914e-02 -3.80379698e-01] [ 1.63613937e-02 -2.43853584e-02 9.99568737e-01 -4.98028496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23240100800001 meters Centerline goodness : 0.899774 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.38, Z:-0.51 [[ 9.99914555e-01 -1.91868290e-03 -1.29306128e-02 1.09200458e+01] [ 2.02140895e-03 9.99966466e-01 7.93602551e-03 -3.75536488e-01] [ 1.29149525e-02 -7.96148548e-03 9.99884903e-01 -5.07814315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26240100800001 meters Centerline goodness : 0.902459 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.38, Z:-0.51 [[ 9.99919384e-01 -1.25218996e-03 -1.26355328e-02 1.09186194e+01] [ 1.35547329e-03 9.99965716e-01 8.16878760e-03 -3.75636845e-01] [ 1.26248708e-02 -8.18525620e-03 9.99886801e-01 -5.07346254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29240100800001 meters Centerline goodness : 0.902952 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.37, Z:-0.51 [[ 9.99960706e-01 1.15766059e-03 -8.78896182e-03 1.09356713e+01] [-1.14280496e-03 9.99997910e-01 1.69509387e-03 -3.74924096e-01] [ 8.79090579e-03 -1.68498320e-03 9.99959940e-01 -5.10868072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32240100800001 meters Centerline goodness : 0.903748 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99963534e-01 2.15213308e-03 -8.26430019e-03 1.09333531e+01] [-2.12690029e-03 9.99993054e-01 3.06080297e-03 -3.76689662e-01] [ 8.27083004e-03 -3.04311402e-03 9.99961166e-01 -5.08856616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35240100800002 meters Centerline goodness : 0.907723 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99963377e-01 2.18098920e-03 -8.27576288e-03 1.09333028e+01] [-2.15221619e-03 9.99991614e-01 3.48409456e-03 -3.77408959e-01] [ 8.28329226e-03 -3.46615573e-03 9.99959686e-01 -5.08240087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38240100800002 meters Centerline goodness : 0.911518 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99963097e-01 2.35846333e-03 -8.26094763e-03 1.09330643e+01] [-2.32190970e-03 9.99987484e-01 4.43167038e-03 -3.79056433e-01] [ 8.27129617e-03 -4.41232566e-03 9.99956058e-01 -5.06973183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41240100800002 meters Centerline goodness : 0.910616 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99961999e-01 2.09030943e-03 -8.46352371e-03 1.09338825e+01] [-2.05184605e-03 9.99987540e-01 4.55074159e-03 -3.80622654e-01] [ 8.47293072e-03 -4.53320281e-03 9.99953829e-01 -5.07185694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44240100800002 meters Centerline goodness : 0.912361 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99956472e-01 1.73211392e-03 -9.16810871e-03 1.09359095e+01] [-1.68279308e-03 9.99984087e-01 5.38459217e-03 -3.84363032e-01] [ 9.17728955e-03 -5.36892976e-03 9.99943474e-01 -5.06712744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47240100800002 meters Centerline goodness : 0.911694 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.39, Z:-0.51 [[ 9.99955043e-01 1.81817866e-03 -9.30622455e-03 1.09363094e+01] [-1.76711903e-03 9.99983358e-01 5.49189570e-03 -3.85275108e-01] [ 9.31605492e-03 -5.47520360e-03 9.99941615e-01 -5.06934548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502401008 meters Centerline goodness : 0.914384 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99954169e-01 1.57586548e-03 -9.44335437e-03 1.09373883e+01] [-1.53124486e-03 9.99987639e-01 4.73045036e-03 -3.84602124e-01] [ 9.45069220e-03 -4.71577347e-03 9.99944221e-01 -5.08612265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53240100800001 meters Centerline goodness : 0.908645 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99955216e-01 1.50254425e-03 -9.34392132e-03 1.09380446e+01] [-1.46787990e-03 9.99992020e-01 3.71558036e-03 -3.82386689e-01] [ 9.34942958e-03 -3.70169820e-03 9.99949442e-01 -5.10798832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56240100800001 meters Centerline goodness : 0.901867 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99938295e-01 4.84600774e-03 -9.99608535e-03 1.09413884e+01] [-4.78600826e-03 9.99970441e-01 6.01751127e-03 -3.79012616e-01] [ 1.00249508e-02 -5.96929862e-03 9.99931932e-01 -5.14463970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59240100800001 meters Centerline goodness : 0.899379 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.52 [[ 9.99936991e-01 5.03014081e-03 -1.00355119e-02 1.09416559e+01] [-4.98126868e-03 9.99975642e-01 4.88898472e-03 -3.76163573e-01] [ 1.00598598e-02 -4.83868709e-03 9.99937691e-01 -5.16182457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62240100800001 meters Centerline goodness : 0.900233 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.37, Z:-0.52 [[ 9.99936365e-01 5.45598421e-03 -9.87410669e-03 1.09407838e+01] [-5.41261622e-03 9.99975612e-01 4.41349924e-03 -3.74458291e-01] [ 9.89794586e-03 -4.35977364e-03 9.99941510e-01 -5.16457053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65240100800001 meters Centerline goodness : 0.907677 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99931899e-01 7.37116562e-03 -9.04787645e-03 1.09356666e+01] [-7.31694821e-03 9.99955165e-01 6.01082704e-03 -3.75530653e-01] [ 9.09177760e-03 -5.94421485e-03 9.99941001e-01 -5.12425069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68240100800001 meters Centerline goodness : 0.909301 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.37, Z:-0.51 [[ 9.99955116e-01 4.62875339e-03 -8.26689612e-03 1.09326781e+01] [-4.61322017e-03 9.99987560e-01 1.89704756e-03 -3.73455279e-01] [ 8.27557424e-03 -1.85882540e-03 9.99964029e-01 -5.12434872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71240100800001 meters Centerline goodness : 0.914245 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.37, Z:-0.51 [[ 9.99954936e-01 4.62700293e-03 -8.28952511e-03 1.09324143e+01] [-4.60710467e-03 9.99986464e-01 2.41790010e-03 -3.74016720e-01] [ 8.30060053e-03 -2.37960043e-03 9.99962718e-01 -5.11262468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74240100800002 meters Centerline goodness : 0.915800 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99955011e-01 4.25520314e-03 -8.47754144e-03 1.09333042e+01] [-4.22758095e-03 9.99985706e-01 3.27353877e-03 -3.76136447e-01] [ 8.49134983e-03 -3.23755200e-03 9.99958707e-01 -5.10392220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77240100800002 meters Centerline goodness : 0.917422 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.38, Z:-0.51 [[ 9.99952754e-01 3.76518605e-03 -8.96175389e-03 1.09349233e+01] [-3.73295147e-03 9.99986513e-01 3.61091859e-03 -3.77822513e-01] [ 8.97522881e-03 -3.57729419e-03 9.99953323e-01 -5.10232850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80240100800002 meters Centerline goodness : 0.919715 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99948708e-01 3.39360691e-03 -9.54282264e-03 1.09364657e+01] [-3.35425810e-03 9.99985820e-01 4.13637895e-03 -3.79804362e-01] [ 9.55672456e-03 -4.10415769e-03 9.99945911e-01 -5.09645727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83240100800002 meters Centerline goodness : 0.919502 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99945472e-01 3.31110200e-03 -9.90397264e-03 1.09373666e+01] [-3.26759432e-03 9.99984955e-01 4.40591288e-03 -3.80809955e-01] [ 9.91841206e-03 -4.37331047e-03 9.99941248e-01 -5.09408310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862401008 meters Centerline goodness : 0.914578 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99939852e-01 3.45775452e-03 -1.04084940e-02 1.09379985e+01] [-3.40927421e-03 9.99983275e-01 4.67190933e-03 -3.82347878e-01] [ 1.04244743e-02 -4.63614291e-03 9.99934916e-01 -5.08852845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89240100800001 meters Centerline goodness : 0.916962 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99934970e-01 3.17988731e-03 -1.09518597e-02 1.09393739e+01] [-3.12917306e-03 9.99984317e-01 4.64467889e-03 -3.83761091e-01] [ 1.09664575e-02 -4.61010659e-03 9.99929239e-01 -5.08976029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92240100800001 meters Centerline goodness : 0.915102 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99928181e-01 2.57084742e-03 -1.17057349e-02 1.09416556e+01] [-2.51882345e-03 9.99986896e-01 4.45689097e-03 -3.84221112e-01] [ 1.17170395e-02 -4.42708620e-03 9.99921553e-01 -5.09330691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95240100800001 meters Centerline goodness : 0.916833 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.38, Z:-0.51 [[ 9.99922924e-01 1.81937611e-03 -1.22815205e-02 1.09440108e+01] [-1.77541355e-03 9.99991982e-01 3.58952416e-03 -3.82789480e-01] [ 1.22879527e-02 -3.56744271e-03 9.99918136e-01 -5.10857866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98240100800001 meters Centerline goodness : 0.906635 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.38, Z:-0.52 [[ 9.99922983e-01 2.40879296e-05 -1.24107728e-02 1.09482987e+01] [-1.12741008e-05 9.99999467e-01 1.03254524e-03 -3.76832684e-01] [ 1.24107910e-02 -1.03232579e-03 9.99922450e-01 -5.16411715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01240100800001 meters Centerline goodness : 0.905579 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.38, Z:-0.52 [[ 9.99909328e-01 2.88361179e-03 -1.31537005e-02 1.09513482e+01] [-2.81990323e-03 9.99984217e-01 4.85937257e-03 -3.76562041e-01] [ 1.31675054e-02 -4.82183980e-03 9.99901678e-01 -5.16868217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04240100800001 meters Centerline goodness : 0.905960 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99911210e-01 2.43252263e-03 -1.31017101e-02 1.09521797e+01] [-2.38222174e-03 9.99989738e-01 3.85350061e-03 -3.73598534e-01] [ 1.31109494e-02 -3.82194728e-03 9.99906744e-01 -5.18482890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07240100800001 meters Centerline goodness : 0.905094 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99914164e-01 2.84504571e-03 -1.27894727e-02 1.09505066e+01] [-2.79855388e-03 9.99989417e-01 3.65159213e-03 -3.71509274e-01] [ 1.27997263e-02 -3.61548666e-03 9.99911544e-01 -5.17614217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10240100800002 meters Centerline goodness : 0.910765 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99911411e-01 3.31253010e-03 -1.28917721e-02 1.09492857e+01] [-3.25442333e-03 9.99984464e-01 4.52564699e-03 -3.72264791e-01] [ 1.29065632e-02 -4.48329078e-03 9.99906656e-01 -5.15077287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13240100800002 meters Centerline goodness : 0.910765 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99911411e-01 3.31253010e-03 -1.28917721e-02 1.09492857e+01] [-3.25442333e-03 9.99984464e-01 4.52564699e-03 -3.72264791e-01] [ 1.29065632e-02 -4.48329078e-03 9.99906656e-01 -5.15077287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16240100800002 meters Centerline goodness : 0.913664 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99998736e-01 3.27702628e-05 -1.58987185e-03 1.09538965e+01] [-2.52766372e-05 9.99988893e-01 4.71314312e-03 -3.70665604e-01] [ 1.59000864e-03 -4.71309698e-03 9.99987629e-01 -5.17994179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19240100800002 meters Centerline goodness : 0.918978 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99998564e-01 7.18208014e-04 -1.53523961e-03 1.09520553e+01] [-7.09959476e-04 9.99985348e-01 5.36661090e-03 -3.71102220e-01] [ 1.53907146e-03 -5.36551323e-03 9.99984421e-01 -5.15692428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22240100800002 meters Centerline goodness : 0.920989 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.52 [[ 9.99998692e-01 8.61036714e-04 -1.36899567e-03 1.09516244e+01] [-8.55056041e-04 9.99990115e-01 4.36325697e-03 -3.67998747e-01] [ 1.37273907e-03 -4.36208070e-03 9.99989544e-01 -5.16740897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252401008 meters Centerline goodness : 0.915255 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.37, Z:-0.52 [[ 9.99990702e-01 3.47989094e-03 -2.54670965e-03 1.09560127e+01] [-3.45928516e-03 9.99961604e-01 8.05130500e-03 -3.68168892e-01] [ 2.57462953e-03 -8.04242034e-03 9.99964345e-01 -5.17783310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28240100800001 meters Centerline goodness : 0.910247 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.37, Z:-0.52 [[ 9.99992678e-01 2.57848028e-03 -2.82745476e-03 1.09586557e+01] [-2.55989699e-03 9.99975229e-01 6.55648459e-03 -3.65470623e-01] [ 2.84429049e-03 -6.54919859e-03 9.99974509e-01 -5.21017824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31240100800001 meters Centerline goodness : 0.906458 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.36, Z:-0.52 [[ 9.99992984e-01 1.91868320e-03 -3.21715610e-03 1.09609173e+01] [-1.90042939e-03 9.99982134e-01 5.66738471e-03 -3.64468828e-01] [ 3.22797254e-03 -5.66123097e-03 9.99978765e-01 -5.23155419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34240100800001 meters Centerline goodness : 0.905144 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.37, Z:-0.52 [[ 9.99990133e-01 8.27480293e-04 -4.36460527e-03 1.09643545e+01] [-7.98948008e-04 9.99978328e-01 6.53489469e-03 -3.68502550e-01] [ 4.36991817e-03 -6.53134311e-03 9.99969122e-01 -5.22142358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37240100800001 meters Centerline goodness : 0.904183 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.52 [[ 9.99986917e-01 2.77955596e-04 -5.10761370e-03 1.09664989e+01] [-2.42140496e-04 9.99975391e-01 7.01138130e-03 -3.70659680e-01] [ 5.10943686e-03 -7.01005281e-03 9.99962376e-01 -5.21707577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40240100800001 meters Centerline goodness : 0.904556 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.52 [[ 9.99983225e-01 -4.56044121e-04 -5.77430784e-03 1.09689546e+01] [ 4.95983174e-04 9.99975953e-01 6.91714060e-03 -3.71664974e-01] [ 5.77101446e-03 -6.91988852e-03 9.99959404e-01 -5.22299512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43240100800001 meters Centerline goodness : 0.903665 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.52 [[ 9.99979816e-01 -1.00545654e-03 -6.27345875e-03 1.09710711e+01] [ 1.04730868e-03 9.99977196e-01 6.67158722e-03 -3.71886307e-01] [ 6.26660770e-03 -6.67802281e-03 9.99958066e-01 -5.23306333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46240100800001 meters Centerline goodness : 0.904342 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.52 [[ 9.99978464e-01 -1.09642905e-03 -6.47061376e-03 1.09715867e+01] [ 1.14149242e-03 9.99975094e-01 6.96473328e-03 -3.72519039e-01] [ 6.46281627e-03 -6.97196945e-03 9.99954811e-01 -5.22825124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49240100800002 meters Centerline goodness : 0.907396 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.38, Z:-0.52 [[ 9.99968029e-01 2.15840650e-03 -7.69948135e-03 1.09739146e+01] [-2.05098946e-03 9.99900843e-01 1.39319237e-02 -3.77215116e-01] [ 7.72878865e-03 -1.39156867e-02 9.99873302e-01 -5.17083225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52240100800002 meters Centerline goodness : 0.909249 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.38, Z:-0.52 [[ 9.99974430e-01 -8.80169401e-04 -7.09680324e-03 1.09714845e+01] [ 9.45953143e-04 9.99956572e-01 9.27146717e-03 -3.75237984e-01] [ 7.08833457e-03 -9.27794334e-03 9.99931835e-01 -5.17696536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55240100800002 meters Centerline goodness : 0.913299 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.38, Z:-0.52 [[ 9.99972681e-01 -7.42517988e-04 -7.35435060e-03 1.09713312e+01] [ 8.15604486e-04 9.99950266e-01 9.93985041e-03 -3.76318979e-01] [ 7.34660432e-03 -9.94557710e-03 9.99923554e-01 -5.16011913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58240100800002 meters Centerline goodness : 0.918416 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.38, Z:-0.52 [[ 9.99971272e-01 -7.70595898e-04 -7.54062530e-03 1.09715398e+01] [ 8.44048953e-04 9.99952183e-01 9.74264756e-03 -3.75915652e-01] [ 7.53275709e-03 -9.74873233e-03 9.99924107e-01 -5.15939148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61240100800002 meters Centerline goodness : 0.913176 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.52 [[ 9.99968502e-01 -1.50248626e-03 -7.79345009e-03 1.09734152e+01] [ 1.56852415e-03 9.99962862e-01 8.47433213e-03 -3.73725767e-01] [ 7.78042809e-03 -8.48628942e-03 9.99933722e-01 -5.18196632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64240100800001 meters Centerline goodness : 0.912314 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.37, Z:-0.52 [[ 9.99964474e-01 -2.42945162e-03 -8.07143464e-03 1.09758320e+01] [ 2.48303403e-03 9.99974904e-01 6.63514863e-03 -3.70681385e-01] [ 8.05511231e-03 -6.65495456e-03 9.99945412e-01 -5.21571123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67240100800001 meters Centerline goodness : 0.908537 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.37, Z:-0.52 [[ 9.99962959e-01 -2.79781138e-03 -8.13961457e-03 1.09770881e+01] [ 2.84353622e-03 9.99980213e-01 5.61142936e-03 -3.68593224e-01] [ 8.12375379e-03 -5.63436680e-03 9.99951128e-01 -5.23715214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70240100800001 meters Centerline goodness : 0.905449 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.37, Z:-0.53 [[ 9.99964266e-01 -2.56971807e-03 -8.05373939e-03 1.09769025e+01] [ 2.60726201e-03 9.99985768e-01 4.65465045e-03 -3.66159187e-01] [ 8.04166363e-03 -4.67548233e-03 9.99956735e-01 -5.25079657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73240100800001 meters Centerline goodness : 0.906808 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.37, Z:-0.52 [[ 9.99966336e-01 -2.14601300e-03 -7.91969269e-03 1.09759710e+01] [ 2.18108398e-03 9.99987843e-01 4.42234987e-03 -3.65171734e-01] [ 7.91010598e-03 -4.43947451e-03 9.99958860e-01 -5.24988423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76240100800001 meters Centerline goodness : 0.908102 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.53 [[ 9.99966387e-01 -1.96261168e-03 -7.96069562e-03 1.09758423e+01] [ 1.99345857e-03 9.99990529e-01 3.86881656e-03 -3.63119290e-01] [ 7.95302724e-03 -3.88455583e-03 9.99960829e-01 -5.25411337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79240100800001 meters Centerline goodness : 0.905325 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.52 [[ 9.99960454e-01 1.69983735e-03 -8.72932010e-03 1.09775185e+01] [-1.63015839e-03 9.99966806e-01 7.98309590e-03 -3.63131207e-01] [ 8.74260030e-03 -7.96855002e-03 9.99930032e-01 -5.24743327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82240100800001 meters Centerline goodness : 0.903195 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.53 [[ 9.99945598e-01 5.99806333e-03 -8.53369692e-03 1.09769781e+01] [-5.90354178e-03 9.99921424e-01 1.10586785e-02 -3.59085169e-01] [ 8.59935703e-03 -1.10076979e-02 9.99902436e-01 -5.25698606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85240100800002 meters Centerline goodness : 0.903715 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.53 [[ 9.99947392e-01 5.80128083e-03 -8.45927728e-03 1.09772701e+01] [-5.71456562e-03 9.99931248e-01 1.02392899e-02 -3.57005130e-01] [ 8.51809669e-03 -1.01904101e-02 9.99911795e-01 -5.26824229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88240100800002 meters Centerline goodness : 0.900408 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.53 [[ 9.99947862e-01 5.46586896e-03 -8.62540780e-03 1.09779260e+01] [-5.38297670e-03 9.99939388e-01 9.60437221e-03 -3.55486724e-01] [ 8.67738124e-03 -9.55744109e-03 9.99916676e-01 -5.27407254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91240100800002 meters Centerline goodness : 0.902837 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.35, Z:-0.53 [[ 9.99966244e-01 2.32520991e-03 -7.88059976e-03 1.09752523e+01] [-2.28419418e-03 9.99983821e-01 5.20965567e-03 -3.53585296e-01] [ 7.89258580e-03 -5.19147900e-03 9.99955377e-01 -5.27530812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94240100800002 meters Centerline goodness : 0.905309 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.35, Z:-0.53 [[ 9.99963924e-01 2.21703933e-03 -8.19977113e-03 1.09756534e+01] [-2.17083819e-03 9.99981744e-01 5.63905808e-03 -3.54959021e-01] [ 8.21212345e-03 -5.62105427e-03 9.99950481e-01 -5.26534195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97240100800002 meters Centerline goodness : 0.908518 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.52 [[ 9.99960090e-01 2.09738454e-03 -8.68439033e-03 1.09762284e+01] [-2.04137716e-03 9.99977095e-01 6.45305004e-03 -3.56876258e-01] [ 8.69772595e-03 -6.43506439e-03 9.99941468e-01 -5.24792362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002401008 meters Centerline goodness : 0.909920 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.52 [[ 9.99957068e-01 1.78200041e-03 -9.09318562e-03 1.09771335e+01] [-1.71848891e-03 9.99974110e-01 6.98755473e-03 -3.58650643e-01] [ 9.10540202e-03 -6.97162820e-03 9.99934242e-01 -5.23781618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03240100800001 meters Centerline goodness : 0.909993 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.52 [[ 9.99951554e-01 3.93988755e-04 -9.83540052e-03 1.09806572e+01] [-3.22388473e-04 9.99973446e-01 7.28037850e-03 -3.61572224e-01] [ 9.83800773e-03 -7.27685497e-03 9.99925128e-01 -5.24223313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06240100800001 meters Centerline goodness : 0.908727 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.53 [[ 9.99942535e-01 -7.06604998e-04 -1.06970739e-02 1.09841875e+01] [ 7.83017744e-04 9.99974197e-01 7.14082959e-03 -3.62920993e-01] [ 1.06917522e-02 -7.14879524e-03 9.99917287e-01 -5.25238873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09240100800001 meters Centerline goodness : 0.905756 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.36, Z:-0.53 [[ 9.99936143e-01 -1.31595161e-03 -1.12240388e-02 1.09864662e+01] [ 1.39730406e-03 9.99972791e-01 7.24329565e-03 -3.64978559e-01] [ 1.12142016e-02 -7.25851651e-03 9.99910774e-01 -5.26033599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12240100800001 meters Centerline goodness : 0.901847 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.37, Z:-0.53 [[ 9.99927755e-01 -1.88034592e-03 -1.18721747e-02 1.09887924e+01] [ 1.96733052e-03 9.99971278e-01 7.31934020e-03 -3.66698603e-01] [ 1.18580708e-02 -7.34216790e-03 9.99902735e-01 -5.26640842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15240100800001 meters Centerline goodness : 0.901865 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.37, Z:-0.53 [[ 9.99916748e-01 -2.73932263e-03 -1.26092403e-02 1.09922595e+01] [ 2.80893433e-03 9.99980895e-01 5.50629411e-03 -3.65321055e-01] [ 1.25939159e-02 -5.54125423e-03 9.99905339e-01 -5.30396135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18240100800001 meters Centerline goodness : 0.896389 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.37, Z:-0.53 [[ 9.99906309e-01 -3.50885498e-03 -1.32310522e-02 1.09949430e+01] [ 3.57202396e-03 9.99982321e-01 4.75369204e-03 -3.65466027e-01] [ 1.32141382e-02 -4.80050830e-03 9.99901166e-01 -5.32210783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21240100800001 meters Centerline goodness : 0.893982 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.53 [[ 9.99890156e-01 -4.42835300e-03 -1.41444717e-02 1.09980218e+01] [ 4.49246763e-03 9.99979764e-01 4.50428726e-03 -3.65874806e-01] [ 1.41242389e-02 -4.56733607e-03 9.99889817e-01 -5.32733540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24240100800002 meters Centerline goodness : 0.893805 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.53 [[ 9.99874464e-01 -5.30522755e-03 -1.49302172e-02 1.10012018e+01] [ 5.36791258e-03 9.99976933e-01 4.16159666e-03 -3.66452360e-01] [ 1.49077946e-02 -4.24121833e-03 9.99879878e-01 -5.34063794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27240100800002 meters Centerline goodness : 0.893979 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.53 [[ 9.99872521e-01 -5.49113405e-03 -1.49929614e-02 1.10018063e+01] [ 5.54817914e-03 9.99977518e-01 3.76585184e-03 -3.65322253e-01] [ 1.49719455e-02 -3.84855541e-03 9.99880508e-01 -5.34848537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30240100800002 meters Centerline goodness : 0.894339 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.36, Z:-0.53 [[ 9.99876366e-01 -5.22235672e-03 -1.48316915e-02 1.10010226e+01] [ 5.27772941e-03 9.99979240e-01 3.69671980e-03 -3.64113729e-01] [ 1.48120780e-02 -3.77454041e-03 9.99883171e-01 -5.34576352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33240100800002 meters Centerline goodness : 0.900456 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.36, Z:-0.53 [[ 9.99955058e-01 -4.92911721e-03 -8.09847531e-03 1.10100683e+01] [ 4.88553472e-03 9.99973526e-01 -5.39256575e-03 -3.62596291e-01] [ 8.12484149e-03 5.35275801e-03 9.99952666e-01 -5.33924762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36240100800002 meters Centerline goodness : 0.908370 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.37, Z:-0.53 [[ 9.99962195e-01 -1.92234592e-03 -8.48016919e-03 1.10108640e+01] [ 1.94321121e-03 9.99995104e-01 2.45292706e-03 -3.67909833e-01] [ 8.47541229e-03 -2.46931309e-03 9.99961034e-01 -5.26417154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39240100800001 meters Centerline goodness : 0.909066 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.37, Z:-0.53 [[ 9.99961206e-01 -2.11224530e-03 -8.55136722e-03 1.10109019e+01] [ 2.13742869e-03 9.99993403e-01 2.93688734e-03 -3.67937254e-01] [ 8.54510738e-03 -2.95505135e-03 9.99959124e-01 -5.25247676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42240100800001 meters Centerline goodness : 0.910947 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.37, Z:-0.52 [[ 9.99959666e-01 -2.39684974e-03 -8.65570753e-03 1.10112780e+01] [ 2.42390533e-03 9.99992206e-01 3.11661496e-03 -3.67314576e-01] [ 8.64817001e-03 -3.13746987e-03 9.99957682e-01 -5.24729623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45240100800001 meters Centerline goodness : 0.912092 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.37, Z:-0.52 [[ 9.99957457e-01 -2.82032056e-03 -8.78239866e-03 1.10121455e+01] [ 2.84772444e-03 9.99991111e-01 3.10937840e-03 -3.67111744e-01] [ 8.77355115e-03 -3.13425597e-03 9.99956600e-01 -5.24907527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48240100800001 meters Centerline goodness : 0.913201 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.37, Z:-0.52 [[ 9.99946332e-01 -4.16859887e-03 -9.48449487e-03 1.10146142e+01] [ 4.20560968e-03 9.99983607e-01 3.88565049e-03 -3.69413972e-01] [ 9.46814167e-03 -3.92533004e-03 9.99947472e-01 -5.23323229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51240100800001 meters Centerline goodness : 0.910083 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.52 [[ 9.99932707e-01 -4.92182338e-03 -1.05050643e-02 1.10170349e+01] [ 4.97171324e-03 9.99976462e-01 4.72830555e-03 -3.71883715e-01] [ 1.04815452e-02 -4.78021553e-03 9.99933641e-01 -5.21685004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54240100800001 meters Centerline goodness : 0.910000 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.52 [[ 9.99915486e-01 -6.08296560e-03 -1.14899059e-02 1.10201618e+01] [ 6.14014231e-03 9.99968910e-01 4.94755199e-03 -3.73435599e-01] [ 1.14594529e-02 -5.01768351e-03 9.99921749e-01 -5.21138909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57240100800001 meters Centerline goodness : 0.904986 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.37, Z:-0.52 [[ 9.99877353e-01 -8.63333489e-03 -1.30669388e-02 1.10268772e+01] [ 8.68714061e-03 9.99953997e-01 4.06655549e-03 -3.73346370e-01] [ 1.30312297e-02 -4.17957107e-03 9.99906355e-01 -5.22931175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60240100800002 meters Centerline goodness : 0.901600 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.37, Z:-0.53 [[ 9.99879389e-01 -8.37255730e-03 -1.30808273e-02 1.10308171e+01] [ 8.44730675e-03 9.99948248e-01 5.66966491e-03 -3.73650388e-01] [ 1.30326808e-02 -5.77947884e-03 9.99898368e-01 -5.25391360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63240100800002 meters Centerline goodness : 0.897427 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.37, Z:-0.53 [[ 9.99866743e-01 -9.05854059e-03 -1.35808650e-02 1.10331868e+01] [ 9.12471658e-03 9.99946758e-01 4.81871696e-03 -3.71958806e-01] [ 1.35364914e-02 -4.94199638e-03 9.99896165e-01 -5.27165938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66240100800002 meters Centerline goodness : 0.894183 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.37, Z:-0.53 [[ 9.99880783e-01 -5.71612899e-03 -1.43438408e-02 1.10355576e+01] [ 5.84163215e-03 9.99944891e-01 8.72302971e-03 -3.71462539e-01] [ 1.42931884e-02 -8.80578122e-03 9.99859072e-01 -5.27295252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69240100800002 meters Centerline goodness : 0.891049 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.37, Z:-0.53 [[ 9.99883645e-01 -5.38368019e-03 -1.42727649e-02 1.10347718e+01] [ 5.50716730e-03 9.99947623e-01 8.62680141e-03 -3.70616932e-01] [ 1.42255734e-02 -8.70440014e-03 9.99860924e-01 -5.26962051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72240100800002 meters Centerline goodness : 0.895187 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.37, Z:-0.53 [[ 9.99952606e-01 -3.60485533e-03 -9.04387074e-03 1.10485445e+01] [ 3.60096566e-03 9.99993417e-01 -4.46336091e-04 -3.68120601e-01] [ 9.04542018e-03 4.13748269e-04 9.99959004e-01 -5.31888864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752401008 meters Centerline goodness : 0.898013 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.37, Z:-0.53 [[ 9.99963191e-01 -1.63902145e-03 -8.42196770e-03 1.10440819e+01] [ 1.64478639e-03 9.99998418e-01 6.77631191e-04 -3.67561488e-01] [ 8.42084372e-03 -6.91458586e-04 9.99964305e-01 -5.28794121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78240100800001 meters Centerline goodness : 0.897675 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.37, Z:-0.53 [[ 9.99958088e-01 2.48515976e-03 -8.81167702e-03 1.10443051e+01] [-2.43634501e-03 9.99981652e-01 5.54619378e-03 -3.68855485e-01] [ 8.82529852e-03 -5.52449304e-03 9.99945796e-01 -5.26950779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81240100800001 meters Centerline goodness : 0.900152 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.37, Z:-0.53 [[ 9.99960653e-01 3.21826037e-03 -8.26649436e-03 1.10426278e+01] [-3.17892166e-03 9.99983582e-01 4.76755449e-03 -3.66092258e-01] [ 8.28170188e-03 -4.74108836e-03 9.99954467e-01 -5.27999258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84240100800001 meters Centerline goodness : 0.902936 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.53 [[ 9.99960604e-01 3.87183814e-03 -7.98740405e-03 1.10417341e+01] [-3.84187990e-03 9.99985541e-01 3.76262512e-03 -3.63271696e-01] [ 8.00185684e-03 -3.73179024e-03 9.99961021e-01 -5.29608678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87240100800001 meters Centerline goodness : 0.899680 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.53 [[ 9.99960978e-01 4.33276595e-03 -7.69862959e-03 1.10410219e+01] [-4.31094080e-03 9.99986649e-01 2.84927593e-03 -3.60765521e-01] [ 7.71087205e-03 -2.81597641e-03 9.99966306e-01 -5.31014130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90240100800001 meters Centerline goodness : 0.899808 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.53 [[ 9.99954326e-01 5.86211741e-03 -7.54862644e-03 1.10395417e+01] [-5.85096912e-03 9.99981761e-01 1.49810184e-03 -3.57437655e-01] [ 7.55727081e-03 -1.45386664e-03 9.99970387e-01 -5.33476823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93240100800001 meters Centerline goodness : 0.894695 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.54 [[ 9.99954229e-01 5.85594613e-03 -7.56617199e-03 1.10401281e+01] [-5.85245209e-03 9.99982757e-01 4.83855651e-04 -3.55505179e-01] [ 7.56887496e-03 -4.39552846e-04 9.99971259e-01 -5.35339760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96240100800001 meters Centerline goodness : 0.894330 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.35, Z:-0.54 [[ 9.99954451e-01 5.67173676e-03 -7.67637858e-03 1.10409171e+01] [-5.67257763e-03 9.99983907e-01 -8.77722886e-05 -3.54403239e-01] [ 7.67575722e-03 1.31313144e-04 9.99970532e-01 -5.36437261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99240100800002 meters Centerline goodness : 0.891524 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.54 [[ 9.99953512e-01 4.81084387e-03 -8.35646837e-03 1.10436211e+01] [-4.81156467e-03 9.99988422e-01 -6.61545250e-05 -3.56565181e-01] [ 8.35605336e-03 1.06359138e-04 9.99965082e-01 -5.37133981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02240100800002 meters Centerline goodness : 0.891524 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:-0.54 [[ 9.99953512e-01 4.81084387e-03 -8.35646837e-03 1.10436211e+01] [-4.81156467e-03 9.99988422e-01 -6.61545250e-05 -3.56565181e-01] [ 8.35605336e-03 1.06359138e-04 9.99965082e-01 -5.37133981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05240100800002 meters Centerline goodness : 0.894248 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.36, Z:-0.54 [[ 9.99950158e-01 3.54790591e-03 -9.33243715e-03 1.10470468e+01] [-3.54571503e-03 9.99993682e-01 2.51294115e-04 -3.59349777e-01] [ 9.33326976e-03 -2.18191427e-04 9.99956420e-01 -5.37043931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08240100800002 meters Centerline goodness : 0.891965 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.36, Z:-0.54 [[ 9.99949057e-01 -2.44351217e-03 -9.79351089e-03 1.10506996e+01] [ 2.41447387e-03 9.99992657e-01 -2.97578288e-03 -3.64055400e-01] [ 9.80071034e-03 2.95198510e-03 9.99947615e-01 -5.37240695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11240100800002 meters Centerline goodness : 0.892058 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.37, Z:-0.54 [[ 9.99940310e-01 -3.45297397e-03 -1.03659498e-02 1.10531063e+01] [ 3.43350076e-03 9.99992309e-01 -1.89578252e-03 -3.67566074e-01] [ 1.03724162e-02 1.86007787e-03 9.99944475e-01 -5.36220387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14240100800001 meters Centerline goodness : 0.893729 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.37, Z:-0.53 [[ 9.99938068e-01 -3.49472215e-03 -1.05663405e-02 1.10526303e+01] [ 3.49051201e-03 9.99993821e-01 -4.16863437e-04 -3.69591915e-01] [ 1.05677321e-02 3.79955681e-04 9.99944088e-01 -5.33008840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17240100800001 meters Centerline goodness : 0.897207 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.37, Z:-0.53 [[ 9.99935684e-01 -3.64815854e-03 -1.07387006e-02 1.10529311e+01] [ 3.64786120e-03 9.99993345e-01 -4.72751674e-05 -3.69908436e-01] [ 1.07388016e-02 8.09883768e-06 9.99942337e-01 -5.32213244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20240100800001 meters Centerline goodness : 0.898919 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.37, Z:-0.53 [[ 9.99931796e-01 -3.89300437e-03 -1.10112718e-02 1.10535247e+01] [ 3.89673535e-03 9.99992357e-01 3.17398512e-04 -3.69884753e-01] [ 1.10099520e-02 -3.60284876e-04 9.99939324e-01 -5.31281971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23240100800001 meters Centerline goodness : 0.894825 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99922476e-01 -1.42761836e-03 -1.23695000e-02 1.10573681e+01] [ 1.49868647e-03 9.99982414e-01 5.73806791e-03 -3.72509566e-01] [ 1.23610907e-02 -5.75616107e-03 9.99907031e-01 -5.28207926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26240100800001 meters Centerline goodness : 0.892064 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99916896e-01 -1.76703807e-03 -1.27702112e-02 1.10584415e+01] [ 1.83471982e-03 9.99984324e-01 5.29020097e-03 -3.71212077e-01] [ 1.27606630e-02 -5.31319110e-03 9.99904463e-01 -5.28501999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29240100800001 meters Centerline goodness : 0.894277 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99914847e-01 -1.92482163e-03 -1.29071239e-02 1.10589726e+01] [ 1.98635976e-03 9.99986714e-01 4.75664115e-03 -3.70217443e-01] [ 1.28977968e-02 -4.78187430e-03 9.99905386e-01 -5.29230611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32240100800001 meters Centerline goodness : 0.896266 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99910195e-01 -2.23183947e-03 -1.32144301e-02 1.10599442e+01] [ 2.29146204e-03 9.99987256e-01 4.49850792e-03 -3.69372606e-01] [ 1.32042218e-02 -4.52838429e-03 9.99902566e-01 -5.29420339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35240100800002 meters Centerline goodness : 0.892043 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99907293e-01 -2.30760464e-03 -1.34194009e-02 1.10604527e+01] [ 2.36914657e-03 9.99986742e-01 4.57195426e-03 -3.69238691e-01] [ 1.34086727e-02 -4.60332294e-03 9.99899503e-01 -5.29222807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38240100800002 meters Centerline goodness : 0.894035 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.37, Z:-0.53 [[ 9.99896111e-01 5.98554803e-04 -1.44016957e-02 1.10636046e+01] [-4.66082190e-04 9.99957570e-01 9.20000258e-03 -3.72074176e-01] [ 1.44065914e-02 -9.19233443e-03 9.99853965e-01 -5.28249306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41240100800002 meters Centerline goodness : 0.893100 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.53 [[ 9.99876713e-01 3.67347343e-03 -1.52664242e-02 1.10664752e+01] [-3.45594767e-03 9.99892482e-01 1.42506761e-02 -3.74926512e-01] [ 1.53171322e-02 -1.41961592e-02 9.99781903e-01 -5.26758571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44240100800002 meters Centerline goodness : 0.889607 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.53 [[ 9.99877723e-01 3.54833272e-03 -1.52298350e-02 1.10665815e+01] [-3.33496210e-03 9.99896256e-01 1.40126469e-02 -3.74615146e-01] [ 1.52779765e-02 -1.39601426e-02 9.99785826e-01 -5.27096882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47240100800002 meters Centerline goodness : 0.888960 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.53 [[ 9.99877391e-01 3.47509646e-03 -1.52684612e-02 1.10668059e+01] [-3.25953902e-03 9.99894994e-01 1.41200989e-02 -3.74875081e-01] [ 1.53159266e-02 -1.40685995e-02 9.99783725e-01 -5.27038216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502401008 meters Centerline goodness : 0.894328 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.54 [[ 9.99997925e-01 -8.66344912e-05 -2.03527059e-03 1.10728740e+01] [ 1.02813103e-04 9.99968390e-01 7.95036157e-03 -3.71284138e-01] [ 2.03451748e-03 -7.95055433e-03 9.99966324e-01 -5.37330248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53240100800001 meters Centerline goodness : 0.892406 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.54 [[ 9.99997452e-01 6.59240000e-05 -2.25632378e-03 1.10726130e+01] [-4.66707783e-05 9.99963601e-01 8.53199406e-03 -3.72999311e-01] [ 2.25680411e-03 -8.53186702e-03 9.99961056e-01 -5.35926914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56240100800001 meters Centerline goodness : 0.896273 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.37, Z:-0.54 [[ 9.99995849e-01 -5.70652483e-04 -2.82419443e-03 1.10743847e+01] [ 5.93871430e-04 9.99965978e-01 8.22744214e-03 -3.73504296e-01] [ 2.81940334e-03 -8.22908520e-03 9.99962166e-01 -5.36267951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59240100800001 meters Centerline goodness : 0.892243 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.37, Z:-0.54 [[ 9.99992487e-01 -1.38745911e-03 -3.61945219e-03 1.10769648e+01] [ 1.41599125e-03 9.99967852e-01 7.89238442e-03 -3.73694027e-01] [ 3.60838548e-03 -7.89745024e-03 9.99962304e-01 -5.36818774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62240100800001 meters Centerline goodness : 0.891498 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.38, Z:-0.54 [[ 9.99954206e-01 1.10462097e-03 -9.50612018e-03 1.11027942e+01] [-1.04560818e-03 9.99980167e-01 6.21060591e-03 -3.75700968e-01] [ 9.51279202e-03 -6.20038182e-03 9.99935529e-01 -5.35346251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65240100800001 meters Centerline goodness : 0.890679 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.38, Z:-0.53 [[ 9.99927067e-01 -1.89996265e-03 -1.19268875e-02 1.11173521e+01] [ 2.02454018e-03 9.99943434e-01 1.04417304e-02 -3.77004289e-01] [ 1.19063739e-02 -1.04651154e-02 9.99874352e-01 -5.34178205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68240100800001 meters Centerline goodness : 0.886218 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.38, Z:-0.53 [[ 9.99900366e-01 -2.89432350e-03 -1.38159753e-02 1.11280252e+01] [ 3.12362546e-03 9.99857261e-01 1.66042470e-02 -3.78930965e-01] [ 1.37659452e-02 -1.66457486e-02 9.99766682e-01 -5.29875781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71240100800001 meters Centerline goodness : 0.885021 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.38, Z:-0.53 [[ 9.99866017e-01 -5.72481818e-03 -1.53354147e-02 1.11353038e+01] [ 5.95637524e-03 9.99868298e-01 1.50966227e-02 -3.76942784e-01] [ 1.52469696e-02 -1.51859435e-02 9.99768432e-01 -5.32852854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74240100800002 meters Centerline goodness : 0.885600 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.38, Z:-0.53 [[ 9.99847100e-01 -4.19056235e-03 -1.69768972e-02 1.11410040e+01] [ 4.54338358e-03 9.99773386e-01 2.07974511e-02 -3.78782133e-01] [ 1.68858970e-02 -2.08714038e-02 9.99639561e-01 -5.29264055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77240100800002 meters Centerline goodness : 0.883006 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.38, Z:-0.53 [[ 9.99840947e-01 -4.59529196e-03 -1.72326686e-02 1.11416066e+01] [ 4.95306173e-03 9.99771881e-01 2.07762505e-02 -3.77982522e-01] [ 1.71332646e-02 -2.08583004e-02 9.99635625e-01 -5.28645766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80240100800002 meters Centerline goodness : 0.886868 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.37, Z:-0.53 [[ 9.99828732e-01 -8.20631288e-03 -1.65880450e-02 1.11387258e+01] [ 8.47689288e-03 9.99831085e-01 1.63077898e-02 -3.74603918e-01] [ 1.64514162e-02 -1.64456119e-02 9.99729410e-01 -5.27488814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83240100800002 meters Centerline goodness : 0.890424 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.37, Z:-0.53 [[ 0.9998105 -0.01124904 -0.0158881 11.13558201] [ 0.01144108 0.99986196 0.01204845 -0.37157473] [ 0.01575037 -0.01222795 0.99980118 -0.5266874 ] [ 0. 0. 0. 1. ]] SLAMing on 85.86240100800002 meters Centerline goodness : 0.894253 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.37, Z:-0.52 [[ 9.99820967e-01 -1.06840932e-02 -1.56167869e-02 1.11334163e+01] [ 1.08864458e-02 9.99857136e-01 1.29303121e-02 -3.71300822e-01] [ 1.54764071e-02 -1.30980084e-02 9.99794440e-01 -5.23936252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89240100800001 meters Centerline goodness : 0.895234 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.37, Z:-0.52 [[ 9.99835371e-01 -9.93595074e-03 -1.51824505e-02 1.11309677e+01] [ 1.01419326e-02 9.99856747e-01 1.35508769e-02 -3.70115876e-01] [ 1.50456348e-02 -1.37026255e-02 9.99792912e-01 -5.21738239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92240100800001 meters Centerline goodness : 0.896696 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.36, Z:-0.52 [[ 9.99856748e-01 -8.10889850e-03 -1.48569544e-02 1.11280935e+01] [ 8.29680449e-03 9.99885817e-01 1.26300019e-02 -3.64008213e-01] [ 1.47528426e-02 -1.27514579e-02 9.99809859e-01 -5.22467337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95240100800001 meters Centerline goodness : 0.896500 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.36, Z:-0.52 [[ 9.99869027e-01 -7.43285597e-03 -1.43764258e-02 1.11269902e+01] [ 7.59343434e-03 9.99909033e-01 1.11474143e-02 -3.59004872e-01] [ 1.42922609e-02 -1.12551207e-02 9.99834513e-01 -5.24871545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98240100800001 meters Centerline goodness : 0.894519 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.36, Z:-0.53 [[ 9.99887822e-01 -3.46490554e-03 -1.45718084e-02 1.11276419e+01] [ 3.67507915e-03 9.99889253e-01 1.44213455e-02 -3.56591617e-01] [ 1.45202260e-02 -1.44732803e-02 9.99789822e-01 -5.25768811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01240100800001 meters Centerline goodness : 0.887659 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.35, Z:-0.53 [[ 9.99929524e-01 5.35442537e-03 -1.05961166e-02 1.11404709e+01] [-5.25990711e-03 9.99946311e-01 8.92793885e-03 -3.50845756e-01] [ 1.06433517e-02 -8.87157505e-03 9.99904003e-01 -5.32865850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04240100800001 meters Centerline goodness : 0.889823 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.35, Z:-0.53 [[ 9.99923549e-01 6.41855905e-03 -1.05687616e-02 1.11393489e+01] [-6.33555891e-03 9.99948975e-01 7.86818677e-03 -3.47393521e-01] [ 1.06187248e-02 -7.80062623e-03 9.99913193e-01 -5.34020450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07240100800001 meters Centerline goodness : 0.888195 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.34, Z:-0.54 [[ 9.99917765e-01 7.50155160e-03 -1.04013943e-02 1.11381221e+01] [-7.42984001e-03 9.99948482e-01 6.91600716e-03 -3.43936120e-01] [ 1.04527392e-02 -6.83815773e-03 9.99921987e-01 -5.35302384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10240100800002 meters Centerline goodness : 0.886152 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.34, Z:-0.54 [[ 9.99910222e-01 8.49628834e-03 -1.03614812e-02 1.11371876e+01] [-8.43472950e-03 9.99946603e-01 5.97042212e-03 -3.40508761e-01] [ 1.04116543e-02 -5.88248982e-03 9.99928494e-01 -5.36510563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13240100800002 meters Centerline goodness : 0.884421 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.34, Z:-0.54 [[ 9.99893412e-01 1.06640414e-02 -9.97210367e-03 1.11347384e+01] [-1.06206413e-02 9.99933941e-01 4.39502694e-03 -3.36579160e-01] [ 1.00183137e-02 -4.28864835e-03 9.99940619e-01 -5.39553343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16240100800002 meters Centerline goodness : 0.886160 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.33, Z:-0.54 [[ 9.99931401e-01 6.67890409e-03 -9.62218493e-03 1.11344418e+01] [-6.68619743e-03 9.99977384e-01 -7.26001415e-04 -3.34547555e-01] [ 9.61711842e-03 7.90287439e-04 9.99953442e-01 -5.41579636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19240100800002 meters Centerline goodness : 0.884351 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.34, Z:-0.54 [[ 9.99930354e-01 5.81534339e-03 -1.02698370e-02 1.11368347e+01] [-5.82327902e-03 9.99982769e-01 -7.42978481e-04 -3.36179097e-01] [ 1.02653393e-02 8.02730861e-04 9.99946988e-01 -5.42037539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22240100800002 meters Centerline goodness : 0.884624 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.34, Z:-0.54 [[ 9.99926964e-01 4.69007779e-03 -1.11386752e-02 1.11401742e+01] [-4.69930434e-03 9.99988636e-01 -8.02306368e-04 -3.37471964e-01] [ 1.11347857e-02 8.54591796e-04 9.99937641e-01 -5.42733021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252401008 meters Centerline goodness : 0.880879 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.34, Z:-0.54 [[ 9.99929109e-01 1.95545238e-03 -1.17453456e-02 1.11449982e+01] [-1.96673829e-03 9.99997615e-01 -9.49410636e-04 -3.40242246e-01] [ 1.17434611e-02 9.72443352e-04 9.99930570e-01 -5.43777664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28240100800001 meters Centerline goodness : 0.883701 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.34, Z:-0.54 [[ 9.99923394e-01 1.02333814e-03 -1.23353041e-02 1.11472078e+01] [-1.02896251e-03 9.99999370e-01 -4.49619358e-04 -3.42913233e-01] [ 1.23348362e-02 4.62277480e-04 9.99923816e-01 -5.43385694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31240100800001 meters Centerline goodness : 0.884380 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.35, Z:-0.54 [[ 9.99917887e-01 6.73710692e-04 -1.27970498e-02 1.11481172e+01] [-6.59743233e-04 9.99999182e-01 1.09564950e-03 -3.47175881e-01] [ 1.27977774e-02 -1.08711677e-03 9.99917514e-01 -5.41133766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34240100800001 meters Centerline goodness : 0.886226 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.35, Z:-0.54 [[ 9.99911067e-01 -2.70025735e-05 -1.33363210e-02 1.11493916e+01] [ 5.66715518e-05 9.99997525e-01 2.22430199e-03 -3.52020586e-01] [ 1.33362279e-02 -2.22485996e-03 9.99908593e-01 -5.39221570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37240100800001 meters Centerline goodness : 0.888829 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.36, Z:-0.54 [[ 9.99901330e-01 -6.07925067e-04 -1.40342456e-02 1.11507867e+01] [ 6.73034803e-04 9.99989031e-01 4.63509036e-03 -3.57521113e-01] [ 1.40312739e-02 -4.64407856e-03 9.99890772e-01 -5.35304241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40240100800001 meters Centerline goodness : 0.894492 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.36, Z:-0.53 [[ 9.99877453e-01 -5.57870413e-03 -1.46272788e-02 1.11528690e+01] [ 5.63553387e-03 9.99976721e-01 3.84685308e-03 -3.64002257e-01] [ 1.46054779e-02 -3.92881418e-03 9.99885616e-01 -5.30495841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43240100800001 meters Centerline goodness : 0.894337 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.37, Z:-0.53 [[ 9.99859130e-01 -6.55711757e-03 -1.54506931e-02 1.11558128e+01] [ 6.64225988e-03 9.99963002e-01 5.46572302e-03 -3.67564290e-01] [ 1.54142821e-02 -5.56758058e-03 9.99865692e-01 -5.28209949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46240100800001 meters Centerline goodness : 0.897399 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.37, Z:-0.52 [[ 9.99840021e-01 -6.23884811e-03 -1.67633265e-02 1.11639092e+01] [ 6.46808580e-03 9.99885836e-01 1.36557131e-02 -3.72005990e-01] [ 1.66762168e-02 -1.37619551e-02 9.99766229e-01 -5.21138588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49240100800002 meters Centerline goodness : 0.895515 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.37, Z:-0.52 [[ 9.99845295e-01 -2.91805768e-03 -1.73456397e-02 1.11659925e+01] [ 3.22913434e-03 9.99833974e-01 1.79331276e-02 -3.71767493e-01] [ 1.72904300e-02 -1.79863647e-02 9.99688717e-01 -5.20502268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52240100800002 meters Centerline goodness : 0.893673 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.37, Z:-0.52 [[ 9.99839656e-01 -3.38873962e-03 -1.75834574e-02 1.11672462e+01] [ 3.69299488e-03 9.99843524e-01 1.72999746e-02 -3.70332079e-01] [ 1.75220809e-02 -1.73621363e-02 9.99695720e-01 -5.21487222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55240100800002 meters Centerline goodness : 0.899103 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.37, Z:-0.53 [[ 9.99966061e-01 -6.30937312e-03 -5.29805111e-03 1.11734111e+01] [ 6.37543139e-03 9.99900977e-01 1.25454942e-02 -3.66318522e-01] [ 5.21837227e-03 -1.25788458e-02 9.99907266e-01 -5.31782741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58240100800002 meters Centerline goodness : 0.895632 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.37, Z:-0.53 [[ 9.99969724e-01 -3.74826049e-03 -6.81923530e-03 1.11776040e+01] [ 3.86431716e-03 9.99846553e-01 1.70862027e-02 -3.67631325e-01] [ 6.75414537e-03 -1.71120371e-02 9.99830766e-01 -5.30039785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61240100800002 meters Centerline goodness : 0.893033 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.37, Z:-0.53 [[ 9.99963916e-01 -1.15850957e-03 -8.41575406e-03 1.11821394e+01] [ 1.34083692e-03 9.99763807e-01 2.16917698e-02 -3.69464254e-01] [ 8.38863619e-03 -2.17022713e-02 9.99729284e-01 -5.28633035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64240100800001 meters Centerline goodness : 0.892019 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.36, Z:-0.54 [[ 9.99953679e-01 -2.30173249e-03 -9.34565685e-03 1.11860651e+01] [ 2.46505317e-03 9.99843793e-01 1.75018243e-02 -3.63540453e-01] [ 9.30391247e-03 -1.75240512e-02 9.99803153e-01 -5.35609759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67240100800001 meters Centerline goodness : 0.886995 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.36, Z:-0.54 [[ 9.99949612e-01 -2.82229341e-03 -9.63370482e-03 1.11877453e+01] [ 2.97189806e-03 9.99874668e-01 1.55504684e-02 -3.59625313e-01] [ 9.58860942e-03 -1.55783153e-02 9.99832673e-01 -5.38727445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70240100800001 meters Centerline goodness : 0.881790 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.36, Z:-0.54 [[ 9.99947658e-01 -3.24721522e-03 -9.70245570e-03 1.11889773e+01] [ 3.37973306e-03 9.99900806e-01 1.36731413e-02 -3.55674236e-01] [ 9.65709365e-03 -1.37052173e-02 9.99859444e-01 -5.41804210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73240100800001 meters Centerline goodness : 0.876907 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.35, Z:-0.55 [[ 9.99967901e-01 3.54085813e-04 -8.00449488e-03 1.12078493e+01] [-3.09195712e-04 9.99984224e-01 5.60865378e-03 -3.49524284e-01] [ 8.00635454e-03 -5.60599879e-03 9.99952234e-01 -5.48581753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76240100800001 meters Centerline goodness : 0.877486 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.35, Z:-0.55 [[ 9.99967216e-01 4.80421385e-04 -8.08303929e-03 1.12074813e+01] [-4.35635470e-04 9.99984550e-01 5.54157573e-03 -3.47893658e-01] [ 8.08557670e-03 -5.53787280e-03 9.99951977e-01 -5.47794736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79240100800001 meters Centerline goodness : 0.879279 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.35, Z:-0.55 [[ 9.99967894e-01 7.50493018e-04 -7.97800716e-03 1.12063579e+01] [-7.05764687e-04 9.99984027e-01 5.60779180e-03 -3.46627418e-01] [ 7.98208834e-03 -5.60198116e-03 9.99952451e-01 -5.46604599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82240100800001 meters Centerline goodness : 0.884228 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.35, Z:-0.54 [[ 9.99969894e-01 1.52430659e-03 -7.60843701e-03 1.12030588e+01] [-1.47433495e-03 9.99977336e-01 6.56921778e-03 -3.45071041e-01] [ 7.61827807e-03 -6.55780262e-03 9.99949477e-01 -5.42570468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85240100800002 meters Centerline goodness : 0.889584 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99969733e-01 1.60113277e-03 -7.61370552e-03 1.12021029e+01] [-1.54739048e-03 9.99973886e-01 7.05928438e-03 -3.44603348e-01] [ 7.62480955e-03 -7.04728935e-03 9.99946098e-01 -5.40554316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88240100800002 meters Centerline goodness : 0.886369 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99969914e-01 1.44634514e-03 -7.62093504e-03 1.12016403e+01] [-1.39086299e-03 9.99972529e-01 7.28050515e-03 -3.43901741e-01] [ 7.63125581e-03 -7.26968643e-03 9.99944456e-01 -5.39136588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91240100800002 meters Centerline goodness : 0.890232 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99968963e-01 1.24903655e-03 -7.77894442e-03 1.12017183e+01] [-1.19017463e-03 9.99970663e-01 7.56686341e-03 -3.43477127e-01] [ 7.78816749e-03 -7.55737026e-03 9.99941114e-01 -5.37973979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94240100800002 meters Centerline goodness : 0.890232 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99968963e-01 1.24903655e-03 -7.77894442e-03 1.12017183e+01] [-1.19017463e-03 9.99970663e-01 7.56686341e-03 -3.43477127e-01] [ 7.78816749e-03 -7.55737026e-03 9.99941114e-01 -5.37973979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97240100800002 meters Centerline goodness : 0.891550 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99967371e-01 3.95232603e-04 -8.06849226e-03 1.12026738e+01] [-3.34926280e-04 9.99972011e-01 7.47428225e-03 -3.42827164e-01] [ 8.07122051e-03 -7.47133603e-03 9.99939515e-01 -5.37208539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002401008 meters Centerline goodness : 0.888732 Centerline is valid? [False, False] Translation: X:11.20, Y:-0.34, Z:-0.54 [[ 9.99964081e-01 -2.05119421e-04 -8.47317603e-03 1.12039188e+01] [ 2.67761551e-04 9.99972639e-01 7.39252018e-03 -3.42934216e-01] [ 8.47142785e-03 -7.39452344e-03 9.99936776e-01 -5.37014669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03240100800001 meters Centerline goodness : 0.886329 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.34, Z:-0.54 [[ 9.99958589e-01 -8.95674468e-04 -9.05641159e-03 1.12056714e+01] [ 9.62483855e-04 9.99972338e-01 7.37536108e-03 -3.43442684e-01] [ 9.04955515e-03 -7.38377231e-03 9.99931790e-01 -5.36857930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06240100800001 meters Centerline goodness : 0.890909 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.34, Z:-0.54 [[ 9.99951191e-01 -1.63207090e-03 -9.74430461e-03 1.12077280e+01] [ 1.70468580e-03 9.99970807e-01 7.44838572e-03 -3.44217580e-01] [ 9.73186385e-03 -7.46463315e-03 9.99924782e-01 -5.36677902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09240100800001 meters Centerline goodness : 0.886548 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.35, Z:-0.53 [[ 9.99934922e-01 -2.01236332e-03 -1.12295311e-02 1.12158036e+01] [ 2.15872161e-03 9.99912691e-01 1.30364750e-02 -3.46749454e-01] [ 1.12023165e-02 -1.30598680e-02 9.99851963e-01 -5.33054597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12240100800001 meters Centerline goodness : 0.887026 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.35, Z:-0.53 [[ 9.99910345e-01 -4.10488359e-03 -1.27456676e-02 1.12216752e+01] [ 4.25844863e-03 9.99918392e-01 1.20447391e-02 -3.46801887e-01] [ 1.26951851e-02 -1.20979360e-02 9.99846224e-01 -5.34988031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15240100800001 meters Centerline goodness : 0.884355 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.35, Z:-0.54 [[ 9.99905568e-01 -3.47010260e-03 -1.32971527e-02 1.12265020e+01] [ 3.65792091e-03 9.99893525e-01 1.41265104e-02 -3.47557849e-01] [ 1.32467165e-02 -1.41738164e-02 9.99811796e-01 -5.37197860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18240100800001 meters Centerline goodness : 0.885723 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.35, Z:-0.54 [[ 9.99888268e-01 -1.34812398e-03 -1.48873688e-02 1.12320714e+01] [ 1.61078442e-03 9.99843012e-01 1.76453013e-02 -3.48173542e-01] [ 1.48612436e-02 -1.76673101e-02 9.99733469e-01 -5.38124249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21240100800001 meters Centerline goodness : 0.880682 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.35, Z:-0.54 [[ 9.99864434e-01 1.07215441e-03 -1.64306077e-02 1.12377668e+01] [-7.35257145e-04 9.99789652e-01 2.04965889e-02 -3.46899496e-01] [ 1.64491271e-02 -2.04817295e-02 9.99654903e-01 -5.40502029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24240100800002 meters Centerline goodness : 0.882846 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.35, Z:-0.54 [[ 9.99878839e-01 4.41417950e-03 -1.49272607e-02 1.12602625e+01] [-4.14328345e-03 9.99827049e-01 1.81302265e-02 -3.46230000e-01] [ 1.50047091e-02 -1.80661820e-02 9.99724198e-01 -5.41796891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27240100800002 meters Centerline goodness : 0.881511 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.55 [[ 9.99919521e-01 6.72952566e-03 -1.07548129e-02 1.12722258e+01] [-6.66875055e-03 9.99961650e-01 5.67687533e-03 -3.42258421e-01] [ 1.07926031e-02 -5.60469729e-03 9.99926051e-01 -5.50350522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30240100800002 meters Centerline goodness : 0.887702 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.55 [[ 9.99916493e-01 7.45340027e-03 -1.05571828e-02 1.12706268e+01] [-7.39511524e-03 9.99957258e-01 5.54920859e-03 -3.40628702e-01] [ 1.05980921e-02 -5.47067360e-03 9.99928874e-01 -5.49621941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33240100800002 meters Centerline goodness : 0.885502 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.55 [[ 9.99894997e-01 1.04246810e-02 -1.00657931e-02 1.12654234e+01] [-1.03590521e-02 9.99924889e-01 6.55027272e-03 -3.38441263e-01] [ 1.01333215e-02 -6.44531285e-03 9.99927884e-01 -5.46566884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36240100800002 meters Centerline goodness : 0.886998 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.34, Z:-0.55 [[ 9.99889149e-01 1.11934935e-02 -9.81808528e-03 1.12638135e+01] [-1.11313558e-02 9.99917813e-01 6.36088030e-03 -3.36705221e-01] [ 9.88847883e-03 -6.25088659e-03 9.99931570e-01 -5.46142646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39240100800001 meters Centerline goodness : 0.885040 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.34, Z:-0.55 [[ 9.99886031e-01 1.17526969e-02 -9.47624601e-03 1.12625152e+01] [-1.16955160e-02 9.99913199e-01 6.06713730e-03 -3.35104316e-01] [ 9.54672868e-03 -5.95561624e-03 9.99936693e-01 -5.46261014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42240100800001 meters Centerline goodness : 0.893168 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.33, Z:-0.55 [[ 9.99882363e-01 1.23840558e-02 -9.04956564e-03 1.12612824e+01] [-1.23338425e-02 9.99908346e-01 5.58360082e-03 -3.32739785e-01] [ 9.11788383e-03 -5.47132807e-03 9.99943463e-01 -5.47028189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45240100800001 meters Centerline goodness : 0.886935 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.33, Z:-0.55 [[ 9.99884693e-01 1.21082901e-02 -9.16460378e-03 1.12620631e+01] [-1.20605715e-02 9.99913516e-01 5.24431066e-03 -3.32290334e-01] [ 9.22731082e-03 -5.13317560e-03 9.99944252e-01 -5.47778210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48240100800001 meters Centerline goodness : 0.888503 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.33, Z:-0.55 [[ 9.99882740e-01 1.19667115e-02 -9.55534181e-03 1.12627702e+01] [-1.19113780e-02 9.99912079e-01 5.82691202e-03 -3.33766855e-01] [ 9.62423067e-03 -5.71241146e-03 9.99937369e-01 -5.46804240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51240100800001 meters Centerline goodness : 0.896203 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.54 [[ 9.99881644e-01 1.09542430e-02 -1.08029350e-02 1.12656054e+01] [-1.08502963e-02 9.99894721e-01 9.63420379e-03 -3.40019675e-01] [ 1.09073331e-02 -9.51584847e-03 9.99895234e-01 -5.40131574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54240100800001 meters Centerline goodness : 0.889329 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.54 [[ 9.99880751e-01 1.03759762e-02 -1.14378135e-02 1.12674479e+01] [-1.02609245e-02 9.99896628e-01 1.00720907e-02 -3.42211733e-01] [ 1.15411389e-02 -9.95352704e-03 9.99883858e-01 -5.39702152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57240100800001 meters Centerline goodness : 0.888928 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.35, Z:-0.54 [[ 9.99892341e-01 8.46664470e-03 -1.19842553e-02 1.12711768e+01] [-8.34329446e-03 9.99912089e-01 1.03055345e-02 -3.45757592e-01] [ 1.20704550e-02 -1.02044368e-02 9.99875079e-01 -5.40364718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60240100800002 meters Centerline goodness : 0.888837 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.35, Z:-0.54 [[ 9.99892376e-01 7.56867556e-03 -1.25678564e-02 1.12735498e+01] [-7.43469667e-03 9.99915401e-01 1.06731594e-02 -3.47172745e-01] [ 1.26475749e-02 -1.05785725e-02 9.99864057e-01 -5.40203823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63240100800002 meters Centerline goodness : 0.887757 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.35, Z:-0.54 [[ 9.99891876e-01 6.50341468e-03 -1.31887356e-02 1.12762455e+01] [-6.36354268e-03 9.99923360e-01 1.06197917e-02 -3.47948390e-01] [ 1.32567897e-02 -1.05347163e-02 9.99856628e-01 -5.40709374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66240100800002 meters Centerline goodness : 0.883141 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.35, Z:-0.54 [[ 9.99886275e-01 3.89918452e-03 -1.45682046e-02 1.12822547e+01] [-3.72349199e-03 9.99920250e-01 1.20677202e-02 -3.49369714e-01] [ 1.46140970e-02 -1.20121032e-02 9.99821053e-01 -5.38219728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69240100800002 meters Centerline goodness : 0.883141 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.35, Z:-0.54 [[ 9.99886406e-01 3.91087658e-03 -1.45560822e-02 1.12822247e+01] [-3.73560760e-03 9.99920434e-01 1.20487195e-02 -3.49333659e-01] [ 1.46020451e-02 -1.19929750e-02 9.99821458e-01 -5.38238086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72240100800002 meters Centerline goodness : 0.882696 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.36, Z:-0.52 [[ 9.99857092e-01 2.65378388e-04 -1.69034076e-02 1.12757612e+01] [ 2.58705526e-04 9.99519509e-01 3.09949002e-02 -3.56001946e-01] [ 1.69035110e-02 -3.09948437e-02 9.99376601e-01 -5.22286811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752401008 meters Centerline goodness : 0.887742 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.35, Z:-0.52 [[ 9.99859535e-01 -3.13743122e-03 -1.64641071e-02 1.12743719e+01] [ 3.55706284e-03 9.99667968e-01 2.55205887e-02 -3.52414429e-01] [ 1.63785714e-02 -2.55755679e-02 9.99538710e-01 -5.24310454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters Centerline goodness : 0.888148 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.35, Z:-0.53 [[ 9.99918586e-01 -1.86004190e-03 -1.26238199e-02 1.12874689e+01] [ 2.02084954e-03 9.99916831e-01 1.27376516e-02 -3.47964170e-01] [ 1.25990774e-02 -1.27621254e-02 9.99839183e-01 -5.32734885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81240100800001 meters Centerline goodness : 0.889157 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.35, Z:-0.53 [[ 9.99908592e-01 1.53760713e-03 -1.34329221e-02 1.12895131e+01] [-1.30480251e-03 9.99849103e-01 1.73225055e-02 -3.48385703e-01] [ 1.34575303e-02 -1.73033948e-02 9.99759715e-01 -5.31317935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters Centerline goodness : 0.882289 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.35, Z:-0.53 [[ 9.99868823e-01 5.47958518e-03 -1.52417448e-02 1.12982048e+01] [-5.12153423e-03 9.99712311e-01 2.34321183e-02 -3.46741161e-01] [ 1.53657583e-02 -2.33509834e-02 9.99609236e-01 -5.33607199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87240100800001 meters Centerline goodness : 0.878870 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99871192e-01 5.13010444e-03 -1.52079404e-02 1.12992377e+01] [-4.79921759e-03 9.99752688e-01 2.17147281e-02 -3.42901090e-01] [ 1.53155781e-02 -2.16389449e-02 9.99648533e-01 -5.36593149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90240100800001 meters Centerline goodness : 0.877689 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99837824e-01 8.35666775e-03 -1.59528015e-02 1.13017360e+01] [-7.94775838e-03 9.99642564e-01 2.55260077e-02 -3.41877196e-01] [ 1.61604117e-02 -2.53950790e-02 9.99546863e-01 -5.36580546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93240100800001 meters Centerline goodness : 0.880563 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99838585e-01 8.29063794e-03 -1.59395699e-02 1.13017126e+01] [-7.89104316e-03 9.99657034e-01 2.49708818e-02 -3.38731294e-01] [ 1.61411277e-02 -2.48410713e-02 9.99561096e-01 -5.36779672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96240100800001 meters Centerline goodness : 0.880977 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99868954e-01 4.36066050e-03 -1.55903500e-02 1.12999961e+01] [-4.04000695e-03 9.99780867e-01 2.05401037e-02 -3.36964072e-01] [ 1.56765021e-02 -2.04744269e-02 9.99667467e-01 -5.35961652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99240100800002 meters Centerline goodness : 0.880977 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99869342e-01 4.39642546e-03 -1.55553787e-02 1.12999227e+01] [-4.07672180e-03 9.99781029e-01 2.05249660e-02 -3.36902016e-01] [ 1.56422090e-02 -2.04588693e-02 9.99668323e-01 -5.35957585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02240100800002 meters Centerline goodness : 0.886359 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.34, Z:-0.54 [[ 9.99977441e-01 -5.49211977e-03 -3.86716799e-03 1.13030375e+01] [ 5.55067925e-03 9.99867565e-01 1.52984323e-02 -3.37738733e-01] [ 3.78263502e-03 -1.53195526e-02 9.99875494e-01 -5.37040943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05240100800002 meters Centerline goodness : 0.890834 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.34, Z:-0.53 [[ 9.99959557e-01 -8.13362058e-03 -3.83773503e-03 1.13133761e+01] [ 8.22884171e-03 9.99641330e-01 2.54852460e-02 -3.42307049e-01] [ 3.62907122e-03 -2.55157954e-02 9.99667832e-01 -5.25707835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08240100800002 meters Centerline goodness : 0.887439 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.34, Z:-0.53 [[ 9.99880004e-01 -1.48069875e-02 -4.55319829e-03 1.13184666e+01] [ 1.48932714e-02 9.99698158e-01 1.95392682e-02 -3.41268363e-01] [ 4.26250624e-03 -1.96047356e-02 9.99798722e-01 -5.29647635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11240100800002 meters Centerline goodness : 0.883670 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.34, Z:-0.53 [[ 9.99786199e-01 -2.01808136e-02 -4.50457039e-03 1.13213093e+01] [ 2.02371583e-02 9.99712827e-01 1.28343876e-02 -3.37290640e-01] [ 4.24426841e-03 -1.29228033e-02 9.99907489e-01 -5.34971191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters Centerline goodness : 0.883105 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.34, Z:-0.53 [[ 9.99695906e-01 -2.30501478e-02 -8.76274153e-03 1.13061008e+01] [ 2.32239823e-02 9.99524516e-01 2.02827201e-02 -3.37944040e-01] [ 8.29105529e-03 -2.04800580e-02 9.99755883e-01 -5.30747517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17240100800001 meters Centerline goodness : 0.877441 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.33, Z:-0.53 [[ 9.99458397e-01 -3.18492103e-02 -8.27892225e-03 1.13065256e+01] [ 3.19317006e-02 9.99439722e-01 1.00303362e-02 -3.33424811e-01] [ 7.95482547e-03 -1.02892639e-02 9.99915422e-01 -5.33697919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20240100800001 meters Centerline goodness : 0.883154 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.34, Z:-0.53 [[ 9.99557482e-01 -2.95821557e-02 3.12042533e-03 1.13059546e+01] [ 2.95401424e-02 9.99482331e-01 1.27455828e-02 -3.35387757e-01] [-3.49585179e-03 -1.26477648e-02 9.99913903e-01 -5.32118256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23240100800001 meters Centerline goodness : 0.880237 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.33, Z:-0.53 [[ 9.99492681e-01 -3.15876804e-02 4.07425686e-03 1.13041561e+01] [ 3.15374330e-02 9.99432229e-01 1.18579485e-02 -3.32235634e-01] [-4.44650869e-03 -1.17234411e-02 9.99921392e-01 -5.31688409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26240100800001 meters Centerline goodness : 0.880037 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.33, Z:-0.53 [[ 9.99451555e-01 -3.26773579e-02 5.36460480e-03 1.13026669e+01] [ 3.26107489e-02 9.99395283e-01 1.20667899e-02 -3.28158654e-01] [-5.75567154e-03 -1.18852281e-02 9.99912803e-01 -5.32777747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29240100800001 meters Centerline goodness : 0.878715 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.32, Z:-0.53 [[ 9.99435896e-01 -3.29057690e-02 6.71564317e-03 1.12998263e+01] [ 3.28119016e-02 9.99368476e-01 1.36391895e-02 -3.23036220e-01] [-7.16021010e-03 -1.34111425e-02 9.99884430e-01 -5.32199121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32240100800001 meters Centerline goodness : 0.874989 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.31, Z:-0.53 [[ 9.99515192e-01 -2.99587101e-02 8.47677934e-03 1.12950196e+01] [ 2.98248725e-02 9.99434991e-01 1.54976254e-02 -3.11134787e-01] [-8.93627874e-03 -1.52372931e-02 9.99843972e-01 -5.29515475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35240100800002 meters Centerline goodness : 0.874757 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.30, Z:-0.53 [[ 9.99575301e-01 -2.78307602e-02 8.64101943e-03 1.12952905e+01] [ 2.76951344e-02 9.99497207e-01 1.54373923e-02 -3.04365467e-01] [-9.06630915e-03 -1.51915219e-02 9.99843498e-01 -5.30030848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38240100800002 meters Centerline goodness : 0.874310 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.30, Z:-0.53 [[ 9.99615916e-01 -2.60594112e-02 9.43013258e-03 1.12948813e+01] [ 2.59062667e-02 9.99536115e-01 1.60131496e-02 -2.96653148e-01] [-9.84305133e-03 -1.57626997e-02 9.99827311e-01 -5.31509971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41240100800002 meters Centerline goodness : 0.875318 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.29, Z:-0.53 [[ 9.99645882e-01 -2.42929526e-02 1.08610363e-02 1.12915354e+01] [ 2.40906418e-02 9.99540704e-01 1.83853640e-02 -2.88246541e-01] [-1.13026827e-02 -1.81172041e-02 9.99771982e-01 -5.30418922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44240100800002 meters Centerline goodness : 0.877434 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.27, Z:-0.53 [[ 0.99968245 -0.02175247 0.01272103 11.28598379] [ 0.02149303 0.99956517 0.02018736 -0.2725396 ] [-0.01315462 -0.01990754 0.99971528 -0.52712012] [ 0. 0. 0. 1. ]] SLAMing on 88.47240100800002 meters Centerline goodness : 0.877452 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.27, Z:-0.53 [[ 0.99967059 -0.02219901 0.01288074 11.28530931] [ 0.0219606 0.99959015 0.01836484 -0.26534955] [-0.01328314 -0.01807592 0.99974838 -0.5273953 ] [ 0. 0. 0. 1. ]] SLAMing on 88.502401008 meters Centerline goodness : 0.880403 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.26, Z:-0.53 [[ 0.99965823 -0.02261124 0.0131207 11.28439047] [ 0.02238898 0.99960739 0.01684659 -0.25863089] [-0.01349647 -0.01654707 0.99977199 -0.52719634] [ 0. 0. 0. 1. ]] SLAMing on 88.53240100800001 meters Centerline goodness : 0.884355 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.25, Z:-0.53 [[ 0.99959749 -0.02392739 0.01524237 11.27985058] [ 0.02365637 0.9995631 0.01771989 -0.25117623] [-0.0156597 -0.01735218 0.9997268 -0.52647909] [ 0. 0. 0. 1. ]] SLAMing on 88.56240100800001 meters Centerline goodness : 0.890047 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.24, Z:-0.53 [[ 0.99955017 -0.02617505 0.01463995 11.28267916] [ 0.0259577 0.99955283 0.01484394 -0.23756818] [-0.01502195 -0.01445724 0.99978264 -0.52788381] [ 0. 0. 0. 1. ]] SLAMing on 88.59240100800001 meters Centerline goodness : 0.895434 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.23, Z:-0.53 [[ 0.99951814 -0.02761234 0.01417888 11.28477721] [ 0.02743889 0.99954799 0.01228526 -0.23046047] [-0.0145117 -0.01189029 0.999824 -0.52997162] [ 0. 0. 0. 1. ]] SLAMing on 88.62240100800001 meters Centerline goodness : 0.893586 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.23, Z:-0.53 [[ 0.99959034 -0.02544961 0.01309488 11.28799437] [ 0.0252605 0.99957704 0.01440987 -0.22603798] [-0.01345607 -0.01407318 0.99981042 -0.53125404] [ 0. 0. 0. 1. ]] SLAMing on 88.65240100800001 meters Centerline goodness : 0.896119 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.21, Z:-0.54 [[ 0.99964916 -0.02359423 0.01203577 11.29145156] [ 0.02343259 0.99963563 0.01339828 -0.21178153] [-0.0123475 -0.01311155 0.9998378 -0.53561062] [ 0. 0. 0. 1. ]] SLAMing on 88.68240100800001 meters Centerline goodness : 0.899204 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.20, Z:-0.54 [[ 9.99709913e-01 -2.14996309e-02 1.08561194e-02 1.12951199e+01] [ 2.13381014e-02 9.99663033e-01 1.47819559e-02 -2.04533921e-01] [-1.11702678e-02 -1.45460189e-02 9.99831805e-01 -5.37687062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71240100800001 meters Centerline goodness : 0.898385 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.20, Z:-0.54 [[ 9.99766880e-01 -1.91463107e-02 9.98015741e-03 1.12979600e+01] [ 1.89833351e-02 9.99688927e-01 1.61766005e-02 -1.97069522e-01] [-1.02867751e-02 -1.59833728e-02 9.99819341e-01 -5.39657888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74240100800002 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.19, Z:-0.54 [[ 9.99817686e-01 -1.68916510e-02 8.90314480e-03 1.13010922e+01] [ 1.67318961e-02 9.99702931e-01 1.77226580e-02 -1.90501987e-01] [-9.19986491e-03 -1.75704604e-02 9.99803301e-01 -5.41259055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77240100800002 meters Centerline goodness : 0.902852 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.18, Z:-0.54 [[ 9.99789595e-01 -1.88269813e-02 8.14317000e-03 1.13014944e+01] [ 1.87138805e-02 9.99730340e-01 1.37491160e-02 -1.76777355e-01] [-8.39982846e-03 -1.35938329e-02 9.99872317e-01 -5.40565120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80240100800002 meters Centerline goodness : 0.912770 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.17, Z:-0.54 [[ 9.99780846e-01 -1.94293187e-02 7.79501668e-03 1.13010307e+01] [ 1.93305681e-02 9.99734380e-01 1.25498362e-02 -1.71589819e-01] [-8.03678094e-03 -1.23964037e-02 9.99890864e-01 -5.38966378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83240100800002 meters Centerline goodness : 0.912770 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.17, Z:-0.54 [[ 9.99780846e-01 -1.94293187e-02 7.79501668e-03 1.13010307e+01] [ 1.93305681e-02 9.99734380e-01 1.25498362e-02 -1.71589819e-01] [-8.03678094e-03 -1.23964037e-02 9.99890864e-01 -5.38966378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86240100800002 meters Centerline goodness : 0.910019 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.17, Z:-0.54 [[ 9.99768256e-01 -2.01210489e-02 7.65357508e-03 1.13005504e+01] [ 2.00355871e-02 9.99737829e-01 1.10836816e-02 -1.65361557e-01] [-7.87458384e-03 -1.09277692e-02 9.99909283e-01 -5.37970269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89240100800001 meters Centerline goodness : 0.918817 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.16, Z:-0.54 [[ 9.99751227e-01 -2.10136561e-02 7.47735207e-03 1.13005058e+01] [ 2.09422607e-02 9.99735534e-01 9.50174399e-03 -1.57234084e-01] [-7.67504095e-03 -9.34278756e-03 9.99926900e-01 -5.37262900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters Centerline goodness : 0.922559 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.14, Z:-0.54 [[ 9.99778121e-01 -1.98865190e-02 6.94514648e-03 1.13015131e+01] [ 1.98129971e-02 9.99748575e-01 1.04991398e-02 -1.40915232e-01] [-7.15219164e-03 -1.03592061e-02 9.99920763e-01 -5.36059986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95240100800001 meters Centerline goodness : 0.922148 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.13, Z:-0.54 [[ 9.99834692e-01 -1.69927115e-02 6.46813349e-03 1.13024238e+01] [ 1.69098764e-02 9.99776956e-01 1.26528444e-02 -1.34903802e-01] [-6.68169694e-03 -1.25413774e-02 9.99899029e-01 -5.36262640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98240100800001 meters Centerline goodness : 0.919566 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.12, Z:-0.53 [[ 9.99896698e-01 -1.27849345e-02 6.56808713e-03 1.12996022e+01] [ 1.26884443e-02 9.99813950e-01 1.45281838e-02 -1.21413908e-01] [-6.75260702e-03 -1.44433442e-02 9.99872888e-01 -5.33414793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01240100800001 meters Centerline goodness : 0.915971 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.11, Z:-0.53 [[ 9.99937753e-01 -8.88087607e-03 6.75423706e-03 1.12980472e+01] [ 8.76453378e-03 9.99815986e-01 1.70639036e-02 -1.14584761e-01] [-6.90453659e-03 -1.70036437e-02 9.99831588e-01 -5.32197060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04240100800001 meters Centerline goodness : 0.915214 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.10, Z:-0.53 [[ 9.99984723e-01 -2.02035870e-03 5.14504287e-03 1.13053503e+01] [ 1.98491068e-03 9.99974324e-01 6.88555420e-03 -1.04355789e-01] [-5.15882206e-03 -6.87523656e-03 9.99963058e-01 -5.33050097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07240100800001 meters Centerline goodness : 0.911500 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.10, Z:-0.53 [[ 9.99983372e-01 2.40102898e-03 5.24313849e-03 1.13046757e+01] [-2.45092458e-03 9.99951578e-01 9.53076427e-03 -9.51433311e-02] [-5.22000096e-03 -9.54345633e-03 9.99940835e-01 -5.32747219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10240100800002 meters Centerline goodness : 0.911489 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.08, Z:-0.54 [[ 9.99823978e-01 1.58219639e-02 1.00835386e-02 1.13171071e+01] [-1.59132800e-02 9.99832500e-01 9.04099659e-03 -7.87025035e-02] [-9.93880330e-03 -9.19986735e-03 9.99908287e-01 -5.38583119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13240100800002 meters Centerline goodness : 0.909150 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.07, Z:-0.54 [[ 9.99751070e-01 1.99209664e-02 1.00475855e-02 1.13171463e+01] [-2.00353610e-02 9.99734093e-01 1.14161168e-02 -7.14975600e-02] [-9.81749369e-03 -1.16145820e-02 9.99884352e-01 -5.38720546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16240100800002 meters Centerline goodness : 0.908307 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.07, Z:-0.54 [[ 9.99667277e-01 2.38681829e-02 9.77987314e-03 1.13179410e+01] [-2.40013246e-02 9.99617632e-01 1.37304722e-02 -6.56500082e-02] [-9.44841221e-03 -1.39606337e-02 9.99857904e-01 -5.39325170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19240100800002 meters Centerline goodness : 0.906227 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.06, Z:-0.54 [[ 9.99571209e-01 2.77024761e-02 9.48528729e-03 1.13189308e+01] [-2.78532246e-02 9.99481589e-01 1.61478054e-02 -6.07608951e-02] [-9.03303581e-03 -1.64050772e-02 9.99824623e-01 -5.39920704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22240100800002 meters Centerline goodness : 0.906080 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.06, Z:-0.54 [[ 9.99453665e-01 3.16924044e-02 9.37891003e-03 1.13192653e+01] [-3.18675696e-02 9.99308498e-01 1.91568230e-02 -5.74060304e-02] [-8.76529871e-03 -1.94452401e-02 9.99772500e-01 -5.39920507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252401008 meters Centerline goodness : 0.905570 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.05, Z:-0.54 [[ 9.99315514e-01 3.58268173e-02 9.21641960e-03 1.13197392e+01] [-3.60177439e-02 9.99120732e-01 2.14589112e-02 -5.01746865e-02] [-8.43951141e-03 -2.17761775e-02 9.99727249e-01 -5.40226924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28240100800001 meters Centerline goodness : 0.902918 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.05, Z:-0.54 [[ 9.99322911e-01 3.56486073e-02 9.10477700e-03 1.13205307e+01] [-3.58270843e-02 9.99152704e-01 2.02557112e-02 -4.54118280e-02] [-8.37497467e-03 -2.05681939e-02 9.99753374e-01 -5.41305396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31240100800001 meters Centerline goodness : 0.904599 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.04, Z:-0.54 [[ 9.99339293e-01 3.52305059e-02 8.93242909e-03 1.13215233e+01] [-3.53946812e-02 9.99193903e-01 1.89409858e-02 -4.08778280e-02] [-8.25792817e-03 -1.92446318e-02 9.99780701e-01 -5.42474764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters Centerline goodness : 0.908227 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.04, Z:-0.54 [[ 9.99359230e-01 3.47051865e-02 8.75672951e-03 1.13221713e+01] [-3.48569019e-02 9.99233561e-01 1.78125414e-02 -3.70561173e-02] [-8.13183044e-03 -1.81063601e-02 9.99802997e-01 -5.43004767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37240100800001 meters Centerline goodness : 0.906007 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.04, Z:-0.54 [[ 9.99493435e-01 3.06849220e-02 8.44444558e-03 1.13224871e+01] [-3.07947171e-02 9.99438637e-01 1.31945882e-02 -3.56011808e-02] [-8.03483026e-03 -1.34479486e-02 9.99877290e-01 -5.43187458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40240100800001 meters Centerline goodness : 0.906366 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.04, Z:-0.54 [[ 9.99612398e-01 2.65873650e-02 8.25622629e-03 1.13229385e+01] [-2.66591212e-02 9.99606669e-01 8.70624652e-03 -3.50469494e-02] [-8.02150270e-03 -8.92297570e-03 9.99928015e-01 -5.43779429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43240100800001 meters Centerline goodness : 0.906564 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.54 [[ 9.99725316e-01 2.20329845e-02 7.99000542e-03 1.13239837e+01] [-2.20655485e-02 9.99748482e-01 4.01059570e-03 -3.46602009e-02] [-7.89963040e-03 -4.18579790e-03 9.99960037e-01 -5.44863919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46240100800001 meters Centerline goodness : 0.909113 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.03, Z:-0.55 [[ 9.99748148e-01 2.10758074e-02 7.71048398e-03 1.13255288e+01] [-2.11004820e-02 9.99772451e-01 3.13289411e-03 -3.37879670e-02] [-7.64270120e-03 -3.29480001e-03 9.99965366e-01 -5.46169626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49240100800002 meters Centerline goodness : 0.909499 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.03, Z:-0.55 [[ 9.99758619e-01 2.05651568e-02 7.73157272e-03 1.13257710e+01] [-2.05862559e-02 9.99784544e-01 2.65934100e-03 -3.26763276e-02] [-7.67521714e-03 -2.81786322e-03 9.99966575e-01 -5.46495211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52240100800002 meters Centerline goodness : 0.908823 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.03, Z:-0.55 [[ 9.99835072e-01 1.64671859e-02 7.65906144e-03 1.13257400e+01] [-1.64514826e-02 9.99862441e-01 -2.10879436e-03 -2.96660423e-02] [-7.69273378e-03 1.98244365e-03 9.99968445e-01 -5.46628027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55240100800002 meters Centerline goodness : 0.910707 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.03, Z:-0.55 [[ 9.99847175e-01 1.58356263e-02 7.40666949e-03 1.13264109e+01] [-1.58175842e-02 9.99871798e-01 -2.48819841e-03 -2.98641289e-02] [-7.44512212e-03 2.37066253e-03 9.99969475e-01 -5.46715251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58240100800002 meters Centerline goodness : 0.910348 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.54 [[ 9.99944065e-01 1.03143802e-02 2.34124405e-03 1.13177674e+01] [-1.03237154e-02 9.99938665e-01 4.01084751e-03 -2.86975506e-02] [-2.29973104e-03 -4.03479350e-03 9.99989216e-01 -5.43854705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61240100800002 meters Centerline goodness : 0.907404 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.55 [[ 9.99954296e-01 9.34930186e-03 1.99921061e-03 1.13198474e+01] [-9.35432866e-03 9.99953072e-01 2.52000155e-03 -2.62076379e-02] [-1.97555653e-03 -2.53858765e-03 9.99994826e-01 -5.45859402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64240100800001 meters Centerline goodness : 0.905936 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99958375e-01 8.93396038e-03 1.85294960e-03 1.13205365e+01] [-8.93681018e-03 9.99958887e-01 1.53544356e-03 -2.37451472e-02] [-1.83915583e-03 -1.55193911e-03 9.99997104e-01 -5.46497575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67240100800001 meters Centerline goodness : 0.904434 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99958883e-01 8.88525357e-03 1.81253670e-03 1.13201572e+01] [-8.88726811e-03 9.99959895e-01 1.10644008e-03 -2.24507783e-02] [-1.80263301e-03 -1.12250309e-03 9.99997745e-01 -5.45869119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70240100800001 meters Centerline goodness : 0.905820 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.54 [[ 9.99978430e-01 6.32237555e-03 1.77974074e-03 1.13185600e+01] [-6.31812894e-03 9.99977204e-01 -2.38167642e-03 -2.04324922e-02] [-1.79475802e-03 2.37038042e-03 9.99995580e-01 -5.44157145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73240100800001 meters Centerline goodness : 0.905050 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.54 [[ 9.99978891e-01 6.26847967e-03 1.71003227e-03 1.13182159e+01] [-6.26387246e-03 9.99976773e-01 -2.68640496e-03 -1.96682901e-02] [-1.72683223e-03 2.67563683e-03 9.99994929e-01 -5.43437164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76240100800001 meters Centerline goodness : 0.907645 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.54 [[ 9.99981951e-01 5.79054823e-03 1.60230998e-03 1.13191564e+01] [-5.78515625e-03 9.99977656e-01 -3.34954729e-03 -1.82151914e-02] [-1.62166989e-03 3.34021722e-03 9.99993107e-01 -5.44476024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79240100800001 meters Centerline goodness : 0.901036 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99988120e-01 4.74574826e-03 1.11243642e-03 1.13216852e+01] [-4.74117491e-03 9.99980444e-01 -4.07831435e-03 -1.78295478e-02] [-1.13176932e-03 4.07299164e-03 9.99991065e-01 -5.46598562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82240100800001 meters Centerline goodness : 0.902981 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99989048e-01 4.61504084e-03 7.78441691e-04 1.13226471e+01] [-4.61201886e-03 9.99981991e-01 -3.84021178e-03 -1.94383591e-02] [-7.96150406e-04 3.83657953e-03 9.99992323e-01 -5.46999571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85240100800002 meters Centerline goodness : 0.903100 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99989307e-01 4.59234126e-03 5.44336380e-04 1.13234891e+01] [-4.59031791e-03 9.99982760e-01 -3.66181271e-03 -2.07774875e-02] [-5.61143290e-04 3.65927488e-03 9.99993147e-01 -5.47529160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88240100800002 meters Centerline goodness : 0.902833 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99989304e-01 4.61841979e-03 2.49683221e-04 1.13244977e+01] [-4.61744414e-03 9.99982209e-01 -3.77626125e-03 -2.08481743e-02] [-2.67119139e-04 3.77506796e-03 9.99992839e-01 -5.48233711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91240100800002 meters Centerline goodness : 0.901892 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99987703e-01 4.95928064e-03 1.01641405e-05 1.13250539e+01] [-4.95920865e-03 9.99980801e-01 -3.71534934e-03 -2.08354972e-02] [-2.85894054e-05 3.71525325e-03 9.99993098e-01 -5.48533341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94240100800002 meters Centerline goodness : 0.899977 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99976391e-01 6.85811037e-03 -4.28022669e-04 1.13250826e+01] [-6.85928685e-03 9.99972525e-01 -2.81052601e-03 -2.14394265e-02] [ 4.08736012e-04 2.81339559e-03 9.99995959e-01 -5.48162608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97240100800002 meters Centerline goodness : 0.900634 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99971326e-01 7.53881022e-03 -7.16275135e-04 1.13257336e+01] [-7.54073753e-03 9.99967849e-01 -2.72725721e-03 -2.09969311e-02] [ 6.95691832e-04 2.73258025e-03 9.99996025e-01 -5.48656935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters Centerline goodness : 0.899983 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99965636e-01 8.24038400e-03 -9.07445708e-04 1.13266807e+01] [-8.24287606e-03 9.99962169e-01 -2.77762928e-03 -1.95286250e-02] [ 8.84522647e-04 2.78501379e-03 9.99995731e-01 -5.49900020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03240100800001 meters Centerline goodness : 0.900474 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99904429e-01 1.37818588e-02 -1.09254288e-03 1.13275678e+01] [-1.37797427e-02 9.99903209e-01 1.92128427e-03 -1.80403089e-02] [ 1.11891600e-03 -1.90604569e-03 9.99997558e-01 -5.51144897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters Centerline goodness : 0.897810 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.02, Z:-0.55 [[ 9.99887079e-01 1.49908303e-02 -1.05102472e-03 1.13267019e+01] [-1.49881626e-02 9.99884541e-01 2.50173455e-03 -1.76393580e-02] [ 1.08840645e-03 -2.48569913e-03 9.99996318e-01 -5.50389600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09240100800001 meters Centerline goodness : 0.899222 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99859778e-01 1.67277501e-02 -7.79162064e-04 1.13244477e+01] [-1.67245202e-02 9.99852205e-01 3.98216771e-03 -1.93453787e-02] [ 8.45659614e-04 -3.96857821e-03 9.99991768e-01 -5.48155423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12240100800001 meters Centerline goodness : 0.900385 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.02, Z:-0.55 [[ 9.99829593e-01 1.84537093e-02 -4.96556170e-04 1.13219538e+01] [-1.84504848e-02 9.99812597e-01 5.86101250e-03 -2.26612773e-02] [ 6.04620535e-04 -5.85085204e-03 9.99982701e-01 -5.45513585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15240100800001 meters Centerline goodness : 0.902869 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.54 [[ 9.99783498e-01 2.08062998e-02 -2.36345035e-04 1.13203588e+01] [-2.08036166e-02 9.99749010e-01 8.31420635e-03 -2.82816387e-02] [ 4.09273585e-04 -8.30748947e-03 9.99965408e-01 -5.44381426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18240100800001 meters Centerline goodness : 0.903635 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.55 [[ 9.99777393e-01 2.10975249e-02 -2.43580663e-04 1.13212837e+01] [-2.10947673e-02 9.99742825e-01 8.32431247e-03 -2.80105628e-02] [ 4.19140410e-04 -8.31732114e-03 9.99965323e-01 -5.45862329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21240100800001 meters Centerline goodness : 0.902741 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.55 [[ 9.99775553e-01 2.11831017e-02 -3.44898169e-04 1.13226685e+01] [-2.11796757e-02 9.99743820e-01 7.98224748e-03 -2.69003871e-02] [ 5.13898573e-04 -7.97315107e-03 9.99968082e-01 -5.47788411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24240100800002 meters Centerline goodness : 0.902107 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.55 [[ 9.99765186e-01 2.16665008e-02 -3.67576292e-04 1.13231024e+01] [-2.16626680e-02 9.99730310e-01 8.36880673e-03 -2.76591760e-02] [ 5.48799918e-04 -8.35887894e-03 9.99964913e-01 -5.48490099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27240100800002 meters Centerline goodness : 0.899478 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.03, Z:-0.55 [[ 9.99809748e-01 1.94967856e-02 -5.86580568e-04 1.13225036e+01] [-1.94932282e-02 9.99794540e-01 5.55811693e-03 -2.92755923e-02] [ 6.94825463e-04 -5.54562513e-03 9.99984382e-01 -5.47974306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30240100800002 meters Centerline goodness : 0.901458 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.04, Z:-0.55 [[ 9.99794251e-01 2.02612129e-02 9.69102276e-04 1.13154479e+01] [-2.02661887e-02 9.99779850e-01 5.43440114e-03 -4.18348105e-02] [-8.58781370e-04 -5.45292303e-03 9.99984764e-01 -5.45061251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33240100800002 meters Centerline goodness : 0.900631 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.05, Z:-0.54 [[ 9.99849640e-01 1.73057660e-02 1.09872844e-03 1.13148636e+01] [-1.73087074e-02 9.99846476e-01 2.72654397e-03 -4.57030235e-02] [-1.05137483e-03 -2.74515157e-03 9.99995679e-01 -5.44982937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36240100800002 meters Centerline goodness : 0.904605 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.05, Z:-0.55 [[ 9.99902038e-01 1.39393807e-02 1.26780113e-03 1.13148963e+01] [-1.39387922e-02 9.99902739e-01 -4.71857350e-04 -4.78850147e-02] [-1.27425522e-03 4.54139510e-04 9.99999085e-01 -5.45841214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39240100800001 meters Centerline goodness : 0.901622 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.05, Z:-0.55 [[ 9.99945085e-01 1.03731449e-02 1.49163623e-03 1.13152273e+01] [-1.03673442e-02 9.99938864e-01 -3.84531533e-03 -4.93786301e-02] [-1.53143306e-03 3.82963986e-03 9.99991494e-01 -5.47227827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters Centerline goodness : 0.902854 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.06, Z:-0.55 [[ 9.99972324e-01 7.29880560e-03 1.44147664e-03 1.13169615e+01] [-7.29199115e-03 9.99962474e-01 -4.67739933e-03 -5.89576944e-02] [-1.47556197e-03 4.66675865e-03 9.99988022e-01 -5.48869643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45240100800001 meters Centerline goodness : 0.905294 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.07, Z:-0.55 [[ 9.99992681e-01 3.68280063e-03 1.03702289e-03 1.13178261e+01] [-3.67543672e-03 9.99968636e-01 -7.01556389e-03 -6.66859741e-02] [-1.06282729e-03 7.01170103e-03 9.99974853e-01 -5.48846301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48240100800001 meters Centerline goodness : 0.905786 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.08, Z:-0.55 [[ 9.99995180e-01 -2.82113648e-03 1.29676916e-03 1.13166995e+01] [ 2.83714563e-03 9.99917672e-01 -1.25139721e-02 -7.50580646e-02] [-1.26135878e-03 1.25175909e-02 9.99920856e-01 -5.48059939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51240100800001 meters Centerline goodness : 0.903371 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.08, Z:-0.55 [[ 9.99954285e-01 -9.44787781e-03 1.47168144e-03 1.13163984e+01] [ 9.47285560e-03 9.99792985e-01 -1.80070153e-02 -8.37684405e-02] [-1.30124870e-03 1.80201332e-02 9.99836777e-01 -5.47975442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54240100800001 meters Centerline goodness : 0.897470 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.10, Z:-0.55 [[ 9.99942334e-01 -1.06606876e-02 -1.29554977e-03 1.13393859e+01] [ 1.06337964e-02 9.99758320e-01 -1.92412062e-02 -9.51673491e-02] [ 1.50036115e-03 1.92263201e-02 9.99814031e-01 -5.47386460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57240100800001 meters Centerline goodness : 0.885814 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.11, Z:-0.55 [[ 9.99786135e-01 -1.86447763e-02 -8.94744327e-03 1.13595438e+01] [ 1.85293176e-02 9.99746149e-01 -1.28180236e-02 -1.10561139e-01] [ 9.18416114e-03 1.26494923e-02 9.99877813e-01 -5.48856115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60240100800002 meters Centerline goodness : 0.884257 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.12, Z:-0.55 [[ 9.99730632e-01 -2.12871781e-02 -9.24767671e-03 1.13639936e+01] [ 2.11581007e-02 9.99680366e-01 -1.38383627e-02 -1.15208446e-01] [ 9.53930054e-03 1.36389718e-02 9.99861481e-01 -5.52924441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63240100800002 meters Centerline goodness : 0.880292 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.12, Z:-0.55 [[ 9.99626948e-01 -2.55701974e-02 -9.59838300e-03 1.13665508e+01] [ 2.54035092e-02 9.99530947e-01 -1.71040516e-02 -1.19742731e-01] [ 1.00312348e-02 1.68538383e-02 9.99807643e-01 -5.54922475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66240100800002 meters Centerline goodness : 0.876716 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.13, Z:-0.55 [[ 9.99533563e-01 -2.89572117e-02 -9.70241602e-03 1.13669653e+01] [ 2.87671132e-02 9.99401904e-01 -1.91908238e-02 -1.27325141e-01] [ 1.02523258e-02 1.89027620e-02 9.99768761e-01 -5.54604111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69240100800002 meters Centerline goodness : 0.878660 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.15, Z:-0.55 [[ 9.99460803e-01 -3.19735009e-02 -7.46989728e-03 1.13820945e+01] [ 3.17997527e-02 9.99244938e-01 -2.23232844e-02 -1.47304681e-01] [ 8.17801060e-03 2.20737069e-02 9.99722897e-01 -5.48958807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72240100800002 meters Centerline goodness : 0.876866 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.15, Z:-0.55 [[ 9.99468329e-01 -3.16357954e-02 -7.88902075e-03 1.13824823e+01] [ 3.14699082e-02 9.99297864e-01 -2.03328486e-02 -1.54736180e-01] [ 8.52672742e-03 2.00737714e-02 9.99762141e-01 -5.47592553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75240100800002 meters Centerline goodness : 0.876866 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.15, Z:-0.55 [[ 9.99468329e-01 -3.16357954e-02 -7.88902075e-03 1.13824823e+01] [ 3.14699082e-02 9.99297864e-01 -2.03328486e-02 -1.54736180e-01] [ 8.52672742e-03 2.00737714e-02 9.99762141e-01 -5.47592553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78240100800001 meters Centerline goodness : 0.877576 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.16, Z:-0.55 [[ 9.99479557e-01 -3.12508318e-02 -8.00001866e-03 1.13826934e+01] [ 3.10925420e-02 9.99332088e-01 -1.91998062e-02 -1.58157526e-01] [ 8.59468526e-03 1.89410729e-02 9.99783660e-01 -5.47399835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81240100800001 meters Centerline goodness : 0.875107 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.16, Z:-0.54 [[ 9.99617888e-01 -2.58615147e-02 -9.76014711e-03 1.14070561e+01] [ 2.57285787e-02 9.99577690e-01 -1.35085721e-02 -1.63060293e-01] [ 1.01053774e-02 1.32522956e-02 9.99861119e-01 -5.44441118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84240100800001 meters Centerline goodness : 0.874009 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.17, Z:-0.55 [[ 9.99769803e-01 -1.80818873e-02 -1.15493258e-02 1.14276444e+01] [ 1.79627873e-02 9.99785249e-01 -1.03341038e-02 -1.68188286e-01] [ 1.17337056e-02 1.01242669e-02 9.99879902e-01 -5.45572940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87240100800001 meters Centerline goodness : 0.871932 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.17, Z:-0.55 [[ 9.99858347e-01 -1.45061129e-02 -8.53570269e-03 1.14444350e+01] [ 1.43752201e-02 9.99781113e-01 -1.52013019e-02 -1.70720433e-01] [ 8.75434613e-03 1.50764460e-02 9.99848020e-01 -5.49154784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90240100800001 meters Centerline goodness : 0.871512 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.18, Z:-0.55 [[ 9.99870169e-01 -1.36093374e-02 -8.62730499e-03 1.14438493e+01] [ 1.34906310e-02 9.99815531e-01 -1.36714027e-02 -1.75523079e-01] [ 8.81177225e-03 1.35532399e-02 9.99869323e-01 -5.48002676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93240100800001 meters Centerline goodness : 0.876401 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.19, Z:-0.54 [[ 9.99898661e-01 -1.00045649e-02 -1.01280498e-02 1.14631490e+01] [ 9.86905904e-03 9.99862287e-01 -1.33419765e-02 -1.86928520e-01] [ 1.02601357e-02 1.32406701e-02 9.99859697e-01 -5.44702537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96240100800001 meters Centerline goodness : 0.876385 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.19, Z:-0.54 [[ 9.99927517e-01 -8.76645263e-03 -8.25285176e-03 1.14859035e+01] [ 8.64582254e-03 9.99856899e-01 -1.45407031e-02 -1.90218929e-01] [ 8.37914115e-03 1.44682964e-02 9.99860219e-01 -5.44272054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99240100800002 meters Centerline goodness : 0.875564 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.19, Z:-0.54 [[ 9.99953668e-01 -7.81352819e-03 -5.62227530e-03 1.15097039e+01] [ 7.72878291e-03 9.99858518e-01 -1.49401953e-02 -1.92244149e-01] [ 5.73821549e-03 1.48960497e-02 9.99872582e-01 -5.44560476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02240100800002 meters Centerline goodness : 0.878281 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.20, Z:-0.54 [[ 9.99973048e-01 -4.55364966e-03 -5.75915362e-03 1.15105172e+01] [ 4.49720669e-03 9.99942102e-01 -9.77583397e-03 -1.96393525e-01] [ 5.80333590e-03 9.74967039e-03 9.99935631e-01 -5.43706504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05240100800002 meters Centerline goodness : 0.875526 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.20, Z:-0.54 [[ 9.99996470e-01 -1.44275851e-03 -2.23137877e-03 1.15278160e+01] [ 1.41614392e-03 9.99928388e-01 -1.18833581e-02 -1.99137403e-01] [ 2.24836380e-03 1.18801562e-02 9.99926901e-01 -5.44482862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08240100800002 meters Centerline goodness : 0.874222 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.20, Z:-0.55 [[ 9.99997004e-01 -2.41500479e-03 3.99614146e-04 1.15513774e+01] [ 2.42085458e-03 9.99879248e-01 -1.53501978e-02 -2.02896867e-01] [-3.62495091e-04 1.53511192e-02 9.99882099e-01 -5.45684910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11240100800002 meters Centerline goodness : 0.876548 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.21, Z:-0.55 [[ 9.99999994e-01 -9.50103589e-05 5.76201409e-05 1.15731663e+01] [ 9.60593902e-05 9.99829081e-01 -1.84878012e-02 -2.06428687e-01] [-5.58537599e-05 1.84878066e-02 9.99829084e-01 -5.46952039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14240100800001 meters Centerline goodness : 0.876973 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.21, Z:-0.55 [[ 9.99988911e-01 2.83332024e-03 -3.76169610e-03 1.15961932e+01] [-2.91134408e-03 9.99777315e-01 -2.09008116e-02 -2.11654736e-01] [ 3.70163974e-03 2.09115314e-02 9.99774477e-01 -5.47318138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17240100800001 meters Centerline goodness : 0.877941 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.22, Z:-0.55 [[ 9.99941120e-01 6.13868540e-03 -8.94837780e-03 1.16211322e+01] [-6.32864289e-03 9.99751889e-01 -2.13567128e-02 -2.18369762e-01] [ 8.81505546e-03 2.14120864e-02 9.99731873e-01 -5.47085931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters Centerline goodness : 0.879018 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.22, Z:-0.55 [[ 9.99840427e-01 1.06420012e-02 -1.43481250e-02 1.16637374e+01] [-1.10693038e-02 9.99487460e-01 -3.00381200e-02 -2.23450284e-01] [ 1.40211053e-02 3.01921505e-02 9.99445768e-01 -5.52971870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23240100800001 meters Centerline goodness : 0.877268 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.23, Z:-0.56 [[ 0.99982971 0.01310393 -0.012994 11.66200802] [-0.01339943 0.99964747 -0.02292137 -0.22514994] [ 0.01268905 0.02309158 0.99965282 -0.55509697] [ 0. 0. 0. 1. ]] SLAMing on 91.26240100800001 meters Centerline goodness : 0.875776 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.23, Z:-0.56 [[ 0.99979206 0.01579724 -0.01289488 11.68886241] [-0.01608638 0.99961435 -0.02263589 -0.22658811] [ 0.01253232 0.02283861 0.99966061 -0.55706296] [ 0. 0. 0. 1. ]] SLAMing on 91.29240100800001 meters Centerline goodness : 0.875347 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.23, Z:-0.56 [[ 0.99976593 0.01674368 -0.01370185 11.69082918] [-0.01704741 0.99960466 -0.02235868 -0.23026145] [ 0.01332206 0.02258703 0.99965612 -0.55782217] [ 0. 0. 0. 1. ]] SLAMing on 91.32240100800001 meters Centerline goodness : 0.875612 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.23, Z:-0.56 [[ 0.99972972 0.01659607 -0.01628059 11.69523637] [-0.01704159 0.99947325 -0.02761901 -0.23480121] [ 0.01581365 0.027889 0.99948593 -0.55655823] [ 0. 0. 0. 1. ]] SLAMing on 91.35240100800002 meters Centerline goodness : 0.883632 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.25, Z:-0.55 [[ 0.99973401 0.01923402 -0.01272613 11.70824342] [-0.01969503 0.9991156 -0.03715014 -0.24711314] [ 0.01200032 0.0373909 0.99922866 -0.55442639] [ 0. 0. 0. 1. ]] SLAMing on 91.38240100800002 meters Centerline goodness : 0.886762 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.25, Z:-0.55 [[ 9.99735609e-01 2.06999671e-02 -1.00111408e-02 1.17019774e+01] [-2.10212884e-02 9.99229836e-01 -3.31336691e-02 -2.53392316e-01] [ 9.31756471e-03 3.33353560e-02 9.99400789e-01 -5.49962971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41240100800002 meters Centerline goodness : 0.886004 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.26, Z:-0.54 [[ 9.99794028e-01 1.94300203e-02 -5.86310763e-03 1.16976235e+01] [-1.94922328e-02 9.99752245e-01 -1.07471163e-02 -2.62876558e-01] [ 5.65283833e-03 1.08591878e-02 9.99925059e-01 -5.41813867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44240100800002 meters Centerline goodness : 0.886818 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.27, Z:-0.53 [[ 9.99755670e-01 1.98849749e-02 -9.65341016e-03 1.16922384e+01] [-1.97874817e-02 9.99753274e-01 1.00919480e-02 -2.70849974e-01] [ 9.85170654e-03 -9.89846554e-03 9.99902477e-01 -5.32194771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47240100800002 meters Centerline goodness : 0.884697 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.27, Z:-0.53 [[ 9.99754190e-01 1.99723422e-02 -9.62630677e-03 1.16932517e+01] [-1.98707623e-02 9.99747052e-01 1.05349228e-02 -2.73902753e-01] [ 9.83427890e-03 -1.03410511e-02 9.99898170e-01 -5.33558630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50240100800002 meters Centerline goodness : 0.884243 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.28, Z:-0.52 [[ 9.99726238e-01 2.18372687e-02 -8.40138530e-03 1.16959707e+01] [-2.16434767e-02 9.99512432e-01 2.25046225e-02 -2.82948541e-01] [ 8.88872855e-03 -2.23166264e-02 9.99711438e-01 -5.22272298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53240100800001 meters Centerline goodness : 0.889487 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.28, Z:-0.52 [[ 9.99784256e-01 1.91451276e-02 -8.05637955e-03 1.16939234e+01] [-1.89882115e-02 9.99636820e-01 1.91226788e-02 -2.84956510e-01] [ 8.41955975e-03 -1.89655769e-02 9.99784686e-01 -5.21677437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters Centerline goodness : 0.891535 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.29, Z:-0.52 [[ 9.99822327e-01 1.72775626e-02 -7.53660314e-03 1.16911697e+01] [-1.71541895e-02 9.99722605e-01 1.61383397e-02 -2.87829575e-01] [ 7.81334370e-03 -1.60061880e-02 9.99841364e-01 -5.21389046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59240100800001 meters Centerline goodness : 0.891512 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.29, Z:-0.52 [[ 9.99753918e-01 2.06275802e-02 -8.16122344e-03 1.16938855e+01] [-2.04471556e-02 9.99557459e-01 2.16055415e-02 -2.91192473e-01] [ 8.60328180e-03 -2.14333510e-02 9.99733262e-01 -5.20224166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62240100800001 meters Centerline goodness : 0.891029 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.29, Z:-0.52 [[ 9.99758410e-01 2.03038687e-02 -8.41865486e-03 1.16955574e+01] [-2.01210044e-02 9.99571381e-01 2.12649994e-02 -2.91712900e-01] [ 8.84680822e-03 -2.10904702e-02 9.99738429e-01 -5.21892732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65240100800001 meters Centerline goodness : 0.887448 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.30, Z:-0.52 [[ 9.99758214e-01 2.01690490e-02 -8.75921774e-03 1.16967652e+01] [-1.99713976e-02 9.99556384e-01 2.20947625e-02 -2.95310791e-01] [ 9.20096236e-03 -2.19144865e-02 9.99717509e-01 -5.21735984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68240100800001 meters Centerline goodness : 0.887996 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.30, Z:-0.52 [[ 9.99877940e-01 1.34222962e-02 -7.99664682e-03 1.16945561e+01] [-1.33086752e-02 9.99812069e-01 1.40962853e-02 -2.95769240e-01] [ 8.18434852e-03 -1.39881399e-02 9.99868666e-01 -5.23063160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71240100800001 meters Centerline goodness : 0.892449 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.31, Z:-0.52 [[ 9.99982287e-01 2.71450501e-03 -5.29695345e-03 1.17162122e+01] [-2.59353318e-03 9.99738668e-01 2.27127501e-02 -3.09866734e-01] [ 5.35722306e-03 -2.26986099e-02 9.99728000e-01 -5.15164209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74240100800002 meters Centerline goodness : 0.890938 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.32, Z:-0.51 [[ 9.99965572e-01 7.51696612e-04 -8.26376805e-03 1.17463532e+01] [-5.15777044e-04 9.99593265e-01 2.85138187e-02 -3.19987852e-01] [ 8.28184063e-03 -2.85085748e-02 9.99559239e-01 -5.07138230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77240100800002 meters Centerline goodness : 0.887938 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.33, Z:-0.50 [[ 9.99956660e-01 -3.88221378e-03 -8.46207925e-03 1.17613535e+01] [ 4.19800277e-03 9.99283091e-01 3.76255328e-02 -3.26821855e-01] [ 8.30994235e-03 -3.76594259e-02 9.99256080e-01 -4.99752509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80240100800002 meters Centerline goodness : 0.886425 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.33, Z:-0.50 [[ 9.99944156e-01 -5.68956771e-03 -8.90578479e-03 1.17653477e+01] [ 6.01823901e-03 9.99285081e-01 3.73243691e-02 -3.30426854e-01] [ 8.68705834e-03 -3.73758819e-02 9.99263518e-01 -5.01995798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83240100800002 meters Centerline goodness : 0.887958 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.33, Z:-0.50 [[ 9.99932052e-01 -8.58983038e-03 -7.88080601e-03 1.17634656e+01] [ 8.85107894e-03 9.99391557e-01 3.37368508e-02 -3.33457302e-01] [ 7.58621716e-03 -3.38043120e-02 9.99399679e-01 -5.03400688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86240100800002 meters Centerline goodness : 0.892320 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.33, Z:-0.51 [[ 9.99982964e-01 -5.19562760e-03 -2.66047157e-03 1.17758866e+01] [ 5.26399298e-03 9.99638414e-01 2.63691441e-02 -3.33505211e-01] [ 2.52250533e-03 -2.63826996e-02 9.99648733e-01 -5.06982035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89240100800001 meters Centerline goodness : 0.892333 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.33, Z:-0.51 [[ 9.99995121e-01 -1.93670893e-03 2.45086493e-03 1.17869032e+01] [ 1.89696175e-03 9.99868308e-01 1.61173279e-02 -3.32214175e-01] [-2.48175674e-03 -1.61126001e-02 9.99867104e-01 -5.13156984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92240100800001 meters Centerline goodness : 0.893315 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.33, Z:-0.51 [[ 9.99995900e-01 -4.33605639e-04 2.83051686e-03 1.17842047e+01] [ 3.86006691e-04 9.99858875e-01 1.67952849e-02 -3.32338066e-01] [-2.83739993e-03 -1.67941235e-02 9.99854943e-01 -5.11613368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95240100800001 meters Centerline goodness : 0.899570 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.33, Z:-0.52 [[ 9.99968031e-01 3.66339843e-03 7.10753268e-03 1.18006020e+01] [-3.74205031e-03 9.99931564e-01 1.10844326e-02 -3.31827256e-01] [-7.06643958e-03 -1.11106750e-02 9.99913305e-01 -5.16368911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98240100800001 meters Centerline goodness : 0.899488 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.33, Z:-0.52 [[ 9.99938089e-01 8.37737186e-03 7.32374297e-03 1.17999651e+01] [-8.49571399e-03 9.99831382e-01 1.62797535e-02 -3.34340788e-01] [-7.18612651e-03 -1.63409660e-02 9.99840654e-01 -5.15742875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01240100800001 meters Centerline goodness : 0.896247 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.33, Z:-0.52 [[ 9.99950295e-01 5.52844288e-03 8.29720259e-03 1.17982348e+01] [-5.62167656e-03 9.99920848e-01 1.12558225e-02 -3.31000382e-01] [-8.23431868e-03 -1.13019072e-02 9.99902227e-01 -5.18799622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04240100800001 meters Centerline goodness : 0.895924 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.33, Z:-0.52 [[ 9.99948816e-01 5.57704104e-03 8.44172573e-03 1.17982091e+01] [-5.67336458e-03 9.99918583e-01 1.14297981e-02 -3.31787274e-01] [-8.37729398e-03 -1.14771061e-02 9.99899043e-01 -5.19096353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07240100800001 meters Centerline goodness : 0.899159 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.33, Z:-0.52 [[ 9.99948332e-01 5.76329966e-03 8.37363230e-03 1.17981492e+01] [-5.86464855e-03 9.99909235e-01 1.21296199e-02 -3.34182288e-01] [-8.30296563e-03 -1.21781016e-02 9.99891371e-01 -5.18377724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10240100800002 meters Centerline goodness : 0.899937 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.52 [[ 9.99944699e-01 6.68104137e-03 8.12172710e-03 1.17970540e+01] [-6.79521288e-03 9.99877328e-01 1.41121845e-02 -3.40200101e-01] [-8.02644671e-03 -1.41665930e-02 9.99867433e-01 -5.15338979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13240100800002 meters Centerline goodness : 0.897801 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.51 [[ 9.99944098e-01 7.02289688e-03 7.90446909e-03 1.17969063e+01] [-7.13934588e-03 9.99864963e-01 1.48015304e-02 -3.42455626e-01] [-7.79945207e-03 -1.48571357e-02 9.99859207e-01 -5.14262236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16240100800002 meters Centerline goodness : 0.902028 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.51 [[ 9.99942911e-01 7.32178485e-03 7.78246902e-03 1.17967087e+01] [-7.44050398e-03 9.99854700e-01 1.53368040e-02 -3.44330739e-01] [-7.66904545e-03 -1.53938339e-02 9.99852097e-01 -5.13499063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19240100800002 meters Centerline goodness : 0.904170 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.52 [[ 9.99955715e-01 3.96798730e-03 8.53369088e-03 1.17953912e+01] [-4.05523580e-03 9.99939438e-01 1.02311209e-02 -3.42365347e-01] [-8.49257711e-03 -1.02652739e-02 9.99911246e-01 -5.15969429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22240100800002 meters Centerline goodness : 0.902038 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.52 [[ 9.99958932e-01 3.71539568e-03 8.26616597e-03 1.17966966e+01] [-3.79846256e-03 9.99942221e-01 1.00561200e-02 -3.43061214e-01] [-8.22832590e-03 -1.00871057e-02 9.99915269e-01 -5.17002712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25240100800002 meters Centerline goodness : 0.900058 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.34, Z:-0.52 [[ 9.99962498e-01 3.23038985e-03 8.03531311e-03 1.17986283e+01] [-3.30723228e-03 9.99948754e-01 9.56825789e-03 -3.43616682e-01] [-8.00399213e-03 -9.59447372e-03 9.99921938e-01 -5.19077368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28240100800001 meters Centerline goodness : 0.900754 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.35, Z:-0.52 [[ 9.99968964e-01 2.62993896e-03 7.42654865e-03 1.18019906e+01] [-2.69940454e-03 9.99952558e-01 9.35920268e-03 -3.46865553e-01] [-7.40158219e-03 -9.37895947e-03 9.99928623e-01 -5.21821127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31240100800001 meters Centerline goodness : 0.900803 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.35, Z:-0.52 [[ 9.99971794e-01 2.55647068e-03 7.06222616e-03 1.18031861e+01] [-2.62418260e-03 9.99950520e-01 9.59533147e-03 -3.48743417e-01] [-7.03734654e-03 -9.61359340e-03 9.99929025e-01 -5.22169348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34240100800001 meters Centerline goodness : 0.902216 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.35, Z:-0.52 [[ 9.99970841e-01 2.87380733e-03 7.07524988e-03 1.18031524e+01] [-2.94352577e-03 9.99947025e-01 9.86323523e-03 -3.50247449e-01] [-7.04653003e-03 -9.88377381e-03 9.99926326e-01 -5.22362026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37240100800001 meters Centerline goodness : 0.902586 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.35, Z:-0.52 [[ 9.99973858e-01 -1.18649316e-03 7.13272618e-03 1.18036333e+01] [ 1.14361178e-03 9.99981268e-01 6.01299634e-03 -3.53290779e-01] [-7.13972695e-03 -6.00468208e-03 9.99956483e-01 -5.23248759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40240100800001 meters Centerline goodness : 0.901064 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.52 [[ 9.99977118e-01 -1.87073761e-03 6.50104399e-03 1.18061087e+01] [ 1.83116710e-03 9.99979795e-01 6.08742346e-03 -3.55149511e-01] [-6.51230061e-03 -6.07537967e-03 9.99960339e-01 -5.24008178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43240100800001 meters Centerline goodness : 0.903736 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.53 [[ 9.99979630e-01 -2.54275382e-03 5.85437798e-03 1.18087356e+01] [ 2.50831266e-03 9.99979550e-01 5.88282033e-03 -3.56716427e-01] [-5.86921682e-03 -5.86801588e-03 9.99965559e-01 -5.25300791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46240100800001 meters Centerline goodness : 0.903111 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.53 [[ 9.99981931e-01 -2.94909666e-03 5.23829371e-03 1.18107309e+01] [ 2.91630711e-03 9.99976177e-01 6.25623322e-03 -3.59578701e-01] [-5.25661915e-03 -6.24084370e-03 9.99966709e-01 -5.25609058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49240100800002 meters Centerline goodness : 0.904137 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.52 [[ 9.99983978e-01 -3.56974134e-03 4.39330408e-03 1.18129074e+01] [ 3.53938972e-03 9.99969951e-01 6.89710030e-03 -3.63058043e-01] [-4.41779293e-03 -6.88144018e-03 9.99966564e-01 -5.24701056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52240100800002 meters Centerline goodness : 0.904997 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.52 [[ 9.99984976e-01 -3.43142060e-03 4.27481493e-03 1.18126335e+01] [ 3.39893408e-03 9.99965466e-01 7.58374036e-03 -3.64304105e-01] [-4.30069031e-03 -7.56909661e-03 9.99962106e-01 -5.23292399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55240100800002 meters Centerline goodness : 0.904644 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.36, Z:-0.52 [[ 9.99985667e-01 -3.54189219e-03 4.01505621e-03 1.18129596e+01] [ 3.51106901e-03 9.99964512e-01 7.65812578e-03 -3.64596965e-01] [-4.04203798e-03 -7.64391888e-03 9.99962616e-01 -5.22745728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58240100800002 meters Centerline goodness : 0.906453 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.37, Z:-0.52 [[ 9.99996089e-01 -1.50331838e-04 2.79280564e-03 1.18362904e+01] [ 1.32125382e-04 9.99978748e-01 6.51809676e-03 -3.65742641e-01] [-2.79372616e-03 -6.51770226e-03 9.99974857e-01 -5.21303511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61240100800002 meters Centerline goodness : 0.904326 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.37, Z:-0.52 [[ 9.99994428e-01 2.93129523e-03 1.59735837e-03 1.18393619e+01] [-2.94859639e-03 9.99935824e-01 1.09385921e-02 -3.66707553e-01] [-1.56519161e-03 -1.09432411e-02 9.99938896e-01 -5.20259995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64240100800001 meters Centerline goodness : 0.904326 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.37, Z:-0.52 [[ 9.99994428e-01 2.93129523e-03 1.59735837e-03 1.18393619e+01] [-2.94859639e-03 9.99935824e-01 1.09385921e-02 -3.66707553e-01] [-1.56519161e-03 -1.09432411e-02 9.99938896e-01 -5.20259995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67240100800001 meters Centerline goodness : 0.899074 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.36, Z:-0.53 [[ 9.99997300e-01 1.75060499e-03 1.52835982e-03 1.18423851e+01] [-1.76049807e-03 9.99977352e-01 6.49583611e-03 -3.58952690e-01] [-1.51695356e-03 -6.49850924e-03 9.99977734e-01 -5.28327715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70240100800001 meters Centerline goodness : 0.899183 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.36, Z:-0.53 [[ 9.99999211e-01 7.03577133e-04 1.04041126e-03 1.18451511e+01] [-7.08676160e-04 9.99987701e-01 4.90875240e-03 -3.55803207e-01] [-1.03694478e-03 -4.90948584e-03 9.99987411e-01 -5.31027717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73240100800001 meters Centerline goodness : 0.896875 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.35, Z:-0.53 [[ 9.99999925e-01 -4.36901396e-05 3.85122211e-04 1.18472289e+01] [ 4.20313526e-05 9.99990728e-01 4.30612697e-03 -3.54675762e-01] [-3.85306775e-04 -4.30611046e-03 9.99990654e-01 -5.31587333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76240100800001 meters Centerline goodness : 0.896761 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.36, Z:-0.53 [[ 9.99999967e-01 -1.63244802e-04 -1.97411214e-04 1.18478558e+01] [ 1.64179571e-04 9.99988732e-01 4.74442941e-03 -3.55870508e-01] [ 1.96634486e-04 -4.74446166e-03 9.99988726e-01 -5.30102114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79240100800001 meters Centerline goodness : 0.898576 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.36, Z:-0.53 [[ 9.99999613e-01 -1.62408358e-04 -8.64423684e-04 1.18481958e+01] [ 1.67317766e-04 9.99983841e-01 5.68236109e-03 -3.58406175e-01] [ 8.63486853e-04 -5.68250353e-03 9.99983482e-01 -5.27616945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82240100800001 meters Centerline goodness : 0.905715 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.36, Z:-0.53 [[ 9.99995415e-01 -1.92902111e-03 2.33420493e-03 1.18696582e+01] [ 1.93166306e-03 9.99997496e-01 -1.13011953e-03 -3.59337135e-01] [-2.33201906e-03 1.13462324e-03 9.99996637e-01 -5.27991375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85240100800002 meters Centerline goodness : 0.902975 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.36, Z:-0.53 [[ 9.99994782e-01 -2.35954050e-03 2.20637985e-03 1.18708370e+01] [ 2.36145640e-03 9.99996837e-01 -8.66145413e-04 -3.59989212e-01] [-2.20432916e-03 8.71351164e-04 9.99997191e-01 -5.28353717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88240100800002 meters Centerline goodness : 0.902784 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.36, Z:-0.53 [[ 9.99997233e-01 -2.31798482e-03 4.01653285e-04 1.18796194e+01] [ 2.31595185e-03 9.99984867e-01 4.99013549e-03 -3.61952620e-01] [-4.13214265e-04 -4.98919147e-03 9.99987469e-01 -5.25391638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91240100800002 meters Centerline goodness : 0.898000 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.37, Z:-0.52 [[ 9.99978983e-01 -6.48180662e-03 1.39506454e-04 1.19019126e+01] [ 6.47795749e-03 9.99796429e-01 1.91085397e-02 -3.65525755e-01] [-2.63335913e-04 -1.91072343e-02 9.99817405e-01 -5.15321943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94240100800002 meters Centerline goodness : 0.896341 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.37, Z:-0.51 [[ 9.99974152e-01 -7.16457839e-03 -6.04129246e-04 1.19038965e+01] [ 7.17479680e-03 9.99792427e-01 1.90689660e-02 -3.66325922e-01] [ 4.67382743e-04 -1.90728076e-02 9.99817988e-01 -5.14992525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97240100800002 meters Centerline goodness : 0.896839 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.37, Z:-0.51 [[ 9.99978990e-01 -5.28794941e-03 -3.74916551e-03 1.19325033e+01] [ 5.37233164e-03 9.99724105e-01 2.28659635e-02 -3.70561750e-01] [ 3.62721707e-03 -2.28856249e-02 9.99731510e-01 -5.06371926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00240100800002 meters Centerline goodness : 0.899754 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.37, Z:-0.50 [[ 9.99974173e-01 -3.59773459e-03 -6.22178440e-03 1.19589851e+01] [ 3.74964312e-03 9.99690864e-01 2.45787813e-02 -3.74368523e-01] [ 6.13143310e-03 -2.46014759e-02 9.99678535e-01 -4.99296885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03240100800001 meters Centerline goodness : 0.896036 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.38, Z:-0.49 [[ 9.99947342e-01 -5.78438065e-03 -8.47666448e-03 1.19722396e+01] [ 6.05258366e-03 9.99470702e-01 3.19637467e-02 -3.76203552e-01] [ 8.28728733e-03 -3.20133693e-02 9.99453083e-01 -4.91873995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06240100800001 meters Centerline goodness : 0.896137 Centerline is valid? [False, False] Translation: X:12.00, Y:-0.38, Z:-0.49 [[ 9.99909786e-01 -3.63335522e-03 -1.29313154e-02 1.19976558e+01] [ 3.99431155e-03 9.99600002e-01 2.79978724e-02 -3.75581428e-01] [ 1.28244167e-02 -2.80469983e-02 9.99524337e-01 -4.93815981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09240100800001 meters Centerline goodness : 0.893900 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.38, Z:-0.49 [[ 9.99894393e-01 -5.55830520e-03 -1.34278759e-02 1.20167777e+01] [ 6.10622583e-03 9.99135786e-01 4.11144204e-02 -3.76314376e-01] [ 1.31877448e-02 -4.11920721e-02 9.99064210e-01 -4.85213072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12240100800001 meters Centerline goodness : 0.887222 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.37, Z:-0.49 [[ 9.99880257e-01 -6.66311002e-03 -1.39668911e-02 1.20198087e+01] [ 7.21655287e-03 9.99175344e-01 3.99568872e-02 -3.74104935e-01] [ 1.36891361e-02 -4.00528955e-02 9.99103785e-01 -4.87455372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15240100800001 meters Centerline goodness : 0.888563 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.38, Z:-0.48 [[ 9.99858650e-01 -5.35245384e-03 -1.59383410e-02 1.20265914e+01] [ 6.06962914e-03 9.98955266e-01 4.52938764e-02 -3.75960867e-01] [ 1.56792563e-02 -4.53842140e-02 9.98846552e-01 -4.84503254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18240100800001 meters Centerline goodness : 0.890540 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.37, Z:-0.49 [[ 9.99917974e-01 -4.20078832e-03 -1.20995613e-02 1.20436820e+01] [ 4.65530509e-03 9.99275053e-01 3.77848626e-02 -3.74115571e-01] [ 1.19320635e-02 -3.78380904e-02 9.99212642e-01 -4.87873260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21240100800001 meters Centerline goodness : 0.887678 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.37, Z:-0.49 [[ 9.99898574e-01 -7.73608116e-03 -1.19580351e-02 1.20420562e+01] [ 8.12832946e-03 9.99418687e-01 3.31091995e-02 -3.71007982e-01] [ 1.16949483e-02 -3.32030402e-02 9.99380201e-01 -4.87343502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24240100800002 meters Centerline goodness : 0.888497 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.37, Z:-0.48 [[ 9.99900604e-01 -7.32499197e-03 -1.20468394e-02 1.20410250e+01] [ 7.73027398e-03 9.99393737e-01 3.39470395e-02 -3.71025695e-01] [ 1.17908740e-02 -3.40367907e-02 9.99351026e-01 -4.84796314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27240100800002 meters Centerline goodness : 0.887708 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.37, Z:-0.49 [[ 9.99954973e-01 -5.46039397e-03 -7.76122801e-03 1.20564545e+01] [ 5.65806675e-03 9.99654209e-01 2.56797197e-02 -3.68601440e-01] [ 7.61832286e-03 -2.57224769e-02 9.99640093e-01 -4.88709395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30240100800002 meters Centerline goodness : 0.888955 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.37, Z:-0.49 [[ 9.99987241e-01 -2.58838577e-03 -4.33806159e-03 1.20751252e+01] [ 2.67769112e-03 9.99781966e-01 2.07086836e-02 -3.66981358e-01] [ 4.28351368e-03 -2.07200353e-02 9.99776141e-01 -4.90752831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33240100800002 meters Centerline goodness : 0.887032 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.37, Z:-0.48 [[ 9.99973904e-01 3.94077988e-03 -6.05491557e-03 1.20789943e+01] [-3.74963225e-03 9.99504177e-01 3.12624586e-02 -3.68092390e-01] [ 6.17511187e-03 -3.12389391e-02 9.99492870e-01 -4.84345502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36240100800002 meters Centerline goodness : 0.886366 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.37, Z:-0.48 [[ 9.99950546e-01 6.92662485e-03 -7.13635944e-03 1.20821642e+01] [-6.66876172e-03 9.99345827e-01 3.55449749e-02 -3.68262959e-01] [ 7.37789774e-03 -3.54956264e-02 9.99342597e-01 -4.83426149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39240100800001 meters Centerline goodness : 0.884937 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.37, Z:-0.48 [[ 9.99920757e-01 9.10418361e-03 -8.69447851e-03 1.20872462e+01] [-8.75011111e-03 9.99164229e-01 3.99284293e-02 -3.68779193e-01] [ 9.05072767e-03 -3.98491876e-02 9.99164714e-01 -4.82384178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters Centerline goodness : 0.885853 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.36, Z:-0.49 [[ 9.99988787e-01 4.26657040e-03 2.05467038e-03 1.20993838e+01] [-4.33310873e-03 9.99427690e-01 3.35487135e-02 -3.63186397e-01] [-1.91035653e-03 -3.35572404e-02 9.99434971e-01 -4.94587777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45240100800001 meters Centerline goodness : 0.884118 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.36, Z:-0.50 [[ 9.99995529e-01 2.76091679e-03 1.14863062e-03 1.21032598e+01] [-2.79642379e-03 9.99479020e-01 3.21538390e-02 -3.60540731e-01] [-1.05925813e-03 -3.21569073e-02 9.99482272e-01 -4.96722871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48240100800001 meters Centerline goodness : 0.884480 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.36, Z:-0.50 [[ 9.99997987e-01 -1.32291840e-03 1.50847751e-03 1.21032632e+01] [ 1.28418723e-03 9.99676699e-01 2.53938539e-02 -3.55365407e-01] [-1.54158382e-03 -2.53918657e-02 9.99676386e-01 -5.01051203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51240100800001 meters Centerline goodness : 0.882218 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.36, Z:-0.49 [[ 9.99999638e-01 8.23014569e-04 -2.17146621e-04 1.21081580e+01] [-8.15586673e-04 9.99479920e-01 3.22370082e-02 -3.57214142e-01] [ 2.43565215e-04 -3.22368194e-02 9.99480229e-01 -4.94867848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54240100800001 meters Centerline goodness : 0.883119 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.36, Z:-0.49 [[ 9.99999492e-01 7.84177898e-04 -6.33252841e-04 1.21081738e+01] [-7.62978480e-04 9.99461298e-01 3.28105388e-02 -3.56871738e-01] [ 6.58641006e-04 -3.28100390e-02 9.99461389e-01 -4.92514651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57240100800001 meters Centerline goodness : 0.884682 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.49 [[ 9.99999296e-01 9.68831932e-04 -6.84612796e-04 1.21072560e+01] [-9.45900269e-04 9.99463533e-01 3.27376043e-02 -3.54579208e-01] [ 7.15962761e-04 -3.27369337e-02 9.99463746e-01 -4.90883361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60240100800002 meters Centerline goodness : 0.886511 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.49 [[ 9.99989177e-01 4.49865584e-03 -1.18678413e-03 1.21083803e+01] [-4.45122121e-03 9.99293080e-01 3.73299680e-02 -3.53940895e-01] [ 1.35387984e-03 -3.73242813e-02 9.99302289e-01 -4.89044610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63240100800002 meters Centerline goodness : 0.882778 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.49 [[ 9.99989814e-01 4.41271163e-03 -9.48977805e-04 1.21083457e+01] [-4.37579890e-03 9.99345735e-01 3.59020209e-02 -3.50014873e-01] [ 1.10678219e-03 -3.58975026e-02 9.99354864e-01 -4.91121470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66240100800002 meters Centerline goodness : 0.879578 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.34, Z:-0.50 [[ 9.99974779e-01 6.26743319e-03 3.34062846e-03 1.21216923e+01] [-6.34241882e-03 9.99716961e-01 2.29296965e-02 -3.43747352e-01] [-3.19597259e-03 -2.29503059e-02 9.99731499e-01 -5.01377203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69240100800002 meters Centerline goodness : 0.879774 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.34, Z:-0.50 [[ 9.99967970e-01 7.20032040e-03 3.49502686e-03 1.21204311e+01] [-7.27467986e-03 9.99736951e-01 2.17510454e-02 -3.39139150e-01] [-3.33749300e-03 -2.17757739e-02 9.99757309e-01 -5.02592064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72240100800002 meters Centerline goodness : 0.879441 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.34, Z:-0.50 [[ 9.99966941e-01 7.32590904e-03 3.52816175e-03 1.21203787e+01] [-7.39807423e-03 9.99754306e-01 2.08948885e-02 -3.36824649e-01] [-3.37422085e-03 -2.09202994e-02 9.99775453e-01 -5.03628700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75240100800002 meters Centerline goodness : 0.880849 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.33, Z:-0.50 [[ 9.99966861e-01 7.39641905e-03 3.40131763e-03 1.21205168e+01] [-7.46318641e-03 9.99771021e-01 2.00550712e-02 -3.34527875e-01] [-3.25220309e-03 -2.00797913e-02 9.99793091e-01 -5.04398240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78240100800001 meters Centerline goodness : 0.880422 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.33, Z:-0.50 [[ 9.99943413e-01 9.89813388e-03 3.89848753e-03 1.21162421e+01] [-9.97603862e-03 9.99740114e-01 2.04983624e-02 -3.33239503e-01] [-3.69457883e-03 -2.05360939e-02 9.99782286e-01 -5.02783088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81240100800001 meters Centerline goodness : 0.879935 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.50 [[ 9.99933215e-01 1.08231488e-02 4.05289319e-03 1.21146337e+01] [-1.09045627e-02 9.99727594e-01 2.06356275e-02 -3.32798831e-01] [-3.82844669e-03 -2.06784444e-02 9.99778848e-01 -5.01990896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84240100800001 meters Centerline goodness : 0.882250 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.50 [[ 9.99926248e-01 1.14445710e-02 4.06447994e-03 1.21140616e+01] [-1.15246058e-02 9.99728597e-01 2.02463546e-02 -3.31848188e-01] [-3.83166599e-03 -2.02917029e-02 9.99786760e-01 -5.02517241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87240100800001 meters Centerline goodness : 0.882578 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.50 [[ 9.99921215e-01 1.17784365e-02 4.33954949e-03 1.21137164e+01] [-1.18607270e-02 9.99740436e-01 1.94520916e-02 -3.30215100e-01] [-4.10930787e-03 -1.95020293e-02 9.99801372e-01 -5.04144555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90240100800001 meters Centerline goodness : 0.882514 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99914578e-01 1.21629318e-02 4.78543751e-03 1.21134264e+01] [-1.22489417e-02 9.99756143e-01 1.83743958e-02 -3.28070476e-01] [-4.56078402e-03 -1.84314427e-02 9.99819724e-01 -5.06778781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93240100800001 meters Centerline goodness : 0.881729 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99909866e-01 1.23695328e-02 5.22057544e-03 1.21134613e+01] [-1.24580176e-02 9.99773221e-01 1.72714785e-02 -3.26042053e-01] [-5.00575140e-03 -1.73349597e-02 9.99837208e-01 -5.09561455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96240100800001 meters Centerline goodness : 0.881137 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99890345e-01 1.35855126e-02 5.89345196e-03 1.21120898e+01] [-1.36832898e-02 9.99763880e-01 1.68805287e-02 -3.25742555e-01] [-5.66272976e-03 -1.69593195e-02 9.99840145e-01 -5.11860377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99240100800002 meters Centerline goodness : 0.880949 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.32, Z:-0.51 [[ 9.99920289e-01 1.09362283e-02 6.30989533e-03 1.21101425e+01] [-1.10146113e-02 9.99860902e-01 1.25241690e-02 -3.24798453e-01] [-6.17205046e-03 -1.25926717e-02 9.99901660e-01 -5.12801435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02240100800002 meters Centerline goodness : 0.883493 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99941898e-01 8.31508000e-03 6.86001268e-03 1.21073992e+01] [-8.37608843e-03 9.99925196e-01 8.91306762e-03 -3.25519662e-01] [-6.78538666e-03 -8.97000982e-03 9.99936747e-01 -5.12132581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05240100800002 meters Centerline goodness : 0.884966 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99939592e-01 8.80065423e-03 6.58495835e-03 1.21068091e+01] [-8.87087797e-03 9.99903274e-01 1.07121586e-02 -3.30401409e-01] [-6.49004741e-03 -1.07699259e-02 9.99920941e-01 -5.09200437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08240100800002 meters Centerline goodness : 0.887562 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.34, Z:-0.51 [[ 9.99957045e-01 5.98055351e-03 7.08104113e-03 1.21042680e+01] [-6.04360530e-03 9.99941982e-01 8.91665027e-03 -3.37191812e-01] [-7.02730381e-03 -8.95906228e-03 9.99935174e-01 -5.06526844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11240100800002 meters Centerline goodness : 0.890621 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.34, Z:-0.51 [[ 9.99961673e-01 5.65995164e-03 6.67961186e-03 1.21057599e+01] [-5.72537918e-03 9.99935421e-01 9.81697974e-03 -3.40930700e-01] [-6.62361687e-03 -9.85484680e-03 9.99929502e-01 -5.06148444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14240100800001 meters Centerline goodness : 0.890490 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.34, Z:-0.51 [[ 9.99970824e-01 1.78859896e-03 7.42638265e-03 1.21053292e+01] [-1.82472297e-03 9.99986524e-01 4.86035783e-03 -3.40506762e-01] [-7.41758934e-03 -4.87376711e-03 9.99960612e-01 -5.09145050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17240100800001 meters Centerline goodness : 0.892637 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.51 [[ 9.99966900e-01 -3.75624649e-03 7.21734974e-03 1.21087760e+01] [ 3.74656449e-03 9.99992064e-01 1.35454334e-03 -3.45888966e-01] [-7.22238046e-03 -1.32745824e-03 9.99973037e-01 -5.10853703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20240100800001 meters Centerline goodness : 0.890207 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.51 [[ 9.99967719e-01 -4.68505359e-03 6.52769089e-03 1.21117976e+01] [ 4.67349372e-03 9.99987486e-01 1.78502698e-03 -3.48633592e-01] [-6.53597215e-03 -1.75446223e-03 9.99977101e-01 -5.11426776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23240100800001 meters Centerline goodness : 0.891007 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.51 [[ 9.99968684e-01 -4.96994947e-03 6.15879905e-03 1.21130554e+01] [ 4.95940928e-03 9.99986213e-01 1.72549629e-03 -3.48778515e-01] [-6.16728977e-03 -1.69489825e-03 9.99979546e-01 -5.11814101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26240100800001 meters Centerline goodness : 0.890009 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.51 [[ 9.99969869e-01 -5.12878021e-03 5.82722879e-03 1.21139860e+01] [ 5.11838647e-03 9.99985286e-01 1.79716574e-03 -3.48908985e-01] [-5.83636032e-03 -1.76728558e-03 9.99981407e-01 -5.11768328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29240100800001 meters Centerline goodness : 0.890383 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.35, Z:-0.51 [[ 9.99974057e-01 -5.45698410e-03 4.70182638e-03 1.21158013e+01] [ 5.44093838e-03 9.99979354e-01 3.41871635e-03 -3.52853846e-01] [-4.72038519e-03 -3.39304530e-03 9.99983102e-01 -5.08546721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32240100800001 meters Centerline goodness : 0.893434 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.36, Z:-0.51 [[ 9.99975211e-01 -5.95597746e-03 3.75545304e-03 1.21180051e+01] [ 5.93960346e-03 9.99972872e-01 4.35624165e-03 -3.55695737e-01] [-3.78129683e-03 -4.33382776e-03 9.99983460e-01 -5.07053935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35240100800002 meters Centerline goodness : 0.893333 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.36, Z:-0.51 [[ 9.99973625e-01 -6.62388652e-03 2.97898160e-03 1.21204302e+01] [ 6.60960819e-03 9.99966743e-01 4.77759821e-03 -3.57817856e-01] [-3.01052879e-03 -4.75778230e-03 9.99984150e-01 -5.06881829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38240100800002 meters Centerline goodness : 0.892194 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.36, Z:-0.51 [[ 9.99969411e-01 -7.44966877e-03 2.38303974e-03 1.21228932e+01] [ 7.43932556e-03 9.99962996e-01 4.32015589e-03 -3.57182203e-01] [-2.41513529e-03 -4.30229553e-03 9.99987829e-01 -5.07898681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41240100800002 meters Centerline goodness : 0.890612 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.36, Z:-0.51 [[ 9.99984904e-01 -5.35157580e-03 1.24559100e-03 1.21272762e+01] [ 5.34080719e-03 9.99949664e-01 8.49384833e-03 -3.58446788e-01] [-1.29098377e-03 -8.48706765e-03 9.99963151e-01 -5.07619535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44240100800002 meters Centerline goodness : 0.889876 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.36, Z:-0.51 [[ 9.99981785e-01 -6.01959254e-03 -4.41676557e-04 1.21366656e+01] [ 6.02413891e-03 9.99919828e-01 1.11376710e-02 -3.57164824e-01] [ 3.74596905e-04 -1.11401289e-02 9.99937877e-01 -5.09813428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47240100800002 meters Centerline goodness : 0.889865 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.36, Z:-0.51 [[ 9.99968708e-01 -7.75679575e-03 -1.55430541e-03 1.21411797e+01] [ 7.77250817e-03 9.99916005e-01 1.03716603e-02 -3.56176869e-01] [ 1.47372401e-03 -1.03834166e-02 9.99945005e-01 -5.11093086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50240100800002 meters Centerline goodness : 0.891907 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.36, Z:-0.51 [[ 9.99954138e-01 -9.17313680e-03 -2.75221772e-03 1.21449217e+01] [ 9.20206975e-03 9.99900509e-01 1.06908616e-02 -3.57384062e-01] [ 2.65387517e-03 -1.07156974e-02 9.99939064e-01 -5.10299103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53240100800001 meters Centerline goodness : 0.889888 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.36, Z:-0.51 [[ 9.99919490e-01 -1.18251646e-02 -4.60212268e-03 1.21508806e+01] [ 1.18821550e-02 9.99850523e-01 1.25597074e-02 -3.60157488e-01] [ 4.45291416e-03 -1.26133793e-02 9.99910533e-01 -5.05983051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56240100800001 meters Centerline goodness : 0.889888 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.36, Z:-0.51 [[ 9.99919539e-01 -1.18302270e-02 -4.57838791e-03 1.21508575e+01] [ 1.18867805e-02 9.99850856e-01 1.25287476e-02 -3.60101336e-01] [ 4.42948714e-03 -1.25821618e-02 9.99911030e-01 -5.06029854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59240100800001 meters Centerline goodness : 0.896082 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.36, Z:-0.50 [[ 9.99854220e-01 -1.63722439e-02 -4.84658292e-03 1.21513877e+01] [ 1.64160465e-02 9.99823468e-01 9.14039744e-03 -3.61661413e-01] [ 4.69607852e-03 -9.21862668e-03 9.99946480e-01 -5.04265756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62240100800001 meters Centerline goodness : 0.898459 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.37, Z:-0.49 [[ 9.99580401e-01 -2.88220088e-02 -2.88342621e-03 1.21121639e+01] [ 2.88707311e-02 9.99410253e-01 1.85910482e-02 -3.65353085e-01] [ 2.34589436e-03 -1.86664940e-02 9.99823014e-01 -4.92806067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65240100800001 meters Centerline goodness : 0.895327 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.36, Z:-0.49 [[ 9.99470726e-01 -3.24993521e-02 -1.43507550e-03 1.21106519e+01] [ 3.25206582e-02 9.99293058e-01 1.88623988e-02 -3.64907776e-01] [ 8.21045247e-04 -1.88990850e-02 9.99821059e-01 -4.93927511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68240100800001 meters Centerline goodness : 0.898022 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.37, Z:-0.49 [[ 9.99505894e-01 -3.01458857e-02 8.89902675e-03 1.21126314e+01] [ 2.99134505e-02 9.99235062e-01 2.51888033e-02 -3.66800816e-01] [-9.65155834e-03 -2.49101568e-02 9.99643102e-01 -4.93751859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71240100800001 meters Centerline goodness : 0.895330 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.36, Z:-0.50 [[ 9.99546791e-01 -2.83866874e-02 1.00203961e-02 1.21139621e+01] [ 2.80749302e-02 9.99155825e-01 2.99905948e-02 -3.62857721e-01] [-1.08632708e-02 -2.96956809e-02 9.99499953e-01 -5.00024216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74240100800002 meters Centerline goodness : 0.894500 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.36, Z:-0.50 [[ 9.99634308e-01 -2.51066025e-02 1.00453271e-02 1.21152269e+01] [ 2.47673486e-02 9.99162209e-01 3.25800275e-02 -3.60535704e-01] [-1.08548851e-02 -3.23193172e-02 9.99418648e-01 -5.02165986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77240100800002 meters Centerline goodness : 0.895369 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.36, Z:-0.50 [[ 9.99735616e-01 -2.13739539e-02 8.47661019e-03 1.21186167e+01] [ 2.10872170e-02 9.99246503e-01 3.25845824e-02 -3.57481166e-01] [-9.16668445e-03 -3.23972194e-02 9.99433035e-01 -5.02903609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80240100800002 meters Centerline goodness : 0.895913 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.35, Z:-0.50 [[ 9.99844050e-01 -1.65043692e-02 6.28349949e-03 1.21215193e+01] [ 1.62995346e-02 9.99375175e-01 3.13621617e-02 -3.54475716e-01] [-6.79718610e-03 -3.12548527e-02 9.99488335e-01 -5.00965929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83240100800002 meters Centerline goodness : 0.899524 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.35, Z:-0.51 [[ 9.99968552e-01 -5.35980580e-03 5.84528912e-03 1.21135916e+01] [ 5.26911607e-03 9.99867197e-01 1.54215863e-02 -3.45196776e-01] [-5.92716956e-03 -1.53903019e-02 9.99863994e-01 -5.06544815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86240100800002 meters Centerline goodness : 0.901062 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.34, Z:-0.51 [[ 9.99984510e-01 -9.18432735e-04 5.48962554e-03 1.21130213e+01] [ 8.12346509e-04 9.99813486e-01 1.92959442e-02 -3.42222315e-01] [-5.50632368e-03 -1.92911859e-02 9.99798745e-01 -5.05092720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89240100800001 meters Centerline goodness : 0.899790 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.34, Z:-0.51 [[ 9.99984693e-01 5.40880966e-04 5.50653824e-03 1.21117483e+01] [-6.41434738e-04 9.99832784e-01 1.82754377e-02 -3.36066200e-01] [-5.49573262e-03 -1.82786900e-02 9.99817827e-01 -5.06460218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92240100800001 meters Centerline goodness : 0.902526 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99982390e-01 1.46275655e-03 5.75155176e-03 1.21107267e+01] [-1.55874808e-03 9.99858983e-01 1.67207664e-02 -3.30126545e-01] [-5.72628228e-03 -1.67294372e-02 9.99843656e-01 -5.08703112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95240100800001 meters Centerline goodness : 0.904222 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99979450e-01 1.97864882e-03 6.09791218e-03 1.21097431e+01] [-2.07320471e-03 9.99877111e-01 1.55391605e-02 -3.25713901e-01] [-6.06641627e-03 -1.55514834e-02 9.99860665e-01 -5.10149532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98240100800001 meters Centerline goodness : 0.906665 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.32, Z:-0.51 [[ 9.99975122e-01 3.02665423e-03 6.37143631e-03 1.21077477e+01] [-3.12387501e-03 9.99877998e-01 1.53046055e-02 -3.22951764e-01] [-6.32433723e-03 -1.53241284e-02 9.99862577e-01 -5.09606253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01240100800001 meters Centerline goodness : 0.907405 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.32, Z:-0.51 [[ 9.99976042e-01 3.03716239e-03 6.22017041e-03 1.21077633e+01] [-3.13206690e-03 9.99877965e-01 1.53050642e-02 -3.23013860e-01] [-6.17292737e-03 -1.53241795e-02 9.99863523e-01 -5.09114759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04240100800001 meters Centerline goodness : 0.908835 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.32, Z:-0.51 [[ 9.99976887e-01 -2.03813977e-04 6.79593498e-03 1.21061234e+01] [ 1.32656565e-04 9.99945186e-01 1.04693919e-02 -3.20718802e-01] [-6.79769627e-03 -1.04682483e-02 9.99922101e-01 -5.10341714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07240100800001 meters Centerline goodness : 0.911464 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.32, Z:-0.51 [[ 9.99978406e-01 -3.37844131e-04 6.56304427e-03 1.21066141e+01] [ 2.67024747e-04 9.99941767e-01 1.07885111e-02 -3.22089246e-01] [-6.56630692e-03 -1.07865257e-02 9.99920264e-01 -5.09797524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10240100800002 meters Centerline goodness : 0.913157 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99980860e-01 -3.36719082e-04 6.17788953e-03 1.21071318e+01] [ 2.63995228e-04 9.99930712e-01 1.17686753e-02 -3.26443121e-01] [-6.18142422e-03 -1.17668191e-02 9.99911662e-01 -5.08510276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13240100800002 meters Centerline goodness : 0.911040 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99982624e-01 -5.36597972e-04 5.87059808e-03 1.21082196e+01] [ 4.66919290e-04 9.99929511e-01 1.18640333e-02 -3.27755179e-01] [-5.87655049e-03 -1.18610860e-02 9.99912387e-01 -5.08892599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16240100800002 meters Centerline goodness : 0.910364 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99984325e-01 -9.29910101e-04 5.52126274e-03 1.21099193e+01] [ 8.66070836e-04 9.99932880e-01 1.15535934e-02 -3.28236422e-01] [-5.53163595e-03 -1.15486305e-02 9.99918012e-01 -5.10207453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19240100800002 meters Centerline goodness : 0.909994 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.33, Z:-0.51 [[ 9.99986327e-01 -1.87778621e-03 4.88050646e-03 1.21136350e+01] [ 1.82328949e-03 9.99936211e-01 1.11467656e-02 -3.31463821e-01] [-4.90112638e-03 -1.11377146e-02 9.99925962e-01 -5.13190735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22240100800002 meters Centerline goodness : 0.910457 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.33, Z:-0.51 [[ 9.99988085e-01 -2.39844014e-03 4.25175352e-03 1.21161272e+01] [ 2.35144477e-03 9.99936470e-01 1.10239268e-02 -3.33416084e-01] [-4.27792364e-03 -1.10137977e-02 9.99930195e-01 -5.14538463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25240100800002 meters Centerline goodness : 0.907822 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.33, Z:-0.52 [[ 9.99989353e-01 -2.80804568e-03 3.66178730e-03 1.21184298e+01] [ 2.76863615e-03 9.99938670e-01 1.07233967e-02 -3.34452267e-01] [-3.69167451e-03 -1.07131444e-02 9.99935798e-01 -5.16058591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28240100800001 meters Centerline goodness : 0.908066 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99997194e-01 1.88626971e-03 -1.43293452e-03 1.21439270e+01] [-1.86554562e-03 9.99895596e-01 1.43289079e-02 -3.39496257e-01] [ 1.45981310e-03 -1.43261945e-02 9.99896309e-01 -5.10511081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31240100800001 meters Centerline goodness : 0.912322 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99994511e-01 2.98972959e-03 -1.42787311e-03 1.21424943e+01] [-2.96646529e-03 9.99867171e-01 1.60262519e-02 -3.44541161e-01] [ 1.47559761e-03 -1.60219282e-02 9.99870552e-01 -5.08234235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34240100800001 meters Centerline goodness : 0.911626 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99999543e-01 1.14245104e-05 -9.55598316e-04 1.21407764e+01] [-1.33882634e-07 9.99930207e-01 1.18144102e-02 -3.44492793e-01] [ 9.55666596e-04 -1.18144047e-02 9.99929751e-01 -5.08997218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37240100800001 meters Centerline goodness : 0.913944 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99994960e-01 -3.16780096e-03 -2.12097522e-04 1.21392760e+01] [ 3.16916435e-03 9.99972061e-01 6.77011564e-03 -3.42952241e-01] [ 1.90645217e-04 -6.77075369e-03 9.99977060e-01 -5.11515166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40240100800001 meters Centerline goodness : 0.914915 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99994659e-01 -3.26637215e-03 -1.13059814e-04 1.21399106e+01] [ 3.26703042e-03 9.99974074e-01 6.41693307e-03 -3.43221156e-01] [ 9.20967912e-05 -6.41726817e-03 9.99979405e-01 -5.13026901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43240100800001 meters Centerline goodness : 0.915048 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.34, Z:-0.51 [[ 9.99995186e-01 -3.09680719e-03 1.93956601e-04 1.21396579e+01] [ 3.09552893e-03 9.99975512e-01 6.27633731e-03 -3.43496383e-01] [-2.13388458e-04 -6.27570670e-03 9.99980285e-01 -5.14010798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46240100800001 meters Centerline goodness : 0.920711 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.35, Z:-0.51 [[ 9.99995740e-01 -2.90705168e-03 2.63705948e-04 1.21394908e+01] [ 2.90523399e-03 9.99973671e-01 6.64955265e-03 -3.45140569e-01] [-2.83029598e-04 -6.64875819e-03 9.99977857e-01 -5.13917675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49240100800002 meters Centerline goodness : 0.922142 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.35, Z:-0.51 [[ 9.99991607e-01 -3.61593291e-03 -1.92656405e-03 1.21620986e+01] [ 3.62333335e-03 9.99986018e-01 3.85172077e-03 -3.53953708e-01] [ 1.91260954e-03 -3.85866902e-03 9.99990726e-01 -5.08855364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52240100800002 meters Centerline goodness : 0.923625 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.36, Z:-0.51 [[ 9.99986622e-01 -4.41891834e-03 -2.68851542e-03 1.21642419e+01] [ 4.43258778e-03 9.99977172e-01 5.09984846e-03 -3.59546124e-01] [ 2.66591823e-03 -5.11169732e-03 9.99983382e-01 -5.07194183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55240100800002 meters Centerline goodness : 0.925489 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.36, Z:-0.51 [[ 9.99988191e-01 -3.91856634e-03 -2.87460757e-03 1.21635845e+01] [ 3.93653872e-03 9.99972574e-01 6.27333321e-03 -3.61614517e-01] [ 2.84994625e-03 -6.28457513e-03 9.99976191e-01 -5.05034191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58240100800002 meters Centerline goodness : 0.925533 Centerline is valid? [False, False] Translation: X:12.16, Y:-0.36, Z:-0.51 [[ 9.99988202e-01 -3.90245861e-03 -2.89237520e-03 1.21641369e+01] [ 3.91904156e-03 9.99975789e-01 5.75001566e-03 -3.60388407e-01] [ 2.86986598e-03 -5.76128316e-03 9.99979286e-01 -5.06373786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61240100800002 meters Centerline goodness : 0.924822 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.36, Z:-0.51 [[ 9.99989661e-01 -1.61965676e-03 -4.24912002e-03 1.21692543e+01] [ 1.66076588e-03 9.99951680e-01 9.68911468e-03 -3.61404240e-01] [ 4.23322166e-03 -9.69607129e-03 9.99944031e-01 -5.07072798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64240100800001 meters Centerline goodness : 0.922981 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.36, Z:-0.51 [[ 9.99986640e-01 -2.58149153e-03 -4.47834734e-03 1.21719350e+01] [ 2.61607127e-03 9.99966678e-01 7.73294360e-03 -3.58355603e-01] [ 4.45823559e-03 -7.74455597e-03 9.99960072e-01 -5.11066528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67240100800001 meters Centerline goodness : 0.919635 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.36, Z:-0.51 [[ 9.99981716e-01 -5.80077102e-04 -6.01930448e-03 1.21776540e+01] [ 6.46793302e-04 9.99938321e-01 1.10876851e-02 -3.58786110e-01] [ 6.01250150e-03 -1.10913757e-02 9.99920412e-01 -5.12429136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70240100800001 meters Centerline goodness : 0.914786 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.36, Z:-0.51 [[ 9.99972762e-01 -1.88639120e-03 -7.13559852e-03 1.21811633e+01] [ 1.96331504e-03 9.99939873e-01 1.07886938e-02 -3.60032332e-01] [ 7.11481778e-03 -1.08024093e-02 9.99916340e-01 -5.12634304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73240100800001 meters Centerline goodness : 0.915903 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.36, Z:-0.51 [[ 9.99970794e-01 -1.61278164e-03 -7.47066536e-03 1.22055153e+01] [ 1.67812064e-03 9.99960327e-01 8.74807968e-03 -3.62935909e-01] [ 7.45626023e-03 -8.76036086e-03 9.99933828e-01 -5.08609330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76240100800001 meters Centerline goodness : 0.917608 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.36, Z:-0.51 [[ 9.99960398e-01 -5.34999612e-03 -7.11193374e-03 1.22041684e+01] [ 5.38462228e-03 9.99973700e-01 4.85854099e-03 -3.62657386e-01] [ 7.08575352e-03 -4.89664366e-03 9.99962907e-01 -5.07895841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79240100800001 meters Centerline goodness : 0.921846 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.37, Z:-0.50 [[ 9.99946610e-01 -6.16211788e-03 -8.29489197e-03 1.22127268e+01] [ 6.26410153e-03 9.99904418e-01 1.23254411e-02 -3.66147563e-01] [ 8.21814830e-03 -1.23767431e-02 9.99889633e-01 -5.00815523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82240100800001 meters Centerline goodness : 0.919612 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.36, Z:-0.50 [[ 9.99913508e-01 -9.12238578e-03 -9.47407758e-03 1.22337864e+01] [ 9.33398975e-03 9.99702451e-01 2.25363374e-02 -3.63848315e-01] [ 9.26567341e-03 -2.26228191e-02 9.99701133e-01 -4.96818922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85240100800002 meters Centerline goodness : 0.916288 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.36, Z:-0.50 [[ 9.99892005e-01 -1.07010996e-02 -1.00730017e-02 1.22379869e+01] [ 1.09013109e-02 9.99739835e-01 2.00355434e-02 -3.58862353e-01] [ 9.85597873e-03 -2.01431886e-02 9.99748524e-01 -5.01568726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88240100800002 meters Centerline goodness : 0.913981 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.36, Z:-0.50 [[ 9.99874340e-01 -1.17777722e-02 -1.06107312e-02 1.22409315e+01] [ 1.19697729e-02 9.99762406e-01 1.82169303e-02 -3.55031266e-01] [ 1.03936553e-02 -1.83416493e-02 9.99777753e-01 -5.04639782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91240100800002 meters Centerline goodness : 0.913823 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.36, Z:-0.50 [[ 9.99881422e-01 -9.43516145e-03 -1.21704555e-02 1.22454493e+01] [ 9.71763874e-03 9.99679803e-01 2.33636376e-02 -3.56029196e-01] [ 1.19461188e-02 -2.34791352e-02 9.99652950e-01 -5.01665039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94240100800002 meters Centerline goodness : 0.916180 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.36, Z:-0.49 [[ 9.99877008e-01 -7.28862254e-03 -1.38868795e-02 1.22502799e+01] [ 7.72542726e-03 9.99468684e-01 3.16649338e-02 -3.58792888e-01] [ 1.36487075e-02 -3.17683214e-02 9.99402065e-01 -4.92205291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97240100800002 meters Centerline goodness : 0.917489 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.36, Z:-0.48 [[ 9.99866489e-01 -9.22521973e-03 -1.34870301e-02 1.22441360e+01] [ 9.63223858e-03 9.99490435e-01 3.04317318e-02 -3.59297060e-01] [ 1.31994182e-02 -3.05575791e-02 9.99445851e-01 -4.83844405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00240100800002 meters Centerline goodness : 0.918098 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.36, Z:-0.47 [[ 9.99863419e-01 -7.59291181e-03 -1.46795990e-02 1.22493315e+01] [ 8.16093737e-03 9.99204700e-01 3.90303285e-02 -3.61494637e-01] [ 1.43715705e-02 -3.91447970e-02 9.99130193e-01 -4.74467108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03240100800001 meters Centerline goodness : 0.915325 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.36, Z:-0.47 [[ 9.99850333e-01 -5.97557042e-03 -1.62359149e-02 1.22548286e+01] [ 6.68328126e-03 9.99013992e-01 4.38905068e-02 -3.61385353e-01] [ 1.59576354e-02 -4.39924470e-02 9.98904409e-01 -4.71940342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06240100800001 meters Centerline goodness : 0.912554 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.36, Z:-0.48 [[ 9.99825371e-01 -8.47804224e-03 -1.66538513e-02 1.22599584e+01] [ 9.14795548e-03 9.99134811e-01 4.05702465e-02 -3.55913245e-01] [ 1.62954863e-02 -4.07155105e-02 9.99037889e-01 -4.78277632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09240100800001 meters Centerline goodness : 0.912101 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.36, Z:-0.48 [[ 9.99771761e-01 -1.06094244e-02 -1.85436015e-02 1.22368769e+01] [ 1.14380717e-02 9.98913966e-01 4.51670020e-02 -3.56223584e-01] [ 1.80442667e-02 -4.53687962e-02 9.98807327e-01 -4.75034022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12240100800001 meters Centerline goodness : 0.913315 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.35, Z:-0.48 [[ 0.99968003 -0.01801472 -0.01775679 12.2352446 ] [ 0.01862375 0.99922242 0.03475228 -0.35110096] [ 0.01711693 -0.03507186 0.9992382 -0.47896341] [ 0. 0. 0. 1. ]] SLAMing on 96.15240100800001 meters Centerline goodness : 0.913420 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.35, Z:-0.47 [[ 0.99959898 -0.01988447 -0.02016157 12.21147642] [ 0.02068865 0.99896551 0.04049556 -0.35352979] [ 0.01933548 -0.04089644 0.99897629 -0.47244848] [ 0. 0. 0. 1. ]] SLAMing on 96.18240100800001 meters Centerline goodness : 0.914399 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.35, Z:-0.47 [[ 0.99951521 -0.02401112 -0.01981945 12.21118518] [ 0.02469671 0.99907846 0.03510411 -0.35088394] [ 0.0189583 -0.03557656 0.99918712 -0.47422396] [ 0. 0. 0. 1. ]] SLAMing on 96.21240100800001 meters Centerline goodness : 0.914078 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.35, Z:-0.48 [[ 0.99949192 -0.02464514 -0.02021194 12.21290986] [ 0.02530376 0.99913483 0.03300481 -0.34649683] [ 0.01938104 -0.03349948 0.9992508 -0.4770225 ] [ 0. 0. 0. 1. ]] SLAMing on 96.24240100800002 meters Centerline goodness : 0.913793 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.34, Z:-0.48 [[ 0.99948811 -0.02477693 -0.0202389 12.21362886] [ 0.02539963 0.99919309 0.03111299 -0.34198744] [ 0.01945169 -0.03161113 0.99931095 -0.47987258] [ 0. 0. 0. 1. ]] SLAMing on 96.27240100800002 meters Centerline goodness : 0.910240 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.34, Z:-0.48 [[ 0.99956007 -0.02034464 -0.02158155 12.21644197] [ 0.02103071 0.99926485 0.03205402 -0.34058842] [ 0.02091355 -0.0324938 0.99925311 -0.48005248] [ 0. 0. 0. 1. ]] SLAMing on 96.30240100800002 meters Centerline goodness : 0.911403 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.33, Z:-0.49 [[ 0.9995925 -0.01876071 -0.02151423 12.21496776] [ 0.01937634 0.99939816 0.02877268 -0.33379323] [ 0.02096148 -0.02917782 0.99935443 -0.48537158] [ 0. 0. 0. 1. ]] SLAMing on 96.33240100800002 meters Centerline goodness : 0.908915 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.9995864 -0.0189446 -0.02163617 12.21593993] [ 0.01953692 0.99943083 0.02750146 -0.33062361] [ 0.02110285 -0.02791279 0.99938759 -0.48739066] [ 0. 0. 0. 1. ]] SLAMing on 96.36240100800002 meters Centerline goodness : 0.909263 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.99962391 -0.01569198 -0.02248987 12.21870697] [ 0.01640373 0.99935898 0.03182041 -0.33057181] [ 0.02197613 -0.03217736 0.99924055 -0.48671294] [ 0. 0. 0. 1. ]] SLAMing on 96.39240100800001 meters Centerline goodness : 0.907285 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.99959292 -0.01690344 -0.02298407 12.22205792] [ 0.01757926 0.9994094 0.02952658 -0.32708643] [ 0.0224714 -0.0299186 0.99929971 -0.49092973] [ 0. 0. 0. 1. ]] SLAMing on 96.42240100800001 meters Centerline goodness : 0.907993 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.99959169 -0.01674518 -0.02315269 12.22189955] [ 0.01744092 0.99939225 0.03018174 -0.32753439] [ 0.02263322 -0.03057322 0.99927625 -0.48923355] [ 0. 0. 0. 1. ]] SLAMing on 96.45240100800001 meters Centerline goodness : 0.907993 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.99959573 -0.01672259 -0.02299406 12.22168262] [ 0.01740779 0.99940043 0.02992921 -0.3269736 ] [ 0.02247978 -0.03031738 0.9992875 -0.48950908] [ 0. 0. 0. 1. ]] SLAMing on 96.48240100800001 meters Centerline goodness : 0.909628 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.49 [[ 0.99960267 -0.01647071 -0.02287389 12.22061891] [ 0.01717874 0.99936834 0.0311098 -0.32827864] [ 0.02234704 -0.03149038 0.9992542 -0.4865858 ] [ 0. 0. 0. 1. ]] SLAMing on 96.51240100800001 meters Centerline goodness : 0.912598 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.48 [[ 0.99959874 -0.01637736 -0.02311141 12.2200624 ] [ 0.01712448 0.99932475 0.03250834 -0.33027903] [ 0.0225634 -0.03289106 0.99920422 -0.48322405] [ 0. 0. 0. 1. ]] SLAMing on 96.54240100800001 meters Centerline goodness : 0.912958 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.33, Z:-0.48 [[ 0.99954477 -0.02004277 -0.02255097 12.21828205] [ 0.02067434 0.99939044 0.02813053 -0.32826181] [ 0.02197341 -0.02858395 0.99934985 -0.48307505] [ 0. 0. 0. 1. ]] SLAMing on 96.57240100800001 meters Centerline goodness : 0.915697 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.33, Z:-0.48 [[ 0.99953067 -0.02252687 -0.02076012 12.19329658] [ 0.02317755 0.99923011 0.03165433 -0.32549991] [ 0.02003106 -0.03212064 0.99928325 -0.48252942] [ 0. 0. 0. 1. ]] SLAMing on 96.60240100800002 meters Centerline goodness : 0.918965 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.32, Z:-0.49 [[ 0.9995343 -0.02281963 -0.02025943 12.19482342] [ 0.02347653 0.99918613 0.03280142 -0.32461943] [ 0.01949443 -0.03326177 0.99925653 -0.48596908] [ 0. 0. 0. 1. ]] SLAMing on 96.63240100800002 meters Centerline goodness : 0.918416 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.32, Z:-0.49 [[ 0.99946927 -0.02618229 -0.01938221 12.19348101] [ 0.02669671 0.99928492 0.02677552 -0.31874309] [ 0.0186673 -0.02727875 0.99945355 -0.48953634] [ 0. 0. 0. 1. ]] SLAMing on 96.66240100800002 meters Centerline goodness : 0.920737 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.32, Z:-0.49 [[ 0.99947252 -0.02502045 -0.02070406 12.19662898] [ 0.02554197 0.99935303 0.02532036 -0.31812229] [ 0.02005714 -0.02583583 0.99946497 -0.49013147] [ 0. 0. 0. 1. ]] SLAMing on 96.69240100800002 meters Centerline goodness : 0.920747 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.32, Z:-0.49 [[ 0.99950742 -0.0238189 -0.02043471 12.19438965] [ 0.02433265 0.99938444 0.02527178 -0.31621441] [ 0.01982019 -0.02575657 0.99947174 -0.48925775] [ 0. 0. 0. 1. ]] SLAMing on 96.72240100800002 meters Centerline goodness : 0.920816 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.31, Z:-0.49 [[ 0.99952751 -0.02314564 -0.02022449 12.19336963] [ 0.02364742 0.99940937 0.02493424 -0.31441215] [ 0.01963542 -0.02540071 0.99948449 -0.48952209] [ 0. 0. 0. 1. ]] SLAMing on 96.75240100800002 meters Centerline goodness : 0.922320 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.31, Z:-0.49 [[ 0.99960874 -0.01885918 -0.02065681 12.19367926] [ 0.01946208 0.99937868 0.029385 -0.31491575] [ 0.02008979 -0.02977553 0.9993547 -0.48861773] [ 0. 0. 0. 1. ]] SLAMing on 96.78240100800001 meters Centerline goodness : 0.923965 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.31, Z:-0.50 [[ 0.99975944 -0.01445459 -0.01649627 12.20518812] [ 0.01476947 0.99970793 0.01912877 -0.31087623] [ 0.01621496 -0.01936781 0.99968093 -0.49652928] [ 0. 0. 0. 1. ]] SLAMing on 96.81240100800001 meters Centerline goodness : 0.924182 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.31, Z:-0.51 [[ 9.99913348e-01 -4.51140436e-03 -1.23670730e-02 1.22126050e+01] [ 4.64389150e-03 9.99931914e-01 1.07051924e-02 -3.06367379e-01] [ 1.23179356e-02 -1.07616961e-02 9.99866218e-01 -5.06157765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters Centerline goodness : 0.925628 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.30, Z:-0.51 [[ 9.99926185e-01 -2.87747611e-03 -1.18044234e-02 1.22103154e+01] [ 2.99975108e-03 9.99941898e-01 1.03538073e-02 -3.03564764e-01] [ 1.17739447e-02 -1.03884534e-02 9.99876720e-01 -5.07093227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87240100800001 meters Centerline goodness : 0.925159 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.51 [[ 9.99970706e-01 2.77146820e-03 -7.13482970e-03 1.22235813e+01] [-2.74748985e-03 9.99990553e-01 3.36835662e-03 -3.00928901e-01] [ 7.14409759e-03 -3.34865507e-03 9.99968874e-01 -5.13816650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90240100800001 meters Centerline goodness : 0.926229 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.51 [[ 9.99967746e-01 4.41351405e-03 -6.71026908e-03 1.22212810e+01] [-4.39079452e-03 9.99984591e-01 3.39675613e-03 -2.99225555e-01] [ 6.72515732e-03 -3.36718316e-03 9.99971717e-01 -5.13882939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93240100800001 meters Centerline goodness : 0.928013 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.51 [[ 9.99920245e-01 1.11234336e-02 -5.98098401e-03 1.22167151e+01] [-1.10689100e-02 9.99897572e-01 9.07325814e-03 -3.00530270e-01] [ 6.08129717e-03 -9.00633153e-03 9.99940950e-01 -5.11220472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96240100800001 meters Centerline goodness : 0.926713 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.51 [[ 9.99912318e-01 1.20074526e-02 -5.58362916e-03 1.22155679e+01] [-1.19591854e-02 9.99891512e-01 8.59891761e-03 -2.98956016e-01] [ 5.68627451e-03 -8.53138798e-03 9.99947439e-01 -5.12347148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99240100800002 meters Centerline goodness : 0.926645 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.51 [[ 9.99906290e-01 1.26294320e-02 -5.28295874e-03 1.22150504e+01] [-1.25873608e-02 9.99889391e-01 7.92243135e-03 -2.97228141e-01] [ 5.38243021e-03 -7.85519043e-03 9.99954662e-01 -5.13956420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02240100800002 meters Centerline goodness : 0.926925 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.30, Z:-0.52 [[ 9.99903014e-01 1.29966760e-02 -5.00490989e-03 1.22146995e+01] [-1.29603285e-02 9.99889890e-01 7.22758182e-03 -2.95831613e-01] [ 5.09829334e-03 -7.16201557e-03 9.99961356e-01 -5.15430258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05240100800002 meters Centerline goodness : 0.928008 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.30, Z:-0.51 [[ 9.99893153e-01 1.37632352e-02 -4.92510270e-03 1.22137997e+01] [-1.37247412e-02 9.99875652e-01 7.76613217e-03 -2.97752958e-01] [ 5.03137737e-03 -7.69770662e-03 9.99957714e-01 -5.14943276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08240100800002 meters Centerline goodness : 0.927127 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.30, Z:-0.52 [[ 9.99938198e-01 1.00985938e-02 -4.64958402e-03 1.22130977e+01] [-1.00830166e-02 9.99943515e-01 3.36159253e-03 -2.97909583e-01] [ 4.68326875e-03 -3.31450294e-03 9.99983540e-01 -5.15920599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11240100800002 meters Centerline goodness : 0.928553 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.30, Z:-0.52 [[ 9.99970672e-01 6.11949851e-03 -4.60501645e-03 1.22131342e+01] [-6.12278798e-03 9.99981010e-01 -7.00564039e-04 -2.99318298e-01] [ 4.60064190e-03 7.28739033e-04 9.99989151e-01 -5.16510295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14240100800001 meters Centerline goodness : 0.928903 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.30, Z:-0.52 [[ 9.99972472e-01 5.11156424e-03 -5.37846473e-03 1.22158728e+01] [-5.11276013e-03 9.99986908e-01 -2.08621079e-04 -3.03919718e-01] [ 5.37732793e-03 2.36114136e-04 9.99985514e-01 -5.16589429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17240100800001 meters Centerline goodness : 0.928803 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.31, Z:-0.52 [[ 9.99983722e-01 -7.91211292e-04 -5.65057520e-03 1.22195587e+01] [ 7.69823995e-04 9.99992536e-01 -3.78614945e-03 -3.09930145e-01] [ 5.65352867e-03 3.78173787e-03 9.99976868e-01 -5.18365889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20240100800001 meters Centerline goodness : 0.929584 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.31, Z:-0.52 [[ 9.99977575e-01 -2.37004347e-03 -6.26357471e-03 1.22230801e+01] [ 2.35151055e-03 9.99992841e-01 -2.96455186e-03 -3.14565221e-01] [ 6.27055599e-03 2.94975652e-03 9.99975989e-01 -5.18514260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23240100800001 meters Centerline goodness : 0.930867 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.32, Z:-0.52 [[ 9.99969005e-01 -4.12910580e-03 -6.70368735e-03 1.22263766e+01] [ 4.11708367e-03 9.99989894e-01 -1.80617022e-03 -3.20253572e-01] [ 6.71107747e-03 1.77851460e-03 9.99975899e-01 -5.18126150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26240100800001 meters Centerline goodness : 0.932716 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.32, Z:-0.52 [[ 9.99932882e-01 -9.18869638e-03 -7.05693617e-03 1.22291782e+01] [ 9.14679065e-03 9.99940479e-01 -5.94772645e-03 -3.23148708e-01] [ 7.11116799e-03 5.88277893e-03 9.99957411e-01 -5.20015108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29240100800001 meters Centerline goodness : 0.931175 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.33, Z:-0.52 [[ 9.99883806e-01 -1.24870883e-02 -8.74342280e-03 1.22367051e+01] [ 1.24522688e-02 9.99914364e-01 -4.02554268e-03 -3.28749338e-01] [ 8.79294136e-03 3.91619949e-03 9.99953673e-01 -5.17495747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32240100800001 meters Centerline goodness : 0.930366 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.33, Z:-0.52 [[ 9.99808036e-01 -1.71122906e-02 -9.54257936e-03 1.22388761e+01] [ 1.70490270e-02 9.99832393e-01 -6.67201769e-03 -3.34489245e-01] [ 9.65515347e-03 6.50804521e-03 9.99932209e-01 -5.15816232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35240100800002 meters Centerline goodness : 0.929884 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.34, Z:-0.51 [[ 9.99799545e-01 -1.71379634e-02 -1.03518063e-02 1.22397526e+01] [ 1.70809314e-02 9.99838579e-01 -5.57289743e-03 -3.37047247e-01] [ 1.04456434e-02 5.39496183e-03 9.99930889e-01 -5.13375934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38240100800002 meters Centerline goodness : 0.928355 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.34, Z:-0.51 [[ 9.99837447e-01 -1.37399401e-02 -1.16745242e-02 1.22420443e+01] [ 1.37543328e-02 9.99904739e-01 1.15342943e-03 -3.42554223e-01] [ 1.16575641e-02 -1.31381723e-03 9.99931185e-01 -5.08393000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41240100800002 meters Centerline goodness : 0.928796 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.34, Z:-0.51 [[ 9.99853879e-01 -1.09215613e-02 -1.31506937e-02 1.22468587e+01] [ 1.09837269e-02 9.99928799e-01 4.66425829e-03 -3.43258453e-01] [ 1.30988164e-02 -4.80802037e-03 9.99902647e-01 -5.09818600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44240100800002 meters Centerline goodness : 0.924880 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.34, Z:-0.51 [[ 9.99871474e-01 -7.75293409e-03 -1.40330983e-02 1.22501276e+01] [ 7.86292238e-03 9.99938668e-01 7.79964608e-03 -3.41465063e-01] [ 1.39717675e-02 -7.90898478e-03 9.99871111e-01 -5.11517754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47240100800002 meters Centerline goodness : 0.923403 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.34, Z:-0.51 [[ 9.99885121e-01 -4.25228462e-03 -1.45486294e-02 1.22523095e+01] [ 4.41169530e-03 9.99930396e-01 1.09426007e-02 -3.39584540e-01] [ 1.45010857e-02 -1.10055278e-02 9.99834285e-01 -5.13248184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50240100800002 meters Centerline goodness : 0.920978 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.34, Z:-0.51 [[ 9.99884006e-01 -9.54536823e-04 -1.52007733e-02 1.22547315e+01] [ 1.16762714e-03 9.99901094e-01 1.40156873e-02 -3.37015478e-01] [ 1.51858914e-02 -1.40318104e-02 9.99786226e-01 -5.14624711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53240100800001 meters Centerline goodness : 0.920034 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.34, Z:-0.51 [[ 9.99875727e-01 -1.22269022e-03 -1.57173501e-02 1.22556206e+01] [ 1.44179709e-03 9.99901840e-01 1.39366823e-02 -3.36823683e-01] [ 1.56987670e-02 -1.39576116e-02 9.99779343e-01 -5.14061838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56240100800001 meters Centerline goodness : 0.921283 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.52 [[ 9.99942175e-01 -1.01368723e-03 -1.07060727e-02 1.22682433e+01] [ 1.02660760e-03 9.99998751e-01 1.20140016e-03 -3.32683363e-01] [ 1.07048415e-02 -1.21232162e-03 9.99941967e-01 -5.20919194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59240100800001 meters Centerline goodness : 0.920765 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.52 [[ 9.99940933e-01 -4.14810340e-04 -1.08608349e-02 1.22667807e+01] [ 4.37904286e-04 9.99997648e-01 2.12405914e-03 -3.33500661e-01] [ 1.08599283e-02 -2.12868969e-03 9.99938763e-01 -5.18125927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62240100800001 meters Centerline goodness : 0.923642 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.51 [[ 9.99939306e-01 2.13387302e-04 -1.10153964e-02 1.22652179e+01] [-1.77117296e-04 9.99994561e-01 3.29353513e-03 -3.34351600e-01] [ 1.10160393e-02 -3.29138421e-03 9.99933905e-01 -5.14858410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65240100800001 meters Centerline goodness : 0.930012 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.33, Z:-0.51 [[ 9.99942643e-01 1.25892321e-03 -1.06360460e-02 1.22616513e+01] [-1.20190264e-03 9.99984882e-01 5.36576070e-03 -3.34557262e-01] [ 1.06426403e-02 -5.35266944e-03 9.99929039e-01 -5.09475953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68240100800001 meters Centerline goodness : 0.932495 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.34, Z:-0.51 [[ 9.99928350e-01 4.12547416e-03 -1.12372332e-02 1.22637780e+01] [-4.01371276e-03 9.99942441e-01 9.95009422e-03 -3.35927810e-01] [ 1.12776353e-02 -9.90427827e-03 9.99887354e-01 -5.08155437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71240100800001 meters Centerline goodness : 0.934701 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.33, Z:-0.51 [[ 9.99930190e-01 3.48250411e-03 -1.12910665e-02 1.22649357e+01] [-3.38242273e-03 9.99954933e-01 8.87077913e-03 -3.33186547e-01] [ 1.13214501e-02 -8.83196870e-03 9.99896905e-01 -5.09846932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74240100800002 meters Centerline goodness : 0.933244 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.51 [[ 9.99929282e-01 2.51390013e-03 -1.16237542e-02 1.22672584e+01] [-2.42399587e-03 9.99967091e-01 7.74215873e-03 -3.30530565e-01] [ 1.16428347e-02 -7.71343528e-03 9.99902469e-01 -5.11894016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77240100800002 meters Centerline goodness : 0.934408 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.51 [[ 9.99923462e-01 2.06363853e-03 -1.21988334e-02 1.22687257e+01] [-1.97055122e-03 9.99968889e-01 7.63793819e-03 -3.31285056e-01] [ 1.22142158e-02 -7.61331517e-03 9.99896420e-01 -5.11858806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80240100800002 meters Centerline goodness : 0.935769 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.33, Z:-0.51 [[ 9.99915619e-01 1.58927836e-03 -1.28930154e-02 1.22703245e+01] [-1.48845362e-03 9.99968269e-01 7.82593601e-03 -3.32932936e-01] [ 1.29050439e-02 -7.80608499e-03 9.99886256e-01 -5.11316038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83240100800002 meters Centerline goodness : 0.934173 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.34, Z:-0.51 [[ 9.99904860e-01 1.12379047e-03 -1.37480428e-02 1.22720174e+01] [-1.00994859e-03 9.99965171e-01 8.28472975e-03 -3.35073911e-01] [ 1.37568743e-02 -8.27005672e-03 9.99871169e-01 -5.10182737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86240100800002 meters Centerline goodness : 0.934508 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.34, Z:-0.51 [[ 9.99887653e-01 -8.91109252e-05 -1.49891329e-02 1.22753266e+01] [ 2.25259531e-04 9.99958735e-01 9.08171114e-03 -3.38679533e-01] [ 1.49877051e-02 -9.08406728e-03 9.99846412e-01 -5.08640788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89240100800002 meters Centerline goodness : 0.930180 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.34, Z:-0.51 [[ 9.99877201e-01 -1.00489756e-03 -1.56388380e-02 1.22781304e+01] [ 1.13517735e-03 9.99964712e-01 8.32388280e-03 -3.38799826e-01] [ 1.56299215e-02 -8.34061349e-03 9.99843058e-01 -5.10379194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92240100800001 meters Centerline goodness : 0.930195 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.34, Z:-0.51 [[ 9.99861777e-01 -2.08233643e-03 -1.64951685e-02 1.22817927e+01] [ 2.20212188e-03 9.99971315e-01 7.24701860e-03 -3.38023929e-01] [ 1.64796046e-02 -7.28234127e-03 9.99837682e-01 -5.12817554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95240100800001 meters Centerline goodness : 0.926699 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.34, Z:-0.52 [[ 9.99846041e-01 -3.09477401e-03 -1.72718544e-02 1.22853143e+01] [ 3.20002361e-03 9.99976461e-01 6.06939891e-03 -3.36903782e-01] [ 1.72526644e-02 -6.12373481e-03 9.99832409e-01 -5.15496177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98240100800001 meters Centerline goodness : 0.923512 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.34, Z:-0.51 [[ 9.99811775e-01 -2.70356171e-03 -1.92120936e-02 1.22937375e+01] [ 2.90431727e-03 9.99941396e-01 1.04292293e-02 -3.39391143e-01] [ 1.91827717e-02 -1.04830643e-02 9.99761035e-01 -5.14681684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01240100800001 meters Centerline goodness : 0.922549 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.34, Z:-0.51 [[ 9.99802822e-01 -2.96853683e-03 -1.96342549e-02 1.22947692e+01] [ 3.17319662e-03 9.99940877e-01 1.04006810e-02 -3.40302400e-01] [ 1.96022192e-02 -1.04609335e-02 9.99753130e-01 -5.14615794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04240100800001 meters Centerline goodness : 0.924390 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.34, Z:-0.51 [[ 9.99799471e-01 -2.94459933e-03 -1.98077522e-02 1.22950479e+01] [ 3.15034429e-03 9.99941331e-01 1.03639214e-02 -3.40681227e-01] [ 1.97760724e-02 -1.04242444e-02 9.99750090e-01 -5.14606448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07240100800001 meters Centerline goodness : 0.923885 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.34, Z:-0.51 [[ 9.99798202e-01 -2.87699936e-03 -1.98815875e-02 1.22949911e+01] [ 3.08025597e-03 9.99943231e-01 1.02003095e-02 -3.39828305e-01] [ 1.98511126e-02 -1.02594915e-02 9.99750307e-01 -5.14522569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10240100800002 meters Centerline goodness : 0.926220 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.34, Z:-0.52 [[ 9.99888901e-01 -1.03504701e-03 -1.48698881e-02 1.23083027e+01] [ 1.02221244e-03 9.99999098e-01 -8.70698869e-04 -3.36236351e-01] [ 1.48707759e-02 8.55401951e-04 9.99889058e-01 -5.22315475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13240100800002 meters Centerline goodness : 0.928474 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.34, Z:-0.52 [[ 9.99868489e-01 2.40408978e-03 -1.60382624e-02 1.23102342e+01] [-2.29628317e-03 9.99974671e-01 6.73687108e-03 -3.40516514e-01] [ 1.60540522e-02 -6.69915672e-03 9.99848683e-01 -5.15273320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16240100800002 meters Centerline goodness : 0.929655 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.34, Z:-0.51 [[ 9.99834768e-01 5.75844914e-03 -1.72417429e-02 1.23126400e+01] [-5.54389229e-03 9.99906927e-01 1.24660787e-02 -3.43599469e-01] [ 1.73119234e-02 -1.23684325e-02 9.99773634e-01 -5.11783646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19240100800002 meters Centerline goodness : 0.927666 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99900579e-01 5.96631857e-03 -1.27763354e-02 1.23285270e+01] [-5.95068191e-03 9.99981499e-01 1.26154261e-03 -3.39894485e-01] [ 1.27836258e-02 -1.18538928e-03 9.99917583e-01 -5.18931184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22240100800002 meters Centerline goodness : 0.929807 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99898954e-01 5.63670874e-03 -1.30502247e-02 1.23290192e+01] [-5.62011144e-03 9.99983351e-01 1.30812610e-03 -3.39307219e-01] [ 1.30573809e-02 -1.23465020e-03 9.99913987e-01 -5.18270931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25240100800002 meters Centerline goodness : 0.929393 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99895820e-01 4.72557946e-03 -1.36388785e-02 1.23314543e+01] [-4.72025161e-03 9.99988770e-01 4.22801433e-04 -3.37668323e-01] [ 1.36407234e-02 -3.58378447e-04 9.99906897e-01 -5.19628302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28240100800001 meters Centerline goodness : 0.926421 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99895269e-01 4.35057043e-03 -1.38030392e-02 1.23324687e+01] [-4.35322607e-03 9.99990511e-01 -1.62355364e-04 -3.36246631e-01] [ 1.38022019e-02 2.22426111e-04 9.99904720e-01 -5.20608447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31240100800001 meters Centerline goodness : 0.925951 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99896108e-01 4.42564009e-03 -1.37180989e-02 1.23322573e+01] [-4.43023577e-03 9.99990140e-01 -3.04638163e-04 -3.35281557e-01] [ 1.37166155e-02 3.65380926e-04 9.99905856e-01 -5.20709252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34240100800001 meters Centerline goodness : 0.925795 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.33, Z:-0.52 [[ 9.99894450e-01 5.14531254e-03 -1.35873320e-02 1.23301283e+01] [-5.14111900e-03 9.99986725e-01 3.43547342e-04 -3.34576687e-01] [ 1.35889193e-02 -2.73656989e-04 9.99907629e-01 -5.18146355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37240100800001 meters Centerline goodness : 0.925795 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.33, Z:-0.52 [[ 9.99894450e-01 5.14531254e-03 -1.35873320e-02 1.23301283e+01] [-5.14111900e-03 9.99986725e-01 3.43547342e-04 -3.34576687e-01] [ 1.35889193e-02 -2.73656989e-04 9.99907629e-01 -5.18146355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40240100800001 meters Centerline goodness : 0.926474 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.52 [[ 9.99890845e-01 5.42868495e-03 -1.37414664e-02 1.23293634e+01] [-5.41671090e-03 9.99984917e-01 9.08450021e-04 -3.35283185e-01] [ 1.37461908e-02 -8.33917308e-04 9.99905169e-01 -5.16337976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43240100800001 meters Centerline goodness : 0.930708 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.51 [[ 9.99885547e-01 5.93199356e-03 -1.39177390e-02 1.23281185e+01] [-5.90425565e-03 9.99980503e-01 2.03323304e-03 -3.36488842e-01] [ 1.39295287e-02 -1.95082644e-03 9.99901076e-01 -5.13416401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46240100800001 meters Centerline goodness : 0.933400 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.51 [[ 9.99883768e-01 6.62871785e-03 -1.37299093e-02 1.23260561e+01] [-6.58671460e-03 9.99973495e-01 3.10221661e-03 -3.36778990e-01] [ 1.37501092e-02 -3.01142104e-03 9.99900928e-01 -5.10546795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49240100800002 meters Centerline goodness : 0.933475 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.51 [[ 9.99885468e-01 6.52381545e-03 -1.36561303e-02 1.23262078e+01] [-6.48743718e-03 9.99975294e-01 2.70648419e-03 -3.35725064e-01] [ 1.36734495e-02 -2.61758092e-03 9.99903088e-01 -5.11163319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52240100800002 meters Centerline goodness : 0.934171 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.51 [[ 9.99848649e-01 9.36552127e-03 -1.46616902e-02 1.23295716e+01] [-9.26700809e-03 9.99934125e-01 6.77266962e-03 -3.37349435e-01] [ 1.47241539e-02 -6.63577457e-03 9.99869574e-01 -5.11158221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55240100800002 meters Centerline goodness : 0.931360 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.34, Z:-0.51 [[ 9.99850769e-01 8.57951133e-03 -1.49943618e-02 1.23317812e+01] [-8.49651421e-03 9.99948278e-01 5.59018886e-03 -3.35591967e-01] [ 1.50415474e-02 -5.46195482e-03 9.99871951e-01 -5.13460279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58240100800002 meters Centerline goodness : 0.930290 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.33, Z:-0.52 [[ 9.99851986e-01 7.63745583e-03 -1.54167454e-02 1.23344228e+01] [-7.57165848e-03 9.99961995e-01 4.32178137e-03 -3.33957240e-01] [ 1.54491669e-02 -4.20441136e-03 9.99871815e-01 -5.15964538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61240100800002 meters Centerline goodness : 0.923564 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.33, Z:-0.52 [[ 9.99845057e-01 6.88770235e-03 -1.61994266e-02 1.23371780e+01] [-6.83438592e-03 9.99971053e-01 3.34431560e-03 -3.33845897e-01] [ 1.62219924e-02 -3.23308428e-03 9.99863188e-01 -5.17786072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64240100800002 meters Centerline goodness : 0.920241 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.33, Z:-0.52 [[ 9.99837067e-01 6.52079959e-03 -1.68320613e-02 1.23387304e+01] [-6.46940179e-03 9.99974249e-01 3.10621231e-03 -3.34097647e-01] [ 1.68518828e-02 -2.99681284e-03 9.99853506e-01 -5.17917335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67240100800001 meters Centerline goodness : 0.918940 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.33, Z:-0.52 [[ 9.99832392e-01 6.05313325e-03 -1.72785382e-02 1.23403403e+01] [-6.01317909e-03 9.99979128e-01 2.36337562e-03 -3.33368945e-01] [ 1.72924834e-02 -2.25908056e-03 9.99847922e-01 -5.19089006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70240100800001 meters Centerline goodness : 0.916133 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.33, Z:-0.52 [[ 9.99832262e-01 5.77837915e-03 -1.73798039e-02 1.23412972e+01] [-5.75185438e-03 9.99982216e-01 1.57578374e-03 -3.31870575e-01] [ 1.73886003e-02 -1.47555332e-03 9.99847718e-01 -5.20594997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73240100800001 meters Centerline goodness : 0.910316 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.33, Z:-0.52 [[ 9.99797774e-01 7.45761294e-03 -1.86760596e-02 1.23470672e+01] [-7.37286084e-03 9.99962227e-01 4.60275826e-03 -3.31949139e-01] [ 1.87096798e-02 -4.46413148e-03 9.99814993e-01 -5.22356830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76240100800001 meters Centerline goodness : 0.910538 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.33, Z:-0.52 [[ 9.99791714e-01 6.57226691e-03 -1.93218428e-02 1.23496597e+01] [-6.50192808e-03 9.99972014e-01 3.70094903e-03 -3.30556290e-01] [ 1.93456256e-02 -3.57454894e-03 9.99806466e-01 -5.23898993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79240100800001 meters Centerline goodness : 0.907662 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.33, Z:-0.52 [[ 9.99791253e-01 6.08729177e-03 -1.95037194e-02 1.23508166e+01] [-6.02435296e-03 9.99976460e-01 3.28414737e-03 -3.29964450e-01] [ 1.95232518e-02 -3.16596452e-03 9.99804391e-01 -5.24714091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82240100800001 meters Centerline goodness : 0.907549 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.33, Z:-0.52 [[ 9.99783983e-01 5.53390928e-03 -2.00340388e-02 1.23520829e+01] [-5.46696902e-03 9.99979294e-01 3.39455462e-03 -3.30834741e-01] [ 2.00524091e-02 -3.28429587e-03 9.99793536e-01 -5.24133182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85240100800002 meters Centerline goodness : 0.906929 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.33, Z:-0.52 [[ 9.99769392e-01 5.11634755e-03 -2.08563213e-02 1.23532171e+01] [-5.01742852e-03 9.99975929e-01 4.79245269e-03 -3.33939867e-01] [ 2.08803391e-02 -4.68670241e-03 9.99770997e-01 -5.21188734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88240100800002 meters Centerline goodness : 0.910286 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.34, Z:-0.51 [[ 9.99760789e-01 -2.34569487e-05 -2.18715479e-02 1.23549684e+01] [ 1.30472363e-04 9.99988028e-01 4.89149124e-03 -3.39513307e-01] [ 2.18711714e-02 -4.89317477e-03 9.99748823e-01 -5.12968756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91240100800002 meters Centerline goodness : 0.910205 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.34, Z:-0.51 [[ 9.99740559e-01 -9.80524163e-04 -2.27563923e-02 1.23572375e+01] [ 1.11425658e-03 9.99982181e-01 5.86476127e-03 -3.41948862e-01] [ 2.27502363e-02 -5.88859617e-03 9.99723837e-01 -5.11047238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94240100800002 meters Centerline goodness : 0.909857 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.35, Z:-0.50 [[ 9.99739507e-01 -6.06577394e-03 -2.20028183e-02 1.23808658e+01] [ 6.47828838e-03 9.99803671e-01 1.87256817e-02 -3.45055049e-01] [ 2.18849127e-02 -1.88633444e-02 9.99582525e-01 -5.02536008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97240100800002 meters Centerline goodness : 0.907176 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.34, Z:-0.51 [[ 9.99716016e-01 -1.03413472e-02 -2.14696213e-02 1.23809481e+01] [ 1.06146508e-02 9.99863580e-01 1.26550874e-02 -3.41352705e-01] [ 2.13358217e-02 -1.28793861e-02 9.99689404e-01 -5.06330999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00240100800002 meters Centerline goodness : 0.906573 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.34, Z:-0.50 [[ 9.99703732e-01 -8.08741032e-03 -2.29573893e-02 1.23858679e+01] [ 8.48562579e-03 9.99814304e-01 1.73017602e-02 -3.43009701e-01] [ 2.28131998e-02 -1.74914420e-02 9.99586718e-01 -5.04950557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03240100800001 meters Centerline goodness : 0.905105 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.34, Z:-0.50 [[ 9.99687121e-01 -5.45887698e-03 -2.44102757e-02 1.23901941e+01] [ 5.99230246e-03 9.99743673e-01 2.18330129e-02 -3.44190830e-01] [ 2.42848349e-02 -2.19724556e-02 9.99463585e-01 -5.03685855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06240100800001 meters Centerline goodness : 0.904528 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.34, Z:-0.51 [[ 9.99779737e-01 -5.84923528e-03 -2.01560081e-02 1.24041976e+01] [ 6.00457980e-03 9.99952670e-01 7.65522491e-03 -3.39016570e-01] [ 2.01102769e-02 -7.77456711e-03 9.99767539e-01 -5.12860421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09240100800001 meters Centerline goodness : 0.904299 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.34, Z:-0.51 [[ 9.99777164e-01 -5.59055571e-03 -2.03560451e-02 1.24034969e+01] [ 5.76647358e-03 9.99946447e-01 8.59362800e-03 -3.40014149e-01] [ 2.03069118e-02 -8.70909562e-03 9.99755861e-01 -5.10399056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12240100800001 meters Centerline goodness : 0.906419 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.34, Z:-0.50 [[ 9.99753486e-01 -3.91245436e-03 -2.18554352e-02 1.24089552e+01] [ 4.29067322e-03 9.99841389e-01 1.72854809e-02 -3.44287722e-01] [ 2.17843401e-02 -1.73749943e-02 9.99611701e-01 -5.00946679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15240100800001 meters Centerline goodness : 0.905553 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.34, Z:-0.50 [[ 9.99745721e-01 -4.01019424e-03 -2.21903524e-02 1.24092033e+01] [ 4.40516403e-03 9.99832237e-01 1.77790061e-02 -3.44995249e-01] [ 2.21153324e-02 -1.78722374e-02 9.99595666e-01 -4.99464719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18240100800001 meters Centerline goodness : 0.906044 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.35, Z:-0.50 [[ 9.99710900e-01 -2.98046701e-03 -2.38585903e-02 1.24163454e+01] [ 3.53420393e-03 9.99724580e-01 2.32007025e-02 -3.46307357e-01] [ 2.37828702e-02 -2.32783164e-02 9.99446094e-01 -4.96812306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21240100800001 meters Centerline goodness : 0.902668 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.35, Z:-0.50 [[ 9.99691867e-01 -7.09748998e-04 -2.48126571e-02 1.24207059e+01] [ 1.39637384e-03 9.99616248e-01 2.76659988e-02 -3.47014788e-01] [ 2.47834992e-02 -2.76921218e-02 9.99309224e-01 -4.95953037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24240100800002 meters Centerline goodness : 0.899396 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.35, Z:-0.50 [[ 9.99669580e-01 1.81701425e-03 -2.56403847e-02 1.24245156e+01] [-9.94138639e-04 9.99485154e-01 3.20692774e-02 -3.48382223e-01] [ 2.56854541e-02 -3.20331910e-02 9.99156710e-01 -4.95364665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27240100800002 meters Centerline goodness : 0.896403 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.35, Z:-0.50 [[ 9.99666595e-01 1.64557454e-03 -2.57680296e-02 1.24252754e+01] [-8.28299135e-04 9.99497236e-01 3.16952536e-02 -3.47310078e-01] [ 2.58072313e-02 -3.16633426e-02 9.99165361e-01 -4.95928992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30240100800002 meters Centerline goodness : 0.897345 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.34, Z:-0.50 [[ 9.99677643e-01 -6.15068095e-04 -2.53817410e-02 1.24229075e+01] [ 1.24936430e-03 9.99687121e-01 2.49819706e-02 -3.42349593e-01] [ 2.53584339e-02 -2.50056285e-02 9.99365633e-01 -5.00678274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33240100800002 meters Centerline goodness : 0.894529 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.34, Z:-0.50 [[ 9.99676440e-01 -3.54499030e-03 -2.51882459e-02 1.24215133e+01] [ 4.03504146e-03 9.99803049e-01 1.94314353e-02 -3.38304760e-01] [ 2.51144009e-02 -1.95267837e-02 9.99493858e-01 -5.03073655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36240100800002 meters Centerline goodness : 0.894928 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.34, Z:-0.50 [[ 9.99658565e-01 -2.84006170e-05 -2.61295391e-02 1.24234118e+01] [ 6.79840043e-04 9.99689153e-01 2.49226031e-02 -3.40080522e-01] [ 2.61207090e-02 -2.49318576e-02 9.99347843e-01 -4.99589098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39240100800002 meters Centerline goodness : 0.894584 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.34, Z:-0.50 [[ 9.99663423e-01 6.11009289e-04 -2.59358260e-02 1.24221025e+01] [ 3.76206590e-05 9.99687421e-01 2.50011816e-02 -3.38769846e-01] [ 2.59429950e-02 -2.49937425e-02 9.99350926e-01 -4.98928042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42240100800001 meters Centerline goodness : 0.891003 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.33, Z:-0.51 [[ 9.99751705e-01 4.52141228e-03 -2.18193862e-02 1.24328691e+01] [-4.24334621e-03 9.99909412e-01 1.27735073e-02 -3.33615195e-01] [ 2.18751639e-02 -1.26777485e-02 9.99680325e-01 -5.08558707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45240100800001 meters Centerline goodness : 0.892025 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.33, Z:-0.51 [[ 9.99715676e-01 8.29545966e-03 -2.23551345e-02 1.24343050e+01] [-7.90040716e-03 9.99812086e-01 1.77024184e-02 -3.34407174e-01] [ 2.24977834e-02 -1.75207706e-02 9.99593353e-01 -5.06990553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48240100800001 meters Centerline goodness : 0.889806 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.34, Z:-0.51 [[ 9.99667487e-01 1.18297171e-02 -2.29123005e-02 1.24360259e+01] [-1.13217977e-02 9.99690056e-01 2.21722609e-02 -3.35137516e-01] [ 2.31674905e-02 -2.19054799e-02 9.99491579e-01 -5.06250600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51240100800001 meters Centerline goodness : 0.891721 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.33, Z:-0.52 [[ 9.99899379e-01 1.03344042e-02 -9.71766087e-03 1.24423851e+01] [-1.01733152e-02 9.99812394e-01 1.64827593e-02 -3.30757663e-01] [ 9.88617727e-03 -1.63822400e-02 9.99816926e-01 -5.17191010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54240100800001 meters Centerline goodness : 0.895243 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.33, Z:-0.52 [[ 9.99910422e-01 1.28043935e-02 -3.89807063e-03 1.24541099e+01] [-1.27692713e-02 9.99878812e-01 8.90550022e-03 -3.29749954e-01] [ 4.01162776e-03 -8.85492696e-03 9.99952747e-01 -5.19334032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57240100800001 meters Centerline goodness : 0.894280 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.33, Z:-0.52 [[ 9.99905113e-01 1.31672407e-02 -4.04836974e-03 1.24532198e+01] [-1.31281851e-02 9.99868434e-01 9.52704149e-03 -3.30735718e-01] [ 4.17328197e-03 -9.47298975e-03 9.99946422e-01 -5.17336679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60240100800002 meters Centerline goodness : 0.895841 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.33, Z:-0.52 [[ 9.99899073e-01 1.36180546e-02 -4.04884781e-03 1.24520688e+01] [-1.35767694e-02 9.99857272e-01 1.00551652e-02 -3.31626576e-01] [ 4.18520172e-03 -9.99918009e-03 9.99941249e-01 -5.15633706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63240100800002 meters Centerline goodness : 0.899150 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.33, Z:-0.52 [[ 9.99932518e-01 1.09949934e-02 -3.75083377e-03 1.24499424e+01] [-1.09747517e-02 9.99925328e-01 5.37516156e-03 -3.28955734e-01] [ 3.80965356e-03 -5.33363436e-03 9.99978519e-01 -5.16454667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66240100800002 meters Centerline goodness : 0.900752 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.33, Z:-0.52 [[ 9.99938730e-01 1.04394934e-02 -3.68154666e-03 1.24516559e+01] [-1.04278215e-02 9.99940587e-01 3.17545459e-03 -3.25183852e-01] [ 3.71447807e-03 -3.13686951e-03 9.99988181e-01 -5.20910464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69240100800002 meters Centerline goodness : 0.897142 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.32, Z:-0.53 [[ 9.99949701e-01 9.17715276e-03 -4.04659568e-03 1.24552642e+01] [-9.17249783e-03 9.99957250e-01 1.16739493e-03 -3.22197264e-01] [ 4.05713605e-03 -1.13021882e-03 9.99991131e-01 -5.25447982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72240100800002 meters Centerline goodness : 0.893532 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.32, Z:-0.53 [[ 9.99929521e-01 1.06369934e-02 -5.27336262e-03 1.24614789e+01] [-1.06142047e-02 9.99934289e-01 4.33078667e-03 -3.22828931e-01] [ 5.31908265e-03 -4.27450889e-03 9.99976718e-01 -5.27760736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75240100800002 meters Centerline goodness : 0.894457 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.32, Z:-0.53 [[ 9.99935668e-01 9.69029490e-03 -5.89559577e-03 1.24643889e+01] [-9.66894329e-03 9.99946632e-01 3.63940843e-03 -3.22783311e-01] [ 5.93054807e-03 -3.58217011e-03 9.99975998e-01 -5.29637404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78240100800001 meters Centerline goodness : 0.893675 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.33, Z:-0.52 [[ 9.99967371e-01 4.46783576e-03 -6.73018453e-03 1.24802345e+01] [-4.39021184e-03 9.99924182e-01 1.15046508e-02 -3.28310371e-01] [ 6.78107515e-03 -1.14747284e-02 9.99911170e-01 -5.21334258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81240100800001 meters Centerline goodness : 0.897959 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.33, Z:-0.51 [[ 9.99931940e-01 5.21511722e-03 -1.04364016e-02 1.25103803e+01] [-5.05447027e-03 9.99869244e-01 1.53605667e-02 -3.34579980e-01] [ 1.05151441e-02 -1.53067708e-02 9.99827552e-01 -5.13110808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84240100800001 meters Centerline goodness : 0.896969 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.34, Z:-0.51 [[ 9.99927078e-01 4.33878512e-03 -1.12700099e-02 1.25127428e+01] [-4.16396054e-03 9.99871356e-01 1.54897885e-02 -3.36607044e-01] [ 1.13357669e-02 -1.54417311e-02 9.99816510e-01 -5.12816272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87240100800001 meters Centerline goodness : 0.899388 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.34, Z:-0.51 [[ 9.99922239e-01 2.71167985e-03 -1.21722092e-02 1.25168726e+01] [-2.53221352e-03 9.99888224e-01 1.47352168e-02 -3.36572927e-01] [ 1.22108058e-02 -1.47032484e-02 9.99817339e-01 -5.14559649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90240100800001 meters Centerline goodness : 0.899128 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.34, Z:-0.51 [[ 9.99897621e-01 5.27635432e-03 -1.33006395e-02 1.25208154e+01] [-5.02312561e-03 9.99806849e-01 1.90008782e-02 -3.38122527e-01] [ 1.33983258e-02 -1.89321221e-02 9.99730994e-01 -5.14217105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93240100800001 meters Centerline goodness : 0.901109 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.33, Z:-0.52 [[ 9.99914259e-01 1.77868973e-03 -1.29734501e-02 1.25202920e+01] [-1.59964661e-03 9.99903522e-01 1.37980776e-02 -3.34235476e-01] [ 1.29967409e-02 -1.37761416e-02 9.99820635e-01 -5.16612756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96240100800001 meters Centerline goodness : 0.901686 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.34, Z:-0.51 [[ 9.99887889e-01 5.38729860e-03 -1.39709017e-02 1.25220350e+01] [-5.11253354e-03 9.99794268e-01 1.96286460e-02 -3.37671617e-01] [ 1.40737728e-02 -1.95550187e-02 9.99709723e-01 -5.13126143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99240100800002 meters Centerline goodness : 0.903472 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.34, Z:-0.51 [[ 9.99907611e-01 2.68476639e-03 -1.33251852e-02 1.25190492e+01] [-2.48022356e-03 9.99879214e-01 1.53429534e-02 -3.35644535e-01] [ 1.33647679e-02 -1.53084864e-02 9.99793495e-01 -5.13084082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02240100800002 meters Centerline goodness : 0.910836 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99958624e-01 3.42864969e-03 -8.42584029e-03 1.25322904e+01] [-3.39170455e-03 9.99984589e-01 4.39512648e-03 -3.33710918e-01] [ 8.44077979e-03 -4.36636667e-03 9.99954843e-01 -5.18555748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05240100800002 meters Centerline goodness : 0.907713 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99958111e-01 4.65003891e-03 -7.88378065e-03 1.25294070e+01] [-4.61041261e-03 9.99976686e-01 5.03705284e-03 -3.33518296e-01] [ 7.90701933e-03 -5.00049436e-03 9.99956236e-01 -5.16931113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08240100800002 meters Centerline goodness : 0.910592 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99959450e-01 4.74045712e-03 -7.65679661e-03 1.25293446e+01] [-4.70817767e-03 9.99979977e-01 4.22832843e-03 -3.31413181e-01] [ 7.67668751e-03 -4.19210742e-03 9.99961747e-01 -5.18470817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11240100800002 meters Centerline goodness : 0.909951 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99961397e-01 4.91631142e-03 -7.28248501e-03 1.25290433e+01] [-4.89303485e-03 9.99982875e-01 3.21061573e-03 -3.28853238e-01] [ 7.29814469e-03 -3.17485834e-03 9.99968328e-01 -5.20403152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14240100800002 meters Centerline goodness : 0.911533 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99931152e-01 8.77393465e-03 -7.79159454e-03 1.25301927e+01] [-8.71483944e-03 9.99933247e-01 7.58631927e-03 -3.29575773e-01] [ 7.85763630e-03 -7.51789447e-03 9.99940868e-01 -5.19674330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17240100800001 meters Centerline goodness : 0.913916 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99920648e-01 1.00943014e-02 -7.53679085e-03 1.25281945e+01] [-1.00387493e-02 9.99922431e-01 7.37259265e-03 -3.27830157e-01] [ 7.61062740e-03 -7.29634767e-03 9.99944419e-01 -5.19681304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20240100800001 meters Centerline goodness : 0.914597 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99917687e-01 1.05140760e-02 -7.35352729e-03 1.25272672e+01] [-1.04602656e-02 9.99918510e-01 7.31821824e-03 -3.27518798e-01] [ 7.42987236e-03 -7.24069600e-03 9.99946183e-01 -5.19509054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23240100800001 meters Centerline goodness : 0.918584 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.32, Z:-0.52 [[ 9.99945569e-01 7.86242928e-03 -6.85872837e-03 1.25250343e+01] [-7.84441926e-03 9.99965724e-01 2.64881654e-03 -3.24810340e-01] [ 6.87931941e-03 -2.59486962e-03 9.99972970e-01 -5.20660159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26240100800001 meters Centerline goodness : 0.918584 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.32, Z:-0.52 [[ 9.99945569e-01 7.86242928e-03 -6.85872837e-03 1.25250343e+01] [-7.84441926e-03 9.99965724e-01 2.64881654e-03 -3.24810340e-01] [ 6.87931941e-03 -2.59486962e-03 9.99972970e-01 -5.20660159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29240100800001 meters Centerline goodness : 0.921109 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.32, Z:-0.52 [[ 9.99944214e-01 8.08844595e-03 -6.79307913e-03 1.25245289e+01] [-8.06988481e-03 9.99963642e-01 2.75534001e-03 -3.24968421e-01] [ 6.81511856e-03 -2.70036693e-03 9.99973131e-01 -5.20314571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32240100800001 meters Centerline goodness : 0.917947 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.33, Z:-0.52 [[ 9.99942443e-01 8.31880993e-03 -6.77548663e-03 1.25242939e+01] [-8.29702600e-03 9.99960340e-01 3.23689831e-03 -3.26590577e-01] [ 6.80214505e-03 -3.18049562e-03 9.99971807e-01 -5.19873519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35240100800002 meters Centerline goodness : 0.920204 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99943511e-01 7.79839317e-03 -7.22214002e-03 1.25262094e+01] [-7.77663975e-03 9.99965155e-01 3.03524702e-03 -3.27346094e-01] [ 7.24555842e-03 -2.97891158e-03 9.99969314e-01 -5.20863089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38240100800002 meters Centerline goodness : 0.920447 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.33, Z:-0.52 [[ 9.99945959e-01 7.14074801e-03 -7.55565234e-03 1.25283739e+01] [-7.12290916e-03 9.99971787e-01 2.38527515e-03 -3.27705934e-01] [ 7.57247182e-03 -2.33132802e-03 9.99968611e-01 -5.22922949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41240100800002 meters Centerline goodness : 0.914944 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.32, Z:-0.53 [[ 9.99949137e-01 6.50203788e-03 -7.71018035e-03 1.25307526e+01] [-6.49978469e-03 9.99978826e-01 3.17257584e-04 -3.23746777e-01] [ 7.71207992e-03 -2.67126935e-04 9.99970226e-01 -5.27296800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44240100800002 meters Centerline goodness : 0.911321 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.32, Z:-0.53 [[ 9.99951372e-01 5.72073017e-03 -8.03284610e-03 1.25330562e+01] [-5.72871773e-03 9.99983119e-01 -9.71705355e-04 -3.21452248e-01] [ 8.02715164e-03 1.01767601e-03 9.99967264e-01 -5.29868997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47240100800002 meters Centerline goodness : 0.908882 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.32, Z:-0.53 [[ 9.99923543e-01 8.03945250e-03 -9.39547090e-03 1.25376400e+01] [-8.01139529e-03 9.99963348e-01 3.02007924e-03 -3.22658663e-01] [ 9.41940632e-03 -2.94457751e-03 9.99951301e-01 -5.29759837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50240100800002 meters Centerline goodness : 0.910965 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.32, Z:-0.53 [[ 9.99917000e-01 7.71278731e-03 -1.03201997e-02 1.25389632e+01] [-7.67689670e-03 9.99964362e-01 3.51281269e-03 -3.24954740e-01] [ 1.03469255e-02 -3.43329402e-03 9.99940575e-01 -5.27980045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53240100800001 meters Centerline goodness : 0.914292 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.33, Z:-0.53 [[ 9.99911244e-01 7.56336492e-03 -1.09680814e-02 1.25396513e+01] [-7.51456552e-03 9.99961713e-01 4.48362701e-03 -3.27264081e-01] [ 1.10015728e-02 -4.40080870e-03 9.99929797e-01 -5.25746029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56240100800001 meters Centerline goodness : 0.913648 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.33, Z:-0.52 [[ 9.99907895e-01 7.07553969e-03 -1.15818302e-02 1.25410105e+01] [-7.02063228e-03 9.99963956e-01 4.77463571e-03 -3.28520601e-01] [ 1.16151959e-02 -4.69288417e-03 9.99921529e-01 -5.24921141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59240100800001 meters Centerline goodness : 0.911045 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.33, Z:-0.53 [[ 9.99907500e-01 6.10665978e-03 -1.21531926e-02 1.25435515e+01] [-6.05599968e-03 9.99972838e-01 4.20090589e-03 -3.28200409e-01] [ 1.21785160e-02 -4.12691758e-03 9.99917323e-01 -5.26207707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62240100800001 meters Centerline goodness : 0.909313 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.33, Z:-0.53 [[ 9.99908887e-01 5.10631246e-03 -1.24957073e-02 1.25459353e+01] [-5.06242375e-03 9.99980915e-01 3.54141628e-03 -3.27418158e-01] [ 1.25135524e-02 -3.47783505e-03 9.99915654e-01 -5.27927975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65240100800001 meters Centerline goodness : 0.906337 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.33, Z:-0.53 [[ 9.99906064e-01 2.13982255e-03 -1.35382645e-02 1.25523951e+01] [-2.10695372e-03 9.99994800e-01 2.44164379e-03 -3.26443645e-01] [ 1.35434188e-02 -2.41288994e-03 9.99905372e-01 -5.30588399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68240100800001 meters Centerline goodness : 0.904310 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.33, Z:-0.53 [[ 9.99900680e-01 1.69367954e-03 -1.39914891e-02 1.25533138e+01] [-1.65520638e-03 9.99994819e-01 2.76087697e-03 -3.27241507e-01] [ 1.39960927e-02 -2.73744396e-03 9.99898303e-01 -5.29601829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71240100800001 meters Centerline goodness : 0.909050 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.33, Z:-0.53 [[ 9.99888120e-01 1.22348885e-03 -1.49080632e-02 1.25545107e+01] [-1.15685726e-03 9.99989308e-01 4.47730414e-03 -3.30307356e-01] [ 1.49133817e-02 -4.45955672e-03 9.99878844e-01 -5.25789163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74240100800002 meters Centerline goodness : 0.911673 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.33, Z:-0.52 [[ 9.99875808e-01 6.49713569e-04 -1.57462904e-02 1.25553501e+01] [-5.44501422e-04 9.99977506e-01 6.68507640e-03 -3.34237285e-01] [ 1.57502796e-02 -6.67567230e-03 9.99853671e-01 -5.20764684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77240100800002 meters Centerline goodness : 0.914732 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.34, Z:-0.51 [[ 9.99854583e-01 -6.94264701e-04 -1.70390798e-02 1.25584450e+01] [ 8.64931929e-04 9.99949516e-01 1.00108987e-02 -3.38261055e-01] [ 1.70312694e-02 -1.00241806e-02 9.99804707e-01 -5.13932809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80240100800002 meters Centerline goodness : 0.913317 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.34, Z:-0.50 [[ 9.99821871e-01 -7.85615910e-03 -1.71612098e-02 1.25784593e+01] [ 8.18694221e-03 9.99780399e-01 1.92905974e-02 -3.40793906e-01] [ 1.70058912e-02 -1.94276591e-02 9.99666627e-01 -5.04034562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83240100800002 meters Centerline goodness : 0.909188 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.34, Z:-0.50 [[ 9.99789369e-01 -8.59719087e-03 -1.86361240e-02 1.25873303e+01] [ 9.03099495e-03 9.99687265e-01 2.33197907e-02 -3.41167335e-01] [ 1.84298112e-02 -2.34831815e-02 9.99554342e-01 -5.03267783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86240100800002 meters Centerline goodness : 0.904994 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.34, Z:-0.51 [[ 9.99760954e-01 -1.02515993e-02 -1.93116347e-02 1.25914690e+01] [ 1.06655899e-02 9.99712863e-01 2.14577730e-02 -3.38425095e-01] [ 1.90861131e-02 -2.16586136e-02 9.99583226e-01 -5.06910413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89240100800002 meters Centerline goodness : 0.893421 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.33, Z:-0.51 [[ 0.99960534 -0.01260243 -0.0251066 12.58038424] [ 0.01328837 0.99953775 0.02734425 -0.33381157] [ 0.02475039 -0.02766708 0.99931074 -0.50788686] [ 0. 0. 0. 1. ]] SLAMing on 100.92240100800001 meters Centerline goodness : 0.895218 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.33, Z:-0.51 [[ 0.99956566 -0.0155152 -0.02505523 12.57944007] [ 0.01601803 0.99967176 0.01999477 -0.32693781] [ 0.02473678 -0.02038742 0.99948609 -0.51326374] [ 0. 0. 0. 1. ]] SLAMing on 100.95240100800001 meters Centerline goodness : 0.892400 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.32, Z:-0.51 [[ 0.99958165 -0.01475295 -0.02487725 12.57766543] [ 0.0152318 0.99970021 0.01916991 -0.32300677] [ 0.02458698 -0.01954082 0.9995067 -0.51313835] [ 0. 0. 0. 1. ]] SLAMing on 100.98240100800001 meters Centerline goodness : 0.891932 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.32, Z:-0.51 [[ 9.99618400e-01 -1.24712514e-02 -2.46479544e-02 1.25737251e+01] [ 1.29631079e-02 9.99717989e-01 1.98972622e-02 -3.19202039e-01] [ 2.43928596e-02 -2.02091835e-02 9.99498163e-01 -5.10417028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01240100800001 meters Centerline goodness : 0.892702 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.31, Z:-0.51 [[ 9.99676431e-01 -3.74828472e-03 -2.51591789e-02 1.25697091e+01] [ 4.42225990e-03 9.99631396e-01 2.67864823e-02 -3.11513698e-01] [ 2.50495018e-02 -2.68890754e-02 9.99324522e-01 -5.05848027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04240100800001 meters Centerline goodness : 0.893809 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.30, Z:-0.51 [[ 9.99783486e-01 1.37357976e-03 -2.07628348e-02 1.25841119e+01] [-9.81449477e-04 9.99821189e-01 1.88845682e-02 -3.04203721e-01] [ 2.07850617e-02 -1.88601017e-02 9.99606061e-01 -5.13523255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07240100800001 meters Centerline goodness : 0.895542 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.30, Z:-0.52 [[ 9.99867905e-01 5.46438861e-03 -1.53072913e-02 1.25967733e+01] [-5.31588219e-03 9.99938575e-01 9.72562475e-03 -2.96606183e-01] [ 1.53594956e-02 -9.64296829e-03 9.99835536e-01 -5.21522466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10240100800002 meters Centerline goodness : 0.893811 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.29, Z:-0.52 [[ 9.99872018e-01 6.13071158e-03 -1.47770756e-02 1.25947197e+01] [-6.00240589e-03 9.99944039e-01 8.71152111e-03 -2.91090751e-01] [ 1.48296565e-02 -8.62170819e-03 9.99852863e-01 -5.21791253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13240100800002 meters Centerline goodness : 0.895165 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.29, Z:-0.52 [[ 9.99874603e-01 6.84811112e-03 -1.42787412e-02 1.25912575e+01] [-6.72404753e-03 9.99939384e-01 8.71867171e-03 -2.87078773e-01] [ 1.43375821e-02 -8.62156748e-03 9.99860041e-01 -5.18781166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16240100800002 meters Centerline goodness : 0.895623 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.29, Z:-0.52 [[ 9.99873053e-01 6.66131984e-03 -1.44742579e-02 1.25911151e+01] [-6.53169207e-03 9.99938305e-01 8.98463827e-03 -2.85964217e-01] [ 1.45332145e-02 -8.88895630e-03 9.99854876e-01 -5.17115290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19240100800002 meters Centerline goodness : 0.898810 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.28, Z:-0.52 [[ 9.99870721e-01 5.84160665e-03 -1.49805609e-02 1.25925941e+01] [-5.71537950e-03 9.99947922e-01 8.45507797e-03 -2.84095683e-01] [ 1.50291720e-02 -8.36836531e-03 9.99852036e-01 -5.16978115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22240100800002 meters Centerline goodness : 0.894717 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.28, Z:-0.51 [[ 9.99835428e-01 5.99591953e-03 -1.71221015e-02 1.26008402e+01] [-5.76646618e-03 9.99893332e-01 1.34190765e-02 -2.83297028e-01] [ 1.72007348e-02 -1.33181340e-02 9.99763353e-01 -5.13790679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25240100800002 meters Centerline goodness : 0.894881 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.28, Z:-0.51 [[ 9.99797657e-01 8.47316256e-03 -1.82442092e-02 1.26044687e+01] [-8.15693456e-03 9.99816408e-01 1.73382627e-02 -2.84887017e-01] [ 1.83877696e-02 -1.71859376e-02 9.99683217e-01 -5.13504578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28240100800001 meters Centerline goodness : 0.896442 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.29, Z:-0.51 [[ 9.99749150e-01 1.12574268e-02 -1.93625018e-02 1.26079626e+01] [-1.08442373e-02 9.99714019e-01 2.13138969e-02 -2.86101807e-01] [ 1.95969041e-02 -2.10985788e-02 9.99585320e-01 -5.13149797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31240100800001 meters Centerline goodness : 0.896810 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.28, Z:-0.52 [[ 0.99969285 0.01392364 -0.02050199 12.61250982] [-0.01344926 0.99964275 0.02309736 -0.28216788] [ 0.02081627 -0.02281453 0.99952298 -0.51664827] [ 0. 0. 0. 1. ]] SLAMing on 101.34240100800001 meters Centerline goodness : 0.896878 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.28, Z:-0.52 [[ 0.99969266 0.01369301 -0.02066603 12.61404849] [-0.01326311 0.99969572 0.02079792 -0.2769618 ] [ 0.02094453 -0.02051743 0.99957009 -0.5205277 ] [ 0. 0. 0. 1. ]] SLAMing on 101.37240100800001 meters Centerline goodness : 0.892616 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.27, Z:-0.52 [[ 0.9996244 0.0171335 -0.02138922 12.61653885] [-0.01662261 0.99957761 0.02383883 -0.2745949 ] [ 0.02178863 -0.02347433 0.99948697 -0.52172608] [ 0. 0. 0. 1. ]] SLAMing on 101.40240100800001 meters Centerline goodness : 0.893342 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.27, Z:-0.52 [[ 0.99961 0.01801963 -0.02133406 12.61591262] [-0.01753254 0.99958624 0.02280244 -0.27040894] [ 0.02173612 -0.02241951 0.99951233 -0.52312927] [ 0. 0. 0. 1. ]] SLAMing on 101.43240100800001 meters Centerline goodness : 0.894041 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.27, Z:-0.53 [[ 9.99605507e-01 2.22657344e-02 -1.71191885e-02 1.26272172e+01] [-2.20522584e-02 9.99677930e-01 1.25592574e-02 -2.65770923e-01] [ 1.73933160e-02 -1.21767861e-02 9.99774574e-01 -5.30004057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46240100800001 meters Centerline goodness : 0.898529 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99496415e-01 2.95571726e-02 -1.15451138e-02 1.26311792e+01] [-2.95278209e-02 9.99560300e-01 2.70461725e-03 -2.60774476e-01] [ 1.16199782e-02 -2.36235319e-03 9.99929695e-01 -5.34827520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49240100800002 meters Centerline goodness : 0.896810 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99479960e-01 3.01686134e-02 -1.13869867e-02 1.26299377e+01] [-3.01413933e-02 9.99542381e-01 2.55458248e-03 -2.58656045e-01] [ 1.14588440e-02 -2.21003435e-03 9.99931903e-01 -5.34201137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52240100800002 meters Centerline goodness : 0.900634 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99473870e-01 3.04297978e-02 -1.12254091e-02 1.26291871e+01] [-3.04072768e-02 9.99535233e-01 2.17153949e-03 -2.56412136e-01] [ 1.12862714e-02 -1.82906286e-03 9.99934635e-01 -5.34053770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55240100800002 meters Centerline goodness : 0.903525 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99347954e-01 3.42095359e-02 -1.15488062e-02 1.26298267e+01] [-3.41280460e-02 9.99391670e-01 7.18101985e-03 -2.58151418e-01] [ 1.17874401e-02 -6.78219930e-03 9.99907525e-01 -5.32025962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58240100800002 meters Centerline goodness : 0.905241 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99344374e-01 3.43258780e-02 -1.15133067e-02 1.26293497e+01] [-3.42435421e-02 9.99387047e-01 7.27390487e-03 -2.57941262e-01] [ 1.17559327e-02 -6.87487951e-03 9.99907263e-01 -5.31412351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61240100800002 meters Centerline goodness : 0.910027 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99455809e-01 3.11158951e-02 -1.09492803e-02 1.26271992e+01] [-3.10807067e-02 9.99511199e-01 3.36941691e-03 -2.56786416e-01] [ 1.10487707e-02 -3.02727193e-03 9.99934378e-01 -5.31239167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64240100800002 meters Centerline goodness : 0.910168 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99463349e-01 3.06831089e-02 -1.14699977e-02 1.26286443e+01] [-3.06442450e-02 9.99524055e-01 3.54888843e-03 -2.58269673e-01] [ 1.15734296e-02 -3.19549449e-03 9.99927920e-01 -5.31223571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67240100800001 meters Centerline goodness : 0.910275 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99478450e-01 2.98599070e-02 -1.22969107e-02 1.26310810e+01] [-2.98159879e-02 9.99548409e-01 3.73957020e-03 -2.60490164e-01] [ 1.24030207e-02 -3.37097528e-03 9.99917397e-01 -5.31274480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70240100800001 meters Centerline goodness : 0.908267 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.26, Z:-0.53 [[ 9.99563932e-01 2.68543124e-02 -1.22796991e-02 1.26330038e+01] [-2.68387818e-02 9.99638755e-01 1.42781061e-03 -2.62334517e-01] [ 1.23136060e-02 -1.09761582e-03 9.99923582e-01 -5.32893162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73240100800001 meters Centerline goodness : 0.911377 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.27, Z:-0.53 [[ 9.99692094e-01 2.10473845e-02 -1.31424695e-02 1.26362444e+01] [-2.10793967e-02 9.99775155e-01 -2.30200894e-03 -2.67568660e-01] [ 1.30910632e-02 2.57833547e-03 9.99910984e-01 -5.33122978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76240100800001 meters Centerline goodness : 0.911078 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.27, Z:-0.53 [[ 9.99710710e-01 1.96540203e-02 -1.38641926e-02 1.26391803e+01] [-1.96788937e-02 9.99804974e-01 -1.65992437e-03 -2.71369812e-01] [ 1.38288645e-02 1.93227615e-03 9.99902510e-01 -5.32821088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79240100800001 meters Centerline goodness : 0.907108 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.27, Z:-0.53 [[ 9.99722216e-01 1.83220448e-02 -1.48254148e-02 1.26426772e+01] [-1.83443520e-02 9.99830790e-01 -1.37006204e-03 -2.74578303e-01] [ 1.47978039e-02 1.64164408e-03 9.99889159e-01 -5.33252769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82240100800001 meters Centerline goodness : 0.906392 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.28, Z:-0.53 [[ 9.99803095e-01 1.20579283e-02 -1.57600027e-02 1.26597978e+01] [-1.19852232e-02 9.99917131e-01 4.69960956e-03 -2.81136279e-01] [ 1.58153642e-02 -4.50979703e-03 9.99864759e-01 -5.29193301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85240100800002 meters Centerline goodness : 0.906650 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.29, Z:-0.53 [[ 9.99778327e-01 1.23937217e-02 -1.70203307e-02 1.26665316e+01] [-1.22141842e-02 9.99869089e-01 1.06121674e-02 -2.85638366e-01] [ 1.71496268e-02 -1.04019255e-02 9.99798825e-01 -5.25614177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88240100800002 meters Centerline goodness : 0.904452 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.29, Z:-0.52 [[ 0.99972335 0.01523906 -0.01791649 12.66970591] [-0.01496007 0.99976633 0.01560373 -0.28968484] [ 0.01815009 -0.01533138 0.99971772 -0.52444961] [ 0. 0. 0. 1. ]] SLAMing on 101.91240100800002 meters Centerline goodness : 0.904086 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.29, Z:-0.53 [[ 0.9997226 0.01501364 -0.01814701 12.67091552] [-0.01474346 0.99977981 0.014932 -0.2890514 ] [ 0.0183672 -0.01466031 0.99972382 -0.52590699] [ 0. 0. 0. 1. ]] SLAMing on 101.94240100800002 meters Centerline goodness : 0.902482 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99708742e-01 1.99935870e-02 -1.35162038e-02 1.26793585e+01] [-1.99355442e-02 9.99791517e-01 4.41550940e-03 -2.87608441e-01] [ 1.36016678e-02 -4.14477047e-03 9.99898903e-01 -5.32545414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97240100800002 meters Centerline goodness : 0.906652 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99686316e-01 2.12234852e-02 -1.32978408e-02 1.26772814e+01] [-2.11603829e-02 9.99764242e-01 4.86818349e-03 -2.87130068e-01] [ 1.33980256e-02 -4.58526902e-03 9.99899729e-01 -5.31248442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00240100800002 meters Centerline goodness : 0.910069 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99663408e-01 2.24657604e-02 -1.29753648e-02 1.26753728e+01] [-2.24032610e-02 9.99736800e-01 4.94222308e-03 -2.85362287e-01] [ 1.30829805e-02 -4.64986908e-03 9.99903603e-01 -5.30838636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03240100800001 meters Centerline goodness : 0.913077 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.28, Z:-0.53 [[ 9.99642559e-01 2.35974579e-02 -1.25663588e-02 1.26736424e+01] [-2.35390748e-02 9.99711520e-01 4.77381742e-03 -2.82969196e-01] [ 1.26753836e-02 -4.47631060e-03 9.99909645e-01 -5.31032778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06240100800001 meters Centerline goodness : 0.914277 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.28, Z:-0.54 [[ 9.99544794e-01 2.94683394e-02 -6.46697818e-03 1.26832904e+01] [-2.94796818e-02 9.99563992e-01 -1.66560571e-03 -2.82113921e-01] [ 6.41507589e-03 1.85549197e-03 9.99977702e-01 -5.35587189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09240100800001 meters Centerline goodness : 0.918538 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.28, Z:-0.53 [[ 9.99527885e-01 3.00856835e-02 -6.23373827e-03 1.26822095e+01] [-3.00938545e-02 9.99546331e-01 -1.22111540e-03 -2.82547048e-01] [ 6.19417213e-03 1.40813611e-03 9.99979824e-01 -5.34976222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12240100800001 meters Centerline goodness : 0.919540 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99400156e-01 3.39533953e-02 -6.81872387e-03 1.26834874e+01] [-3.39273362e-02 9.99416686e-01 3.90172292e-03 -2.85391108e-01] [ 6.94722316e-03 -3.66804136e-03 9.99969140e-01 -5.33433763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15240100800001 meters Centerline goodness : 0.919843 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.28, Z:-0.53 [[ 9.99395574e-01 3.41402600e-02 -6.55198596e-03 1.26831097e+01] [-3.41165096e-02 9.99411002e-01 3.70311414e-03 -2.84960006e-01] [ 6.67455213e-03 -3.47734499e-03 9.99971679e-01 -5.34043604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18240100800001 meters Centerline goodness : 0.919843 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.28, Z:-0.53 [[ 9.99395574e-01 3.41402600e-02 -6.55198596e-03 1.26831097e+01] [-3.41165096e-02 9.99411002e-01 3.70311414e-03 -2.84960006e-01] [ 6.67455213e-03 -3.47734499e-03 9.99971679e-01 -5.34043604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21240100800001 meters Centerline goodness : 0.920597 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99364738e-01 3.50658800e-02 -6.36438903e-03 1.26816688e+01] [-3.50351550e-02 9.99374182e-01 4.87662320e-03 -2.88570308e-01] [ 6.53140917e-03 -4.65054791e-03 9.99967856e-01 -5.32713898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24240100800002 meters Centerline goodness : 0.922675 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99352083e-01 3.53721252e-02 -6.65027521e-03 1.26818039e+01] [-3.53350443e-02 9.99359759e-01 5.61306713e-03 -2.91429253e-01] [ 6.84456355e-03 -5.37444256e-03 9.99962133e-01 -5.31955311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27240100800002 meters Centerline goodness : 0.923578 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99350039e-01 3.54029780e-02 -6.79184345e-03 1.26824136e+01] [-3.53636540e-02 9.99357533e-01 5.82519587e-03 -2.93588142e-01] [ 6.99370919e-03 -5.58122531e-03 9.99959968e-01 -5.32460083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30240100800002 meters Centerline goodness : 0.923677 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.29, Z:-0.53 [[ 9.99466451e-01 3.20514926e-02 -6.28606678e-03 1.26814827e+01] [-3.20437745e-02 9.99485588e-01 1.32474192e-03 -2.92630616e-01] [ 6.32529311e-03 -1.12260580e-03 9.99979365e-01 -5.34412759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33240100800002 meters Centerline goodness : 0.921751 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.30, Z:-0.54 [[ 9.99479698e-01 3.15714308e-02 -6.60129452e-03 1.26838203e+01] [-3.15582967e-02 9.99499739e-01 2.08443122e-03 -2.97141288e-01] [ 6.66380063e-03 -1.87502108e-03 9.99976039e-01 -5.35618688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36240100800002 meters Centerline goodness : 0.921673 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.30, Z:-0.54 [[ 9.99490894e-01 3.11167737e-02 -7.04972190e-03 1.26858155e+01] [-3.11020228e-02 9.99513810e-01 2.19248756e-03 -2.99586117e-01] [ 7.11451754e-03 -1.97211074e-03 9.99972747e-01 -5.36715098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39240100800002 meters Centerline goodness : 0.921868 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.30, Z:-0.54 [[ 9.99495327e-01 3.08650184e-02 -7.51283592e-03 1.26874229e+01] [-3.08446198e-02 9.99520224e-01 2.81608070e-03 -3.02728537e-01] [ 7.59614983e-03 -2.58292893e-03 9.99967813e-01 -5.36865399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42240100800001 meters Centerline goodness : 0.919995 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.30, Z:-0.54 [[ 9.99605031e-01 2.71832512e-02 -7.13107087e-03 1.26868990e+01] [-2.71950002e-02 9.99628937e-01 -1.55580598e-03 -3.03315280e-01] [ 7.08613292e-03 1.74912096e-03 9.99973363e-01 -5.38573749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45240100800001 meters Centerline goodness : 0.919589 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.31, Z:-0.54 [[ 9.99705849e-01 2.30591901e-02 -7.51598807e-03 1.26885724e+01] [-2.31001874e-02 9.99718494e-01 -5.41427024e-03 -3.07754898e-01] [ 7.38902359e-03 5.58629836e-03 9.99957097e-01 -5.40402347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48240100800001 meters Centerline goodness : 0.918652 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.31, Z:-0.54 [[ 9.99703822e-01 2.29441989e-02 -8.11369170e-03 1.26902581e+01] [-2.29809249e-02 9.99725944e-01 -4.46252413e-03 -3.11640852e-01] [ 8.00907905e-03 4.64766257e-03 9.99957126e-01 -5.39955811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51240100800001 meters Centerline goodness : 0.917309 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.32, Z:-0.54 [[ 9.99701982e-01 2.28165673e-02 -8.68048545e-03 1.26916010e+01] [-2.28477625e-02 9.99732788e-01 -3.51167369e-03 -3.15631771e-01] [ 8.59804158e-03 3.70895682e-03 9.99956158e-01 -5.39317331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54240100800001 meters Centerline goodness : 0.916003 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.32, Z:-0.54 [[ 9.99703101e-01 2.24918920e-02 -9.37152900e-03 1.26934491e+01] [-2.25164075e-02 9.99743301e-01 -2.51868800e-03 -3.19896992e-01] [ 9.31247328e-03 2.72895337e-03 9.99952914e-01 -5.38734786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57240100800001 meters Centerline goodness : 0.917690 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.33, Z:-0.54 [[ 9.99792818e-01 1.78703545e-02 -9.74531406e-03 1.26954231e+01] [-1.79205975e-02 9.99826442e-01 -5.09288466e-03 -3.27182872e-01] [ 9.65261103e-03 5.26647136e-03 9.99939544e-01 -5.38613153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60240100800002 meters Centerline goodness : 0.920618 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.33, Z:-0.54 [[ 9.99789480e-01 1.77366239e-02 -1.03153901e-02 1.26958439e+01] [-1.77790587e-02 9.99833791e-01 -4.03668047e-03 -3.29208616e-01] [ 1.02420785e-02 4.21922860e-03 9.99938647e-01 -5.36210480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63240100800002 meters Centerline goodness : 0.926231 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.33, Z:-0.54 [[ 9.99794572e-01 1.72653695e-02 -1.06170196e-02 1.26968895e+01] [-1.73049459e-02 9.99843606e-01 -3.64713432e-03 -3.30002001e-01] [ 1.05523900e-02 3.83011204e-03 9.99936987e-01 -5.35606231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66240100800002 meters Centerline goodness : 0.927033 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.33, Z:-0.53 [[ 9.99785782e-01 1.69733397e-02 -1.18446517e-02 1.27050465e+01] [-1.69588115e-02 9.99855310e-01 1.32593512e-03 -3.30537712e-01] [ 1.18654434e-02 -1.12477987e-03 9.99928971e-01 -5.33515946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69240100800002 meters Centerline goodness : 0.928049 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.33, Z:-0.53 [[ 9.99744210e-01 1.80498832e-02 -1.36278005e-02 1.27120929e+01] [-1.79456343e-02 9.99809054e-01 7.73364976e-03 -3.32683596e-01] [ 1.37647898e-02 -7.48711205e-03 9.99877229e-01 -5.28765217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72240100800002 meters Centerline goodness : 0.929168 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.33, Z:-0.53 [[ 9.99749170e-01 1.72188443e-02 -1.43215860e-02 1.27142773e+01] [-1.71118165e-02 9.99824982e-01 7.56245435e-03 -3.32931977e-01] [ 1.44492961e-02 -7.31548911e-03 9.99868842e-01 -5.28867899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75240100800002 meters Centerline goodness : 0.932824 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.33, Z:-0.53 [[ 9.99751769e-01 1.64221923e-02 -1.50569659e-02 1.27163780e+01] [-1.63094889e-02 9.99838277e-01 7.57762852e-03 -3.33588334e-01] [ 1.51789721e-02 -7.33017610e-03 9.99857924e-01 -5.28580896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78240100800001 meters Centerline goodness : 0.932300 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.34, Z:-0.52 [[ 9.99819544e-01 1.14434362e-02 -1.51633340e-02 1.27397745e+01] [-1.11463877e-02 9.99747103e-01 1.95317131e-02 -3.35910266e-01] [ 1.53830091e-02 -1.93591721e-02 9.99694246e-01 -5.20693317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81240100800001 meters Centerline goodness : 0.929618 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.34, Z:-0.52 [[ 9.99800225e-01 1.06590857e-02 -1.69083983e-02 1.27494225e+01] [-1.02619957e-02 9.99673508e-01 2.34002029e-02 -3.36288569e-01] [ 1.71523026e-02 -2.32220142e-02 9.99583181e-01 -5.20064903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84240100800001 meters Centerline goodness : 0.930544 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.34, Z:-0.52 [[ 9.99790947e-01 1.01709581e-02 -1.77373422e-02 1.27565711e+01] [-9.71881788e-03 9.99630291e-01 2.53934129e-02 -3.36027454e-01] [ 1.79890599e-02 -2.52157183e-02 9.99520166e-01 -5.22344250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87240100800001 meters Centerline goodness : 0.926188 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.33, Z:-0.52 [[ 9.99787103e-01 9.15451481e-03 -1.84917392e-02 1.27594530e+01] [-8.70122327e-03 9.99663268e-01 2.44466668e-02 -3.34771846e-01] [ 1.87093098e-02 -2.42805614e-02 9.99530098e-01 -5.23856030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90240100800001 meters Centerline goodness : 0.925545 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.33, Z:-0.53 [[ 9.99815206e-01 4.28046773e-03 -1.87411959e-02 1.27606269e+01] [-3.92772875e-03 9.99815209e-01 1.88181055e-02 -3.31722888e-01] [ 1.88182830e-02 -1.87410177e-02 9.99647261e-01 -5.25603043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93240100800001 meters Centerline goodness : 0.927560 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.33, Z:-0.52 [[ 9.99923251e-01 -1.68154816e-03 -1.22745168e-02 1.27310151e+01] [ 2.07827060e-03 9.99473471e-01 3.23799564e-02 -3.31438602e-01] [ 1.22136055e-02 -3.24029811e-02 9.99400257e-01 -5.20322733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96240100800001 meters Centerline goodness : 0.929946 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.33, Z:-0.52 [[ 9.99916048e-01 -5.61675633e-03 -1.16768946e-02 1.27297308e+01] [ 5.92194288e-03 9.99637402e-01 2.62677732e-02 -3.25188566e-01] [ 1.15251209e-02 -2.63347178e-02 9.99586742e-01 -5.22714687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99240100800002 meters Centerline goodness : 0.934534 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.32, Z:-0.52 [[ 9.99915308e-01 -6.02023201e-03 -1.15383892e-02 1.27300563e+01] [ 6.30510834e-03 9.99672197e-01 2.48141896e-02 -3.21299455e-01] [ 1.13852197e-02 -2.48848389e-02 9.99625491e-01 -5.24494955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02240100800002 meters Centerline goodness : 0.933911 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.32, Z:-0.53 [[ 9.99923552e-01 -5.66344871e-03 -1.09916260e-02 1.27288613e+01] [ 5.92427587e-03 9.99698139e-01 2.38439549e-02 -3.16664806e-01] [ 1.08532690e-02 -2.39072495e-02 9.99655266e-01 -5.25461251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05240100800002 meters Centerline goodness : 0.935338 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.31, Z:-0.53 [[ 9.99931241e-01 -5.01652180e-03 -1.05994707e-02 1.27274771e+01] [ 5.25830809e-03 9.99723753e-01 2.29077969e-02 -3.11847136e-01] [ 1.04816252e-02 -2.29619570e-02 9.99681391e-01 -5.26240887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08240100800002 meters Centerline goodness : 0.939121 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.31, Z:-0.52 [[ 9.99948120e-01 1.00244078e-03 -1.01367057e-02 1.27231387e+01] [-7.26705224e-04 9.99630594e-01 2.71688810e-02 -3.07277922e-01] [ 1.01601963e-02 -2.71601051e-02 9.99579461e-01 -5.23526748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11240100800002 meters Centerline goodness : 0.940079 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.30, Z:-0.53 [[ 9.99978434e-01 4.18249657e-03 -5.06338653e-03 1.27295901e+01] [-4.11930704e-03 9.99914304e-01 1.24264545e-02 -3.00867956e-01] [ 5.11492622e-03 -1.24053289e-02 9.99909969e-01 -5.32368741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14240100800002 meters Centerline goodness : 0.940964 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.30, Z:-0.53 [[ 9.99974977e-01 5.26083391e-03 -4.72948523e-03 1.27271794e+01] [-5.20321933e-03 9.99913099e-01 1.21128632e-02 -2.97645073e-01] [ 4.79279799e-03 -1.20879516e-02 9.99915452e-01 -5.31432750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17240100800001 meters Centerline goodness : 0.945809 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.53 [[ 9.99972213e-01 6.08392390e-03 -4.30808797e-03 1.27250330e+01] [-6.03292730e-03 9.99912731e-01 1.17530785e-02 -2.94575339e-01] [ 4.37921685e-03 -1.17267615e-02 9.99921650e-01 -5.30849839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20240100800001 meters Centerline goodness : 0.949224 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.29, Z:-0.53 [[ 9.99971099e-01 6.61680465e-03 -3.74423377e-03 1.27238104e+01] [-6.57767564e-03 9.99924616e-01 1.03680266e-02 -2.88929123e-01] [ 3.81255473e-03 -1.03430986e-02 9.99939241e-01 -5.32728000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23240100800001 meters Centerline goodness : 0.945546 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.53 [[ 9.99974139e-01 5.97600025e-03 -4.00108716e-03 1.27255671e+01] [-5.93846784e-03 9.99938863e-01 9.32762213e-03 -2.86979507e-01] [ 4.05658442e-03 -9.30362058e-03 9.99948492e-01 -5.34699981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26240100800001 meters Centerline goodness : 0.948611 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.54 [[ 9.99976839e-01 5.13599355e-03 -4.46584548e-03 1.27277470e+01] [-5.09780146e-03 9.99950695e-01 8.52177569e-03 -2.85952007e-01] [ 4.50939308e-03 -8.49881232e-03 9.99953717e-01 -5.36223178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29240100800001 meters Centerline goodness : 0.949425 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.53 [[ 9.99975894e-01 4.23051125e-03 -5.50580321e-03 1.27302387e+01] [-4.17852371e-03 9.99946902e-01 9.41981261e-03 -2.89156770e-01] [ 5.54536148e-03 -9.39657940e-03 9.99940475e-01 -5.34461404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32240100800001 meters Centerline goodness : 0.947974 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.53 [[ 9.99972682e-01 3.99817598e-03 -6.21693302e-03 1.27315084e+01] [-3.93270480e-03 9.99937057e-01 1.05079066e-02 -2.92188892e-01] [ 6.25855416e-03 -1.04831702e-02 9.99925464e-01 -5.32596940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35240100800002 meters Centerline goodness : 0.948164 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.53 [[ 9.99969086e-01 3.62739752e-03 -6.97629670e-03 1.27332009e+01] [-3.55114425e-03 9.99934158e-01 1.09118380e-02 -2.94401730e-01] [ 7.01541895e-03 -1.08867268e-02 9.99916128e-01 -5.31896231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38240100800002 meters Centerline goodness : 0.946738 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.30, Z:-0.53 [[ 9.99966001e-01 3.29184304e-03 -7.56041395e-03 1.27349290e+01] [-3.20960594e-03 9.99935836e-01 1.08638240e-02 -2.95768733e-01] [ 7.59569084e-03 -1.08391887e-02 9.99912405e-01 -5.32337635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41240100800002 meters Centerline goodness : 0.946240 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.29, Z:-0.54 [[ 9.99965754e-01 2.82540590e-03 -7.77867563e-03 1.27372716e+01] [-2.75221402e-03 9.99951994e-01 9.40397798e-03 -2.94834491e-01] [ 7.80487226e-03 -9.38224735e-03 9.99925526e-01 -5.36191750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44240100800002 meters Centerline goodness : 0.944419 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.29, Z:-0.54 [[ 9.99967297e-01 2.55702072e-03 -7.67239222e-03 1.27384975e+01] [-2.49421553e-03 9.99963397e-01 8.18429954e-03 -2.92660385e-01] [ 7.69303881e-03 -8.16489529e-03 9.99937074e-01 -5.39154002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47240100800002 meters Centerline goodness : 0.944106 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.29, Z:-0.54 [[ 9.99945863e-01 5.99098605e-03 -8.50764463e-03 1.27413245e+01] [-5.88618624e-03 9.99907145e-01 1.22903791e-02 -2.93638348e-01] [ 8.58048614e-03 -1.22396362e-02 9.99888277e-01 -5.39737133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50240100800002 meters Centerline goodness : 0.944390 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.29, Z:-0.54 [[ 9.99946863e-01 6.11632670e-03 -8.29830136e-03 1.27415592e+01] [-6.02153567e-03 9.99916884e-01 1.14002405e-02 -2.92360335e-01] [ 8.36733924e-03 -1.13496663e-02 9.99900581e-01 -5.41811178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53240100800001 meters Centerline goodness : 0.944799 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.29, Z:-0.54 [[ 9.99936043e-01 8.75309146e-03 -7.16198177e-03 1.27360329e+01] [-8.66120549e-03 9.99881055e-01 1.27616603e-02 -2.93196896e-01] [ 7.27283387e-03 -1.26988127e-02 9.99892917e-01 -5.39389740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56240100800001 meters Centerline goodness : 0.947826 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.54 [[ 9.99927295e-01 1.00381385e-02 -6.68129626e-03 1.27329190e+01] [-9.94610431e-03 9.99857114e-01 1.36684511e-02 -2.93662951e-01] [ 6.81754740e-03 -1.36010045e-02 9.99884260e-01 -5.37035348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59240100800001 meters Centerline goodness : 0.948326 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.29, Z:-0.54 [[ 9.99917897e-01 1.11780916e-02 -6.26498404e-03 1.27301833e+01] [-1.10868063e-02 9.99834548e-01 1.44208134e-02 -2.93763458e-01] [ 6.42514466e-03 -1.43501708e-02 9.99876387e-01 -5.35021196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62240100800001 meters Centerline goodness : 0.951478 Centerline is valid? [False, True] Translation: X:12.73, Y:-0.29, Z:-0.54 [[ 9.99910497e-01 1.21229809e-02 -5.65961098e-03 1.27281924e+01] [-1.20429296e-02 9.99829884e-01 1.39703737e-02 -2.91349107e-01] [ 5.82801076e-03 -1.39009650e-02 9.99886392e-01 -5.35584163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65240100800001 meters Centerline goodness : 0.951966 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.28, Z:-0.55 [[ 9.99893852e-01 1.33997856e-02 -5.72098117e-03 1.27600586e+01] [-1.33998622e-02 9.99910218e-01 2.49483175e-05 -2.84539948e-01] [ 5.72080183e-03 5.17146898e-05 9.99983635e-01 -5.47605938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68240100800001 meters Centerline goodness : 0.950888 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.28, Z:-0.55 [[ 9.99876568e-01 1.46328267e-02 -5.72097450e-03 1.27921897e+01] [-1.46329151e-02 9.99892933e-01 2.63948661e-05 -2.83771377e-01] [ 5.72074820e-03 5.73229261e-05 9.99983635e-01 -5.49889907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71240100800001 meters Centerline goodness : 0.948619 Centerline is valid? [True, False] Translation: X:12.79, Y:-0.28, Z:-0.55 [[ 9.99880267e-01 1.42852860e-02 -5.94828171e-03 1.27934519e+01] [-1.42892254e-02 9.99897711e-01 -6.20314071e-04 -2.82927983e-01] [ 5.93881190e-03 7.05236137e-04 9.99982116e-01 -5.51213101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74240100800002 meters Centerline goodness : 0.946337 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.28, Z:-0.55 [[ 9.99923234e-01 1.10095426e-02 -5.68470552e-03 1.27922456e+01] [-1.10363543e-02 9.99928020e-01 -4.70684083e-03 -2.83106401e-01] [ 5.63247616e-03 4.76921793e-03 9.99972765e-01 -5.51658313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77240100800002 meters Centerline goodness : 0.947457 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.29, Z:-0.55 [[ 9.99919529e-01 1.10735210e-02 -6.18965326e-03 1.27927332e+01] [-1.10964751e-02 9.99931637e-01 -3.68650237e-03 -2.85878877e-01] [ 6.14840755e-03 3.75488905e-03 9.99974049e-01 -5.50011426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80240100800002 meters Centerline goodness : 0.946425 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.29, Z:-0.55 [[ 9.99918469e-01 1.08652466e-02 -6.70837930e-03 1.27939708e+01] [-1.08857597e-02 9.99936161e-01 -3.02893137e-03 -2.88585521e-01] [ 6.67504096e-03 3.10171022e-03 9.99972911e-01 -5.49466519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83240100800002 meters Centerline goodness : 0.945685 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.29, Z:-0.55 [[ 9.99921261e-01 1.02403198e-02 -7.25315069e-03 1.27962291e+01] [-1.02625637e-02 9.99942729e-01 -3.03622985e-03 -2.90274250e-01] [ 7.22164333e-03 3.11042670e-03 9.99969086e-01 -5.50394006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86240100800002 meters Centerline goodness : 0.940984 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.29, Z:-0.55 [[ 9.99919941e-01 9.85622255e-03 -7.93511551e-03 1.28040601e+01] [-9.86419344e-03 9.99950881e-01 -9.65997839e-04 -2.92374849e-01] [ 7.92520465e-03 1.04419402e-03 9.99968050e-01 -5.54690458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89240100800002 meters Centerline goodness : 0.939674 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.29, Z:-0.56 [[ 9.99886664e-01 1.22323383e-02 -8.77660802e-03 1.28081945e+01] [-1.22084486e-02 9.99921636e-01 2.77040601e-03 -2.94808064e-01] [ 8.80980880e-03 -2.66294326e-03 9.99957647e-01 -5.55980672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92240100800001 meters Centerline goodness : 0.936645 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.30, Z:-0.56 [[ 9.99885975e-01 1.20328835e-02 -9.12401656e-03 1.28092538e+01] [-1.20068260e-02 9.99923695e-01 2.90534989e-03 -2.96249856e-01] [ 9.15828009e-03 -2.79546813e-03 9.99954155e-01 -5.56154583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95240100800001 meters Centerline goodness : 0.937088 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.30, Z:-0.55 [[ 9.99877714e-01 1.23170519e-02 -9.63572669e-03 1.28093298e+01] [-1.22725922e-02 9.99913832e-01 4.65965134e-03 -3.01442147e-01] [ 9.69228957e-03 -4.54082619e-03 9.99942719e-01 -5.53437590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98240100800001 meters Centerline goodness : 0.942101 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.31, Z:-0.55 [[ 9.99940961e-01 6.33126232e-03 -8.83115776e-03 1.28037745e+01] [-6.32118822e-03 9.99979339e-01 1.16819089e-03 -3.10657589e-01] [ 8.83837142e-03 -1.11229851e-03 9.99960322e-01 -5.45896092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01240100800001 meters Centerline goodness : 0.945402 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.31, Z:-0.54 [[ 9.99938072e-01 5.96363591e-03 -9.39616890e-03 1.28051496e+01] [-5.94075851e-03 9.99979326e-01 2.46079082e-03 -3.14522449e-01] [ 9.41064990e-03 -2.40481806e-03 9.99952827e-01 -5.44299129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04240100800001 meters Centerline goodness : 0.943868 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.32, Z:-0.54 [[ 9.99914247e-01 8.13473503e-03 -1.02627686e-02 1.28091793e+01] [-8.06862473e-03 9.99946537e-01 6.46680289e-03 -3.16250585e-01] [ 1.03148257e-02 -6.38344191e-03 9.99926425e-01 -5.44445936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07240100800001 meters Centerline goodness : 0.943868 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.32, Z:-0.54 [[ 9.99914247e-01 8.13473503e-03 -1.02627686e-02 1.28091793e+01] [-8.06862473e-03 9.99946537e-01 6.46680289e-03 -3.16250585e-01] [ 1.03148257e-02 -6.38344191e-03 9.99926425e-01 -5.44445936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10240100800002 meters Centerline goodness : 0.937699 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.31, Z:-0.55 [[ 9.99897604e-01 9.16834844e-03 -1.09873977e-02 1.28166507e+01] [-9.09838054e-03 9.99938120e-01 6.40117013e-03 -3.10087696e-01] [ 1.10454059e-02 -6.30054715e-03 9.99919148e-01 -5.52958362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13240100800002 meters Centerline goodness : 0.936505 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.31, Z:-0.56 [[ 9.99904830e-01 8.19021413e-03 -1.11018381e-02 1.28193208e+01] [-8.14248006e-03 9.99957440e-01 4.33805749e-03 -3.05857324e-01] [ 1.11368952e-02 -4.24724814e-03 9.99928963e-01 -5.57140812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16240100800002 meters Centerline goodness : 0.930925 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.30, Z:-0.56 [[ 9.99905651e-01 7.33459179e-03 -1.16143465e-02 1.28217657e+01] [-7.30021717e-03 9.99968855e-01 2.99930411e-03 -3.03873460e-01] [ 1.16359834e-02 -2.91423387e-03 9.99928053e-01 -5.59342100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19240100800002 meters Centerline goodness : 0.932230 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99869817e-01 8.81339406e-03 -1.35156758e-02 1.28279923e+01] [-8.67977401e-03 9.99913190e-01 9.91329811e-03 -3.08216862e-01] [ 1.36018723e-02 -9.79469455e-03 9.99859517e-01 -5.53396982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22240100800002 meters Centerline goodness : 0.935816 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99889319e-01 5.30421563e-03 -1.39001946e-02 1.28263622e+01] [-5.19455022e-03 9.99955194e-01 7.91375161e-03 -3.13098414e-01] [ 1.39415481e-02 -7.84067045e-03 9.99872070e-01 -5.48660599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25240100800002 meters Centerline goodness : 0.935156 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99905255e-01 1.18406740e-03 -1.37141876e-02 1.28259673e+01] [-1.13361655e-03 9.99992564e-01 3.68592399e-03 -3.12929595e-01] [ 1.37184500e-02 -3.67002814e-03 9.99899162e-01 -5.48870477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28240100800001 meters Centerline goodness : 0.937938 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99901181e-01 6.78306806e-04 -1.40416600e-02 1.28271716e+01] [-6.26163820e-04 9.99992894e-01 3.71751222e-03 -3.13041625e-01] [ 1.40440818e-02 -3.70835248e-03 9.99894500e-01 -5.48770098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31240100800001 meters Centerline goodness : 0.937574 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99879864e-01 3.32570295e-03 -1.51392321e-02 1.28306741e+01] [-3.19783145e-03 9.99959077e-01 8.46275287e-03 -3.14090955e-01] [ 1.51667572e-02 -8.41332348e-03 9.99849581e-01 -5.47128700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34240100800001 meters Centerline goodness : 0.935854 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99885883e-01 2.18704335e-03 -1.49478459e-02 1.28327840e+01] [-2.09017805e-03 9.99976737e-01 6.49277126e-03 -3.09403424e-01] [ 1.49616982e-02 -6.46078666e-03 9.99867194e-01 -5.50996075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37240100800001 meters Centerline goodness : 0.939519 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:-0.55 [[ 9.99884674e-01 1.86770324e-03 -1.50714790e-02 1.28335890e+01] [-1.77778089e-03 9.99980554e-01 5.97758541e-03 -3.08261524e-01] [ 1.50823503e-02 -5.95010226e-03 9.99868551e-01 -5.51792290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40240100800001 meters Centerline goodness : 0.937143 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:-0.55 [[ 9.99853131e-01 4.80848278e-03 -1.64497771e-02 1.28369510e+01] [-4.62860707e-03 9.99929274e-01 1.09554934e-02 -3.10402778e-01] [ 1.65012930e-02 -1.08777449e-02 9.99804672e-01 -5.49485295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43240100800001 meters Centerline goodness : 0.936499 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:-0.55 [[ 9.99869459e-01 1.97782795e-03 -1.60359961e-02 1.28350690e+01] [-1.88550747e-03 9.99981575e-01 5.77015450e-03 -3.06992742e-01] [ 1.60471130e-02 -5.73916526e-03 9.99854766e-01 -5.51308548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46240100800001 meters Centerline goodness : 0.932758 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.55 [[ 9.99861486e-01 2.59578813e-03 -1.64399314e-02 1.28353232e+01] [-2.52537985e-03 9.99987557e-01 4.30207245e-03 -3.03908673e-01] [ 1.64508941e-02 -4.25995948e-03 9.99855600e-01 -5.53230170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49240100800002 meters Centerline goodness : 0.928377 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.30, Z:-0.55 [[ 9.99861485e-01 3.11213426e-03 -1.63500875e-02 1.28348466e+01] [-3.05527681e-03 9.99989203e-01 3.50133020e-03 -3.01739896e-01] [ 1.63608075e-02 -3.45089117e-03 9.99860198e-01 -5.54359659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52240100800002 meters Centerline goodness : 0.926522 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.55 [[ 9.99829533e-01 6.89301409e-03 -1.71286509e-02 1.28366694e+01] [-6.76437204e-03 9.99948566e-01 7.55696528e-03 -3.01836680e-01] [ 1.71798602e-02 -7.43981250e-03 9.99824735e-01 -5.54096082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55240100800002 meters Centerline goodness : 0.924475 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99834903e-01 7.19916208e-03 -1.66834868e-02 1.28367606e+01] [-7.11518934e-03 9.99961747e-01 5.08718863e-03 -2.97456281e-01] [ 1.67194721e-02 -4.96764258e-03 9.99847879e-01 -5.59143839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58240100800002 meters Centerline goodness : 0.923106 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99824394e-01 8.18023649e-03 -1.68601574e-02 1.28404384e+01] [-8.05247098e-03 9.99938454e-01 7.63196404e-03 -2.98849568e-01] [ 1.69215510e-02 -7.49485789e-03 9.99828729e-01 -5.60715624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61240100800002 meters Centerline goodness : 0.924176 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99858251e-01 4.47430288e-03 -1.62313922e-02 1.28394462e+01] [-4.43006728e-03 9.99986378e-01 2.76024368e-03 -2.96385335e-01] [ 1.62435213e-02 -2.68794626e-03 9.99864452e-01 -5.62576005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64240100800002 meters Centerline goodness : 0.924189 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99853081e-01 4.13273781e-03 -1.66354330e-02 1.28405280e+01] [-4.08532402e-03 9.99987499e-01 2.88314359e-03 -2.97072080e-01] [ 1.66471403e-02 -2.81475887e-03 9.99857465e-01 -5.62336222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67240100800001 meters Centerline goodness : 0.925843 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99848449e-01 4.10307803e-03 -1.69187527e-02 1.28408859e+01] [-4.04559721e-03 9.99985933e-01 3.43028916e-03 -2.98203994e-01] [ 1.69325895e-02 -3.36132284e-03 9.99850983e-01 -5.61305302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70240100800001 meters Centerline goodness : 0.929079 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99840901e-01 4.14044195e-03 -1.73502000e-02 1.28409812e+01] [-4.05947938e-03 9.99980720e-01 4.69900048e-03 -3.00918372e-01] [ 1.73693214e-02 -4.62782009e-03 9.99838432e-01 -5.58747426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73240100800001 meters Centerline goodness : 0.928521 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.30, Z:-0.56 [[ 9.99834989e-01 3.93267144e-03 -1.77349428e-02 1.28417626e+01] [-3.84538122e-03 9.99980338e-01 4.95335311e-03 -3.02260227e-01] [ 1.77540740e-02 -4.88433814e-03 9.99830454e-01 -5.58239228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76240100800001 meters Centerline goodness : 0.933325 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:-0.55 [[ 9.99829388e-01 3.79508887e-03 -1.80774124e-02 1.28421077e+01] [-3.66241053e-03 9.99966157e-01 7.36691455e-03 -3.06943941e-01] [ 1.81047587e-02 -7.29945076e-03 9.99809450e-01 -5.54367789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79240100800001 meters Centerline goodness : 0.940336 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:-0.55 [[ 9.99821981e-01 3.60163646e-03 -1.85212177e-02 1.28426422e+01] [-3.43879908e-03 9.99955223e-01 8.81628233e-03 -3.10141511e-01] [ 1.85521414e-02 -8.75102211e-03 9.99789597e-01 -5.51913586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82240100800001 meters Centerline goodness : 0.942704 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:-0.55 [[ 9.99815734e-01 3.40437892e-03 -1.88920270e-02 1.28431151e+01] [-3.20685777e-03 9.99939986e-01 1.04757289e-02 -3.13486573e-01] [ 1.89265566e-02 -1.04132145e-02 9.99766648e-01 -5.49097101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85240100800002 meters Centerline goodness : 0.946624 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.31, Z:-0.56 [[ 9.99984050e-01 -1.06968441e-03 -5.54570356e-03 1.28480978e+01] [ 1.10142166e-03 9.99983017e-01 5.72296103e-03 -3.09661213e-01] [ 5.53948762e-03 -5.72897791e-03 9.99968246e-01 -5.57420509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88240100800002 meters Centerline goodness : 0.946793 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.31, Z:-0.56 [[ 9.99973140e-01 -3.58830131e-04 -7.32062261e-03 1.28560564e+01] [ 4.24846973e-04 9.99959243e-01 9.01836611e-03 -3.08168812e-01] [ 7.31708819e-03 -9.02123401e-03 9.99932537e-01 -5.58579363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91240100800002 meters Centerline goodness : 0.941190 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.31, Z:-0.56 [[ 9.99966851e-01 -1.62768982e-03 -7.97788474e-03 1.28596311e+01] [ 1.68654124e-03 9.99971377e-01 7.37565173e-03 -3.05272731e-01] [ 7.96565112e-03 -7.38886227e-03 9.99940975e-01 -5.61750060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94240100800002 meters Centerline goodness : 0.936698 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.30, Z:-0.56 [[ 9.99957835e-01 -2.73811336e-03 -8.76533030e-03 1.28630218e+01] [ 2.79198657e-03 9.99977253e-01 6.13984464e-03 -3.03468361e-01] [ 8.74831932e-03 -6.16405844e-03 9.99942734e-01 -5.64089580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97240100800002 meters Centerline goodness : 0.933476 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.30, Z:-0.56 [[ 9.99947133e-01 -3.53824666e-03 -9.65463096e-03 1.28656806e+01] [ 3.59245972e-03 9.99977846e-01 5.60368667e-03 -3.02933495e-01] [ 9.63458985e-03 -5.63807429e-03 9.99937691e-01 -5.64728062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00240100800002 meters Centerline goodness : 0.928062 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.31, Z:-0.56 [[ 9.99912964e-01 -4.37816418e-03 -1.24457597e-02 1.28766787e+01] [ 4.52991402e-03 9.99915427e-01 1.21909666e-02 -3.05188190e-01] [ 1.23913331e-02 -1.22462837e-02 9.99848230e-01 -5.58278171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03240100800002 meters Centerline goodness : 0.927319 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.30, Z:-0.56 [[ 9.99896240e-01 -5.18476465e-03 -1.34397749e-02 1.28792186e+01] [ 5.34651391e-03 9.99913376e-01 1.20272565e-02 -3.04986430e-01] [ 1.33762522e-02 -1.20978645e-02 9.99837346e-01 -5.57936251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06240100800001 meters Centerline goodness : 0.926978 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.31, Z:-0.55 [[ 9.99866527e-01 -5.36534511e-03 -1.54318227e-02 1.28879823e+01] [ 5.63223320e-03 9.99834419e-01 1.73035128e-02 -3.06415164e-01] [ 1.53364282e-02 -1.73881189e-02 9.99731188e-01 -5.54544214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09240100800001 meters Centerline goodness : 0.926336 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.31, Z:-0.54 [[ 9.99850644e-01 -9.01804922e-03 -1.47432955e-02 1.29150862e+01] [ 9.56437922e-03 9.99254021e-01 3.74155688e-02 -3.09199159e-01] [ 1.43948819e-02 -3.75509910e-02 9.99191028e-01 -5.40082876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12240100800001 meters Centerline goodness : 0.925469 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.31, Z:-0.53 [[ 9.99765308e-01 -1.10122836e-02 -1.86563206e-02 1.29074235e+01] [ 1.20024010e-02 9.98478600e-01 5.38184689e-02 -3.11066335e-01] [ 1.80352727e-02 -5.40297588e-02 9.98376439e-01 -5.29399020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15240100800001 meters Centerline goodness : 0.925762 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.31, Z:-0.53 [[ 0.99972951 -0.01578691 -0.01707895 12.86272349] [ 0.01680257 0.99799277 0.06105816 -0.30926848] [ 0.01608074 -0.06132861 0.99798808 -0.52798976] [ 0. 0. 0. 1. ]] SLAMing on 105.18240100800001 meters Centerline goodness : 0.923941 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.31, Z:-0.53 [[ 0.99964819 -0.02048127 -0.01685259 12.86347796] [ 0.02138072 0.99825488 0.05504599 -0.30546617] [ 0.01569577 -0.05538694 0.99834159 -0.53099862] [ 0. 0. 0. 1. ]] SLAMing on 105.21240100800001 meters Centerline goodness : 0.929035 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.30, Z:-0.54 [[ 9.99616784e-01 -2.40901475e-02 -1.36363553e-02 1.28207803e+01] [ 2.46664939e-02 9.98735494e-01 4.38061213e-02 -3.00594792e-01] [ 1.25638162e-02 -4.41256952e-02 9.98946982e-01 -5.35639456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24240100800002 meters Centerline goodness : 0.933634 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.30, Z:-0.54 [[ 0.99955215 -0.02604387 -0.01473801 12.82320346] [ 0.02658026 0.99894486 0.03745195 -0.29906084] [ 0.01374707 -0.03782691 0.99918974 -0.53566113] [ 0. 0. 0. 1. ]] SLAMing on 105.27240100800002 meters Centerline goodness : 0.938780 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.30, Z:-0.54 [[ 9.99554679e-01 -2.80596965e-02 -1.01536633e-02 1.27838958e+01] [ 2.83709008e-02 9.99087464e-01 3.19269654e-02 -2.96241412e-01] [ 9.24853671e-03 -3.22008163e-02 9.99438628e-01 -5.37290253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30240100800002 meters Centerline goodness : 0.939686 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.30, Z:-0.54 [[ 9.99723916e-01 -2.34946285e-02 -3.07603326e-04 1.27864792e+01] [ 2.34912464e-02 9.99128151e-01 3.45123089e-02 -2.98375779e-01] [-5.03518735e-04 -3.45100066e-02 9.99404225e-01 -5.36340635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33240100800002 meters Centerline goodness : 0.940999 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.30, Z:-0.54 [[ 9.99738514e-01 -2.28528390e-02 -8.07696307e-04 1.27887280e+01] [ 2.28670750e-02 9.99173141e-01 3.36174377e-02 -2.97023067e-01] [ 3.87745668e-05 -3.36271168e-02 9.99434448e-01 -5.38243234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36240100800002 meters Centerline goodness : 0.943915 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.29, Z:-0.54 [[ 9.99839008e-01 -1.73918319e-02 -4.41379291e-03 1.27527973e+01] [ 1.75354848e-02 9.99236414e-01 3.49155428e-02 -2.92746494e-01] [ 3.80317735e-03 -3.49873197e-02 9.99380520e-01 -5.39172130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39240100800002 meters Centerline goodness : 0.942052 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.29, Z:-0.54 [[ 9.99836234e-01 -1.76056646e-02 -4.18864712e-03 1.27531546e+01] [ 1.77349749e-02 9.99293033e-01 3.31497365e-02 -2.88504219e-01] [ 3.60206274e-03 -3.32185933e-02 9.99441619e-01 -5.41945721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42240100800001 meters Centerline goodness : 0.942058 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.55 [[ 9.99789053e-01 -2.02450811e-02 -3.46204273e-03 1.27513703e+01] [ 2.03273721e-02 9.99463884e-01 2.56659774e-02 -2.81330121e-01] [ 2.94057688e-03 -2.57309375e-02 9.99664580e-01 -5.48125252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45240100800001 meters Centerline goodness : 0.941361 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.55 [[ 9.99789136e-01 -2.02503874e-02 -3.40652210e-03 1.27512746e+01] [ 2.03285829e-02 9.99487074e-01 2.47454430e-02 -2.78721877e-01] [ 2.90367000e-03 -2.48094749e-02 9.99687981e-01 -5.49051371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48240100800001 meters Centerline goodness : 0.940991 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.55 [[ 9.99807045e-01 -1.93260777e-02 -3.51780483e-03 1.27492481e+01] [ 1.94073568e-02 9.99505031e-01 2.47598048e-02 -2.76322701e-01] [ 3.03755371e-03 -2.48232986e-02 9.99687240e-01 -5.46955950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51240100800001 meters Centerline goodness : 0.942583 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.54 [[ 9.99870723e-01 -1.54517272e-02 -4.44755763e-03 1.27500987e+01] [ 1.55794059e-02 9.99420384e-01 3.02684448e-02 -2.78212426e-01] [ 3.97728000e-03 -3.03338221e-02 9.99531911e-01 -5.43362732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54240100800001 meters Centerline goodness : 0.943220 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.54 [[ 9.99869035e-01 -1.55431761e-02 -4.50809034e-03 1.27504439e+01] [ 1.56691509e-02 9.99444812e-01 2.94031438e-02 -2.76212116e-01] [ 4.04856926e-03 -2.94699310e-02 9.99557468e-01 -5.44447611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57240100800001 meters Centerline goodness : 0.943052 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.27, Z:-0.55 [[ 9.99867233e-01 -1.56510907e-02 -4.53433195e-03 1.27508454e+01] [ 1.57748863e-02 9.99463860e-01 2.86905210e-02 -2.74604231e-01] [ 4.08286296e-03 -2.87582404e-02 9.99578058e-01 -5.45495837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60240100800002 meters Centerline goodness : 0.943988 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.28, Z:-0.54 [[ 9.99914944e-01 -1.20834915e-02 -4.90858394e-03 1.27519128e+01] [ 1.22403395e-02 9.99370752e-01 3.32907563e-02 -2.75468487e-01] [ 4.50322665e-03 -3.33480075e-02 9.99433655e-01 -5.44340603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63240100800002 meters Centerline goodness : 0.943005 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.27, Z:-0.55 [[ 9.99911688e-01 -1.23699156e-02 -4.85817596e-03 1.27525731e+01] [ 1.25211696e-02 9.99395034e-01 3.24466614e-02 -2.74055408e-01] [ 4.45387447e-03 -3.25046260e-02 9.99461661e-01 -5.45931369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66240100800002 meters Centerline goodness : 0.944855 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.27, Z:-0.55 [[ 9.99948674e-01 -1.00252888e-02 -1.46381935e-03 1.27670951e+01] [ 1.00554496e-02 9.99700727e-01 2.23012072e-02 -2.71401723e-01] [ 1.23980523e-03 -2.23147819e-02 9.99750226e-01 -5.52939101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69240100800002 meters Centerline goodness : 0.942365 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.27, Z:-0.56 [[ 9.99944477e-01 -1.04134338e-02 -1.61321558e-03 1.27685077e+01] [ 1.04444448e-02 9.99733584e-01 2.05833734e-02 -2.68139156e-01] [ 1.39844219e-03 -2.05990797e-02 9.99786838e-01 -5.55940920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72240100800002 meters Centerline goodness : 0.941403 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.27, Z:-0.56 [[ 9.99940268e-01 -1.07650919e-02 -1.89036635e-03 1.27698592e+01] [ 1.07997405e-02 9.99753653e-01 1.93906818e-02 -2.65470120e-01] [ 1.68115820e-03 -1.94099390e-02 9.99810196e-01 -5.57789377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75240100800002 meters Centerline goodness : 0.942667 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.26, Z:-0.56 [[ 9.99935576e-01 -1.11396765e-02 -2.17978951e-03 1.27710177e+01] [ 1.11776390e-02 9.99770856e-01 1.82563730e-02 -2.62869884e-01] [ 1.97591993e-03 -1.82795618e-02 9.99830962e-01 -5.59245521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78240100800002 meters Centerline goodness : 0.941636 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.26, Z:-0.56 [[ 9.99931613e-01 -1.14205535e-02 -2.51797736e-03 1.27719848e+01] [ 1.14628528e-02 9.99781528e-01 1.74785238e-02 -2.61100233e-01] [ 2.31781284e-03 -1.75061917e-02 9.99844068e-01 -5.60062869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81240100800001 meters Centerline goodness : 0.943234 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.26, Z:-0.56 [[ 9.99925803e-01 -1.17455482e-02 -3.22955393e-03 1.27730821e+01] [ 1.18002688e-02 9.99777548e-01 1.74816420e-02 -2.61894418e-01] [ 3.02350404e-03 -1.75184545e-02 9.99841969e-01 -5.59143122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84240100800001 meters Centerline goodness : 0.941430 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.27, Z:-0.55 [[ 9.99931592e-01 -9.57750918e-03 -6.71436286e-03 1.27994986e+01] [ 9.70852129e-03 9.99757633e-01 1.97590204e-02 -2.65499749e-01] [ 6.52349333e-03 -1.98228552e-02 9.99782226e-01 -5.53186973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87240100800001 meters Centerline goodness : 0.939691 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.27, Z:-0.55 [[ 9.99916975e-01 -7.50951553e-03 -1.04714494e-02 1.28252317e+01] [ 7.72553176e-03 9.99754981e-01 2.07435270e-02 -2.69050340e-01] [ 1.03131098e-02 -2.08227023e-02 9.99729991e-01 -5.49468643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90240100800001 meters Centerline goodness : 0.940074 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.27, Z:-0.54 [[ 9.99895561e-01 -5.69817394e-03 -1.32815169e-02 1.28514814e+01] [ 6.00270094e-03 9.99717382e-01 2.30026807e-02 -2.72733607e-01] [ 1.31466900e-02 -2.30800033e-02 9.99647177e-01 -5.44274408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93240100800001 meters Centerline goodness : 0.941958 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.28, Z:-0.53 [[ 9.99841797e-01 -1.22531055e-02 -1.28935305e-02 1.28477329e+01] [ 1.27692910e-02 9.99088000e-01 4.07444794e-02 -2.78512567e-01] [ 1.23825252e-02 -4.09026747e-02 9.99086405e-01 -5.32866034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96240100800001 meters Centerline goodness : 0.942982 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.27, Z:-0.54 [[ 9.99735403e-01 -1.96696624e-02 -1.19259476e-02 1.28465229e+01] [ 2.00247269e-02 9.99336523e-01 3.04224408e-02 -2.73850527e-01] [ 1.13196359e-02 -3.06532049e-02 9.99465981e-01 -5.37348184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99240100800002 meters Centerline goodness : 0.942982 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.28, Z:-0.53 [[ 0.99972397 -0.01821699 -0.01483642 12.81751176] [ 0.01871827 0.99923353 0.03437997 -0.27551288] [ 0.01419875 -0.0346482 0.9992987 -0.53407437] [ 0. 0. 0. 1. ]] SLAMing on 106.02240100800002 meters Centerline goodness : 0.942370 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.28, Z:-0.53 [[ 0.99965882 -0.02090094 -0.01566524 12.78904708] [ 0.02142011 0.99920105 0.03374075 -0.27577061] [ 0.01494751 -0.03406479 0.99930784 -0.53419355] [ 0. 0. 0. 1. ]] SLAMing on 106.05240100800002 meters Centerline goodness : 0.940936 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:-0.53 [[ 0.99960775 -0.02089812 -0.0186444 12.7575075 ] [ 0.02151524 0.99920587 0.03353689 -0.27630976] [ 0.01792874 -0.03392487 0.99926356 -0.53346816] [ 0. 0. 0. 1. ]] SLAMing on 106.08240100800002 meters Centerline goodness : 0.938884 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.54 [[ 0.9995349 -0.02440621 -0.01828459 12.75650603] [ 0.02491014 0.99930143 0.02785932 -0.27194943] [ 0.01759187 -0.02830183 0.99944461 -0.53569162] [ 0. 0. 0. 1. ]] SLAMing on 106.11240100800002 meters Centerline goodness : 0.938894 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.27, Z:-0.54 [[ 0.99957503 -0.02301093 -0.01789588 12.72149437] [ 0.02349732 0.99934667 0.0274612 -0.2708956 ] [ 0.01725228 -0.02787003 0.99946267 -0.53565312] [ 0. 0. 0. 1. ]] SLAMing on 106.14240100800002 meters Centerline goodness : 0.943421 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.27, Z:-0.53 [[ 0.99959967 -0.02223344 -0.01749755 12.7194617 ] [ 0.02271036 0.9993625 0.02754697 -0.26965731] [ 0.01687394 -0.02793332 0.99946736 -0.53468892] [ 0. 0. 0. 1. ]] SLAMing on 106.17240100800001 meters Centerline goodness : 0.945158 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.27, Z:-0.53 [[ 0.99962488 -0.02147692 -0.01699554 12.71730031] [ 0.0219441 0.9993727 0.02779678 -0.26899947] [ 0.01638789 -0.0281593 0.9994691 -0.53361689] [ 0. 0. 0. 1. ]] SLAMing on 106.20240100800001 meters Centerline goodness : 0.948249 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.27, Z:-0.53 [[ 0.99967843 -0.01971824 -0.01594471 12.71293553] [ 0.02016973 0.99938544 0.02866929 -0.26830941] [ 0.0153696 -0.02898167 0.99946177 -0.53175132] [ 0. 0. 0. 1. ]] SLAMing on 106.23240100800001 meters Centerline goodness : 0.948657 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.26, Z:-0.53 [[ 0.99969101 -0.01956361 -0.01533474 12.71240544] [ 0.01998013 0.99942219 0.02749694 -0.2648858 ] [ 0.01478794 -0.02779484 0.99950426 -0.53410799] [ 0. 0. 0. 1. ]] SLAMing on 106.26240100800001 meters Centerline goodness : 0.945631 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.26, Z:-0.54 [[ 0.99973853 -0.01640137 -0.01593303 12.71540489] [ 0.01687473 0.99940612 0.03004408 -0.26231491] [ 0.0154308 -0.03030509 0.99942158 -0.53705332] [ 0. 0. 0. 1. ]] SLAMing on 106.29240100800001 meters Centerline goodness : 0.941369 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.26, Z:-0.55 [[ 9.99852174e-01 -1.07720910e-02 -1.34012302e-02 1.27304081e+01] [ 1.10602764e-02 9.99705091e-01 2.16194431e-02 -2.57802168e-01] [ 1.31643915e-02 -2.17644685e-02 9.99676451e-01 -5.46013079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32240100800001 meters Centerline goodness : 0.940360 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.25, Z:-0.56 [[ 9.99935427e-01 -9.03644566e-04 -1.13280983e-02 1.27387170e+01] [ 1.03327028e-03 9.99934002e-01 1.14422231e-02 -2.51760941e-01] [ 1.13170109e-02 -1.14531892e-02 9.99870366e-01 -5.56000513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35240100800002 meters Centerline goodness : 0.937278 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99971541e-01 2.92136655e-03 -6.95582435e-03 1.27513941e+01] [-2.90439307e-03 9.99992783e-01 2.44903506e-03 -2.48278181e-01] [ 6.96292868e-03 -2.42876291e-03 9.99972809e-01 -5.61273248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38240100800002 meters Centerline goodness : 0.938867 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99968377e-01 4.10164825e-03 -6.81330719e-03 1.27492618e+01] [-4.08399838e-03 9.99988274e-01 2.60239597e-03 -2.47132405e-01] [ 6.82390141e-03 -2.57448814e-03 9.99973403e-01 -5.60003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41240100800002 meters Centerline goodness : 0.939486 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99966351e-01 4.87987478e-03 -6.59423308e-03 1.27476847e+01] [-4.86329957e-03 9.99984980e-01 2.52729481e-03 -2.45932090e-01] [ 6.60646692e-03 -2.49514004e-03 9.99975064e-01 -5.59391390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44240100800002 meters Centerline goodness : 0.946501 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99966748e-01 5.68264133e-03 -5.84891738e-03 1.27453097e+01] [-5.66565933e-03 9.99979699e-01 2.91592998e-03 -2.45736142e-01] [ 5.86536882e-03 -2.88269505e-03 9.99978644e-01 -5.58692206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47240100800002 meters Centerline goodness : 0.949593 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99967040e-01 5.29596435e-03 -6.15403857e-03 1.27467358e+01] [-5.27631639e-03 9.99980945e-01 3.20455550e-03 -2.47590485e-01] [ 6.17089252e-03 -3.17197922e-03 9.99975929e-01 -5.59091652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50240100800002 meters Centerline goodness : 0.950759 Centerline is valid? [False, True] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99966994e-01 4.45339631e-03 -6.79539984e-03 1.27495748e+01] [-4.43105715e-03 9.99984741e-01 3.29891725e-03 -2.50094502e-01] [ 6.80998754e-03 -3.26869756e-03 9.99971469e-01 -5.60221513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53240100800002 meters Centerline goodness : 0.947829 Centerline is valid? [True, False] Translation: X:12.75, Y:-0.25, Z:-0.56 [[ 9.99971379e-01 1.91050198e-03 -7.32058887e-03 1.27548667e+01] [-1.88923785e-03 9.99993980e-01 2.91051696e-03 -2.54308159e-01] [ 7.32610535e-03 -2.89660332e-03 9.99968968e-01 -5.63268671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56240100800001 meters Centerline goodness : 0.950060 Centerline is valid? [False, True] Translation: X:12.76, Y:-0.26, Z:-0.56 [[ 9.99969461e-01 1.18827407e-03 -7.72429305e-03 1.27569976e+01] [-1.16739918e-03 9.99995656e-01 2.70644663e-03 -2.55715352e-01] [ 7.72747550e-03 -2.69734665e-03 9.99966505e-01 -5.64516906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59240100800001 meters Centerline goodness : 0.948013 Centerline is valid? [True, False] Translation: X:12.76, Y:-0.26, Z:-0.56 [[ 9.99967375e-01 1.12497919e-03 -7.99890010e-03 1.27576329e+01] [-1.09896560e-03 9.99994096e-01 3.25579753e-03 -2.58278148e-01] [ 8.00251557e-03 -3.24690079e-03 9.99962708e-01 -5.64082375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62240100800001 meters Centerline goodness : 0.949040 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.26, Z:-0.56 [[ 9.99963119e-01 1.38387314e-03 -8.47622807e-03 1.27577892e+01] [-1.34472357e-03 9.99988411e-01 4.62270733e-03 -2.62134012e-01] [ 8.48252708e-03 -4.61113865e-03 9.99953391e-01 -5.61824687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65240100800001 meters Centerline goodness : 0.946939 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.27, Z:-0.56 [[ 9.99965120e-01 -5.27926179e-04 -8.33541348e-03 1.27547073e+01] [ 5.51039172e-04 9.99996009e-01 2.77081393e-03 -2.67732791e-01] [ 8.33391744e-03 -2.77531043e-03 9.99961421e-01 -5.58848779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68240100800001 meters Centerline goodness : 0.949042 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.56 [[ 9.99962661e-01 -6.32680484e-04 -8.61840060e-03 1.27558288e+01] [ 6.55759019e-04 9.99996206e-01 2.67525851e-03 -2.69126153e-01] [ 8.61667532e-03 -2.68081021e-03 9.99959282e-01 -5.59758015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71240100800001 meters Centerline goodness : 0.945765 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.56 [[ 9.99962110e-01 -9.02454934e-04 -8.65822023e-03 1.27572309e+01] [ 9.21985022e-04 9.99997039e-01 2.25194386e-03 -2.69656093e-01] [ 8.65616232e-03 -2.25984128e-03 9.99959981e-01 -5.61759630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74240100800002 meters Centerline goodness : 0.946131 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.56 [[ 9.99962903e-01 -1.00976270e-03 -8.55417793e-03 1.27581516e+01] [ 1.02655499e-03 9.99997554e-01 1.95888785e-03 -2.70228834e-01] [ 8.55217899e-03 -1.96759652e-03 9.99961494e-01 -5.63626460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77240100800002 meters Centerline goodness : 0.946770 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.57 [[ 9.99962102e-01 -1.30409408e-03 -8.60773936e-03 1.27595406e+01] [ 1.31840957e-03 9.99997757e-01 1.65763043e-03 -2.71063591e-01] [ 8.60555835e-03 -1.66891613e-03 9.99961579e-01 -5.65492843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80240100800002 meters Centerline goodness : 0.946503 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.27, Z:-0.57 [[ 9.99962193e-01 -1.33823247e-03 -8.59200179e-03 1.27602235e+01] [ 1.35476547e-03 9.99997242e-01 1.91869943e-03 -2.72862600e-01] [ 8.58941042e-03 -1.93026704e-03 9.99961247e-01 -5.66311693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83240100800002 meters Centerline goodness : 0.946507 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:-0.57 [[ 9.99960871e-01 -1.66986925e-03 -8.68728130e-03 1.27618201e+01] [ 1.68959874e-03 9.99996009e-01 2.26423438e-03 -2.76556945e-01] [ 8.68346565e-03 -2.27882380e-03 9.99959701e-01 -5.67719984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86240100800002 meters Centerline goodness : 0.946978 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:-0.57 [[ 9.99958755e-01 -1.68676033e-03 -8.92431213e-03 1.27623557e+01] [ 1.71097019e-03 9.99994875e-01 2.70585981e-03 -2.78749939e-01] [ 8.91970226e-03 -2.72101744e-03 9.99956517e-01 -5.67418932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89240100800002 meters Centerline goodness : 0.946764 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:-0.57 [[ 9.99956394e-01 -1.40767403e-03 -9.23195736e-03 1.27623238e+01] [ 1.44161807e-03 9.99992222e-01 3.67117375e-03 -2.81835226e-01] [ 9.22671774e-03 -3.68432262e-03 9.99950646e-01 -5.65878731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters Centerline goodness : 0.949183 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.29, Z:-0.56 [[ 9.99953456e-01 -9.58863883e-04 -9.60035880e-03 1.27619432e+01] [ 1.00485932e-03 9.99988036e-01 4.78733560e-03 -2.85116544e-01] [ 9.59565353e-03 -4.79675978e-03 9.99942456e-01 -5.63793057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95240100800001 meters Centerline goodness : 0.948625 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.29, Z:-0.56 [[ 9.99951546e-01 -5.66176179e-05 -9.84394647e-03 1.27604552e+01] [ 1.22850892e-04 9.99977360e-01 6.72785083e-03 -2.89779606e-01] [ 9.84334269e-03 -6.72873417e-03 9.99928914e-01 -5.60131243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98240100800001 meters Centerline goodness : 0.948573 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.29, Z:-0.56 [[ 9.99950842e-01 -1.70743979e-04 -9.91382334e-03 1.27608473e+01] [ 2.34133986e-04 9.99979535e-01 6.39329438e-03 -2.89627272e-01] [ 9.91252884e-03 -6.39530127e-03 9.99930419e-01 -5.60720871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01240100800001 meters Centerline goodness : 0.946518 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:-0.57 [[ 9.99955324e-01 -1.15311609e-03 -9.38188627e-03 1.27629210e+01] [ 1.18193176e-03 9.99994600e-01 3.06645082e-03 -2.83393823e-01] [ 9.37829963e-03 -3.07740257e-03 9.99951287e-01 -5.67670479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04240100800001 meters Centerline goodness : 0.943416 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.28, Z:-0.57 [[ 9.99945482e-01 9.45459795e-04 -1.03989754e-02 1.27681912e+01] [-8.86633078e-04 9.99983588e-01 5.66012861e-03 -2.81288249e-01] [ 1.04041562e-02 -5.65059996e-03 9.99929910e-01 -5.70776180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07240100800001 meters Centerline goodness : 0.940719 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.28, Z:-0.58 [[ 9.99944922e-01 -1.54946639e-04 -1.04942390e-02 1.27709706e+01] [ 1.91805251e-04 9.99993817e-01 3.51135562e-03 -2.77089343e-01] [ 1.04936301e-02 -3.51317507e-03 9.99938769e-01 -5.75198731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10240100800002 meters Centerline goodness : 0.936655 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.27, Z:-0.58 [[ 9.99940448e-01 -9.78158527e-04 -1.08693607e-02 1.27732362e+01] [ 1.00304365e-03 9.99996888e-01 2.28425923e-03 -2.74979166e-01] [ 1.08670925e-02 -2.29502564e-03 9.99938318e-01 -5.77490318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13240100800002 meters Centerline goodness : 0.934356 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.58 [[ 9.99922384e-01 -2.02728091e-03 -1.22929670e-02 1.27764824e+01] [ 2.05819448e-03 9.99994750e-01 2.50260628e-03 -2.76409343e-01] [ 1.22878290e-02 -2.52771335e-03 9.99921307e-01 -5.76062891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16240100800002 meters Centerline goodness : 0.933424 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.57 [[ 9.99915030e-01 -1.81844877e-03 -1.29083336e-02 1.27766415e+01] [ 1.86386862e-03 9.99992112e-01 3.50748804e-03 -2.78798932e-01] [ 1.29018536e-02 -3.53124945e-03 9.99910532e-01 -5.73699823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19240100800002 meters Centerline goodness : 0.929969 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.57 [[ 9.99904901e-01 -1.91208887e-03 -1.36576712e-02 1.27777087e+01] [ 1.96914128e-03 9.99989387e-01 4.16509071e-03 -2.80057458e-01] [ 1.36495622e-02 -4.19158850e-03 9.99898055e-01 -5.72023488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22240100800002 meters Centerline goodness : 0.930730 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.57 [[ 9.99900931e-01 -2.14916279e-03 -1.39107849e-02 1.27785976e+01] [ 2.20104159e-03 9.99990676e-01 3.71515930e-03 -2.79470105e-01] [ 1.39026708e-02 -3.74540946e-03 9.99896338e-01 -5.72739732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25240100800002 meters Centerline goodness : 0.930193 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.27, Z:-0.58 [[ 9.99901944e-01 -3.08121944e-03 -1.36605008e-02 1.27807846e+01] [ 3.10517324e-03 9.99993678e-01 1.73264550e-03 -2.74757857e-01] [ 1.36550758e-02 -1.77489382e-03 9.99905190e-01 -5.77320567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800002 meters Centerline goodness : 0.931064 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.27, Z:-0.58 [[ 9.99903277e-01 -3.20747343e-03 -1.35332208e-02 1.27809497e+01] [ 3.23386718e-03 9.99992911e-01 1.92886134e-03 -2.74306869e-01] [ 1.35269381e-02 -1.97243941e-03 9.99906561e-01 -5.77324931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31240100800001 meters Centerline goodness : 0.935329 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.58 [[ 9.99898715e-01 -3.46355311e-03 -1.38044677e-02 1.27814185e+01] [ 3.50319509e-03 9.99989807e-01 2.84853127e-03 -2.76145710e-01] [ 1.37944609e-02 -2.89660250e-03 9.99900656e-01 -5.75751143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34240100800001 meters Centerline goodness : 0.944157 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.28, Z:-0.57 [[ 9.99899027e-01 -6.06212707e-03 -1.28524584e-02 1.27765458e+01] [ 6.09154310e-03 9.99978913e-01 2.25083645e-03 -2.81924594e-01] [ 1.28385425e-02 -2.32890048e-03 9.99914870e-01 -5.69499190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37240100800001 meters Centerline goodness : 0.951482 Centerline is valid? [False, True] Translation: X:12.77, Y:-0.29, Z:-0.56 [[ 9.99898164e-01 -5.49800801e-03 -1.31694236e-02 1.27749706e+01] [ 5.57608852e-03 9.99967051e-01 5.89956111e-03 -2.86462184e-01] [ 1.31365539e-02 -5.97239419e-03 9.99895875e-01 -5.62215870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40240100800001 meters Centerline goodness : 0.954263 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.29, Z:-0.56 [[ 9.99890594e-01 -6.64177687e-03 -1.32168933e-02 1.28032926e+01] [ 6.64378217e-03 9.99977924e-01 1.07820996e-04 -2.86103859e-01] [ 1.32158854e-02 -1.95619360e-04 9.99912647e-01 -5.61120306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43240100800001 meters Centerline goodness : 0.957554 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.29, Z:-0.56 [[ 9.99883978e-01 -7.57257367e-03 -1.32169022e-02 1.28310663e+01] [ 7.57464561e-03 9.99971306e-01 1.06712050e-04 -2.87439606e-01] [ 1.32157149e-02 -2.06813020e-04 9.99912647e-01 -5.58463632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46240100800001 meters Centerline goodness : 0.955468 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.29, Z:-0.56 [[ 9.99866492e-01 -9.60793381e-03 -1.32169110e-02 1.28599572e+01] [ 9.61016903e-03 9.99953816e-01 1.05616181e-04 -2.86545951e-01] [ 1.32152858e-02 -2.32618829e-04 9.99912647e-01 -5.56740519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49240100800002 meters Centerline goodness : 0.954184 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.29, Z:-0.56 [[ 9.99862674e-01 -9.99725574e-03 -1.32169347e-02 1.28883420e+01] [ 9.99948468e-03 9.99949999e-01 1.02567658e-04 -2.85079319e-01] [ 1.32152484e-02 -2.34716108e-04 9.99912647e-01 -5.57695479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52240100800002 meters Centerline goodness : 0.951023 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.28, Z:-0.56 [[ 9.99856073e-01 -1.06369294e-02 -1.32169622e-02 1.29169802e+01] [ 1.06391656e-02 9.99943398e-01 9.88938184e-05 -2.83232971e-01] [ 1.32151621e-02 -2.39497034e-04 9.99912647e-01 -5.60410292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55240100800002 meters Centerline goodness : 0.948685 Centerline is valid? [True, False] Translation: X:12.92, Y:-0.28, Z:-0.56 [[ 9.99864060e-01 -8.00819735e-03 -1.44128200e-02 1.29209694e+01] [ 8.07380381e-03 9.99957283e-01 4.49953571e-03 -2.84997260e-01] [ 1.43761712e-02 -4.61529033e-03 9.99886006e-01 -5.60069099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58240100800002 meters Centerline goodness : 0.943604 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.29, Z:-0.56 [[ 9.99810481e-01 -9.48377586e-03 -1.70017949e-02 1.29329664e+01] [ 9.62529996e-03 9.99919546e-01 8.26165275e-03 -2.85885740e-01] [ 1.69220754e-02 -8.42373438e-03 9.99821326e-01 -5.59556524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61240100800002 meters Centerline goodness : 0.941639 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.29, Z:-0.56 [[ 9.99781210e-01 -1.06284047e-02 -1.80158008e-02 1.29366232e+01] [ 1.07612911e-02 9.99915483e-01 7.29527847e-03 -2.85035737e-01] [ 1.79367409e-02 -7.48755561e-03 9.99811087e-01 -5.61187822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800002 meters Centerline goodness : 0.938349 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.29, Z:-0.56 [[ 9.99755472e-01 -9.48010822e-03 -1.99780856e-02 1.29435183e+01] [ 9.72097235e-03 9.99880816e-01 1.19939897e-02 -2.86774815e-01] [ 1.98620002e-02 -1.21852632e-02 9.99728473e-01 -5.59293441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67240100800001 meters Centerline goodness : 0.936298 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.29, Z:-0.56 [[ 9.99716871e-01 -8.55077963e-03 -2.22050001e-02 1.29512559e+01] [ 8.94235921e-03 9.99805193e-01 1.75957435e-02 -2.88573268e-01] [ 2.20502171e-02 -1.77893267e-02 9.99598583e-01 -5.55616653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70240100800001 meters Centerline goodness : 0.935311 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.28, Z:-0.56 [[ 9.99676425e-01 -1.29712524e-02 -2.18812919e-02 1.29515772e+01] [ 1.32249874e-02 9.99846512e-01 1.14913996e-02 -2.84704514e-01] [ 2.17288755e-02 -1.17770611e-02 9.99694532e-01 -5.58877504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73240100800001 meters Centerline goodness : 0.935988 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.29, Z:-0.55 [[ 9.99660497e-01 -1.11866434e-02 -2.35318820e-02 1.29565963e+01] [ 1.15953983e-02 9.99782999e-01 1.73061263e-02 -2.86403534e-01] [ 2.33331781e-02 -1.75731124e-02 9.99573283e-01 -5.54497775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76240100800001 meters Centerline goodness : 0.940141 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.28, Z:-0.56 [[ 9.99764273e-01 -1.06369515e-02 -1.89275995e-02 1.29724084e+01] [ 1.07666852e-02 9.99919150e-01 6.76555613e-03 -2.82630949e-01] [ 1.88541043e-02 -6.96774881e-03 9.99797966e-01 -5.61482722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79240100800001 meters Centerline goodness : 0.938438 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.29, Z:-0.56 [[ 9.99756983e-01 -7.88152442e-03 -2.05877628e-02 1.29762906e+01] [ 8.14636688e-03 9.99884738e-01 1.28120378e-02 -2.85605619e-01] [ 2.04844114e-02 -1.29766397e-02 9.99705955e-01 -5.57300484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82240100800001 meters Centerline goodness : 0.938700 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.29, Z:-0.55 [[ 9.99744273e-01 -4.90831109e-03 -2.20748017e-02 1.29796461e+01] [ 5.30523806e-03 9.99824658e-01 1.79585266e-02 -2.88699068e-01] [ 2.19827850e-02 -1.80710462e-02 9.99595015e-01 -5.54674167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85240100800002 meters Centerline goodness : 0.937925 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.29, Z:-0.56 [[ 9.99806933e-01 -1.41345282e-03 -1.95984462e-02 1.30013470e+01] [ 1.71405708e-03 9.99881022e-01 1.53298629e-02 -2.87475038e-01] [ 1.95744464e-02 -1.53604961e-02 9.99690400e-01 -5.55616871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88240100800002 meters Centerline goodness : 0.937925 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.29, Z:-0.56 [[ 9.99807917e-01 -1.36173153e-03 -1.95518322e-02 1.30012420e+01] [ 1.66080330e-03 9.99881748e-01 1.52882748e-02 -2.87371666e-01] [ 1.95287016e-02 -1.53178100e-02 9.99691950e-01 -5.55649441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91240100800002 meters Centerline goodness : 0.938778 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.28, Z:-0.56 [[ 9.99815505e-01 -9.88513455e-04 -1.91827877e-02 1.30005700e+01] [ 1.26040294e-03 9.99898853e-01 1.41667073e-02 -2.84058252e-01] [ 1.91668434e-02 -1.41882716e-02 9.99715622e-01 -5.57460006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94240100800002 meters Centerline goodness : 0.936973 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.29, Z:-0.55 [[ 9.99766667e-01 5.87209745e-03 -2.07877359e-02 1.30046321e+01] [-5.38118400e-03 9.99707159e-01 2.35932126e-02 -2.86296822e-01] [ 2.09201900e-02 -2.34758449e-02 9.99505493e-01 -5.54442137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97240100800002 meters Centerline goodness : 0.937721 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.28, Z:-0.55 [[ 9.99726075e-01 1.14058694e-02 -2.04372692e-02 1.30024801e+01] [-1.08493788e-02 9.99572866e-01 2.71362415e-02 -2.82644829e-01] [ 2.07380522e-02 -2.69070765e-02 9.99422805e-01 -5.54732170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00240100800002 meters Centerline goodness : 0.937732 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.28, Z:-0.56 [[ 0.99975391 0.01527965 -0.01608295 13.01427316] [-0.01501509 0.99975204 0.01644419 -0.27757961] [ 0.01633022 -0.01619865 0.99973543 -0.56235138] [ 0. 0. 0. 1. ]] SLAMing on 108.03240100800002 meters Centerline goodness : 0.939110 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.27, Z:-0.57 [[ 9.99753062e-01 1.92151694e-02 -1.11621299e-02 1.30255441e+01] [-1.91417088e-02 9.99794657e-01 6.65120944e-03 -2.73225145e-01] [ 1.12876419e-02 -6.43590476e-03 9.99915581e-01 -5.68624557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06240100800001 meters Centerline goodness : 0.942434 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.27, Z:-0.57 [[ 9.99726712e-01 2.07092568e-02 -1.08456571e-02 1.30226909e+01] [-2.06356068e-02 9.99763534e-01 6.85919410e-03 -2.71319398e-01] [ 1.09851413e-02 -6.63351285e-03 9.99917658e-01 -5.67201245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09240100800001 meters Centerline goodness : 0.947685 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.27, Z:-0.56 [[ 9.99684744e-01 2.30411707e-02 -9.97578067e-03 1.30172398e+01] [-2.29611220e-02 9.99703821e-01 8.06583151e-03 -2.70913884e-01] [ 1.01586723e-02 -7.83423359e-03 9.99917710e-01 -5.63788075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12240100800001 meters Centerline goodness : 0.950708 Centerline is valid? [False, True] Translation: X:13.02, Y:-0.27, Z:-0.57 [[ 9.99762136e-01 1.96669945e-02 -9.42764188e-03 1.30156380e+01] [-1.96365569e-02 9.99801704e-01 3.31032608e-03 -2.67999828e-01] [ 9.49087658e-03 -3.12441225e-03 9.99950079e-01 -5.65001765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15240100800001 meters Centerline goodness : 0.952115 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.27, Z:-0.57 [[ 9.99802731e-01 1.74680877e-02 -9.45332644e-03 1.30473648e+01] [-1.74681602e-02 9.99847417e-01 7.49010631e-05 -2.66459328e-01] [ 9.45319241e-03 9.02459333e-05 9.99955314e-01 -5.66150551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18240100800001 meters Centerline goodness : 0.953585 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.27, Z:-0.57 [[ 9.99842874e-01 1.49954127e-02 -9.45330824e-03 1.30794683e+01] [-1.49953536e-02 9.99887560e-01 7.71322198e-05 -2.65554679e-01] [ 9.45340194e-03 6.46355994e-05 9.99955314e-01 -5.65786474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21240100800001 meters Centerline goodness : 0.950861 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.27, Z:-0.57 [[ 9.99893773e-01 1.10940869e-02 -9.45328893e-03 1.31117159e+01] [-1.10938318e-02 9.99938458e-01 7.94299645e-05 -2.65554944e-01] [ 9.45358836e-03 2.54516701e-05 9.99955314e-01 -5.69169603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24240100800002 meters Centerline goodness : 0.951085 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.27, Z:-0.57 [[ 9.99900572e-01 1.04633360e-02 -9.45326916e-03 1.31423109e+01] [-1.04630311e-02 9.99945258e-01 8.17170790e-05 -2.67495826e-01] [ 9.45360670e-03 1.72008948e-05 9.99955314e-01 -5.71635419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27240100800002 meters Centerline goodness : 0.948866 Centerline is valid? [True, False] Translation: X:13.14, Y:-0.27, Z:-0.57 [[ 9.99898422e-01 1.00284192e-02 -1.01279820e-02 1.31442925e+01] [-1.00272040e-02 9.99949712e-01 1.70755593e-04 -2.69361683e-01] [ 1.01291851e-02 -6.91829059e-05 9.99948696e-01 -5.71910547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30240100800002 meters Centerline goodness : 0.948267 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.27, Z:-0.57 [[ 9.99892363e-01 9.91935195e-03 -1.08105895e-02 1.31455557e+01] [-9.91185341e-03 9.99950597e-01 7.46987822e-04 -2.72266967e-01] [ 1.08174651e-02 -6.39754440e-04 9.99941285e-01 -5.71133369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33240100800002 meters Centerline goodness : 0.942830 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.28, Z:-0.57 [[ 9.99884778e-01 9.89882562e-03 -1.15084189e-02 1.31471584e+01] [-9.88309369e-03 9.99950148e-01 1.42306298e-03 -2.77185209e-01] [ 1.15219318e-02 -1.30916023e-03 9.99932763e-01 -5.70989578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36240100800002 meters Centerline goodness : 0.941793 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.28, Z:-0.57 [[ 9.99885572e-01 9.47063654e-03 -1.17962086e-02 1.31490738e+01] [-9.46087095e-03 9.99954855e-01 8.83387892e-04 -2.77837723e-01] [ 1.18040423e-02 -7.71684400e-04 9.99930032e-01 -5.72982725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39240100800002 meters Centerline goodness : 0.938035 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.28, Z:-0.58 [[ 9.99886779e-01 8.57378409e-03 -1.23660842e-02 1.31523506e+01] [-8.57202821e-03 9.99963240e-01 1.94988540e-04 -2.78422464e-01] [ 1.23673014e-02 -8.89640407e-05 9.99923518e-01 -5.75575280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters Centerline goodness : 0.935449 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99886546e-01 7.43854394e-03 -1.30982436e-02 1.31560397e+01] [-7.44392598e-03 9.99972228e-01 -3.62191571e-04 -2.79679620e-01] [ 1.30951857e-02 4.59652835e-04 9.99914149e-01 -5.77873315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45240100800001 meters Centerline goodness : 0.933265 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99885462e-01 5.59719488e-03 -1.40617702e-02 1.31611245e+01] [-5.61994619e-03 9.99982961e-01 -1.57896098e-03 -2.79810133e-01] [ 1.40526929e-02 1.65780652e-03 9.99899882e-01 -5.81053925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48240100800001 meters Centerline goodness : 0.930755 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99878863e-01 5.48561318e-03 -1.45659448e-02 1.31619575e+01] [-5.50366248e-03 9.99984136e-01 -1.19934716e-03 -2.80756974e-01] [ 1.45591345e-02 1.27936792e-03 9.99893192e-01 -5.80151371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51240100800001 meters Centerline goodness : 0.932649 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99872577e-01 5.92619263e-03 -1.48226204e-02 1.31612717e+01] [-5.92995596e-03 9.99982396e-01 -2.09952442e-04 -2.82436055e-01] [ 1.48211153e-02 2.97823175e-04 9.99890117e-01 -5.77873723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54240100800001 meters Centerline goodness : 0.934144 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99867346e-01 6.47565550e-03 -1.49451002e-02 1.31600912e+01] [-6.46601605e-03 9.99978855e-01 6.93221784e-04 -2.83831716e-01] [ 1.49492733e-02 -5.96494568e-04 9.99888075e-01 -5.75595680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57240100800001 meters Centerline goodness : 0.934409 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.29, Z:-0.57 [[ 9.99861670e-01 6.44973107e-03 -1.53310744e-02 1.31601765e+01] [-6.42600922e-03 9.99978079e-01 1.59606429e-03 -2.85212122e-01] [ 1.53410325e-02 -1.49732588e-03 9.99881198e-01 -5.73456493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60240100800002 meters Centerline goodness : 0.941302 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99869818e-01 5.99575696e-03 -1.49799336e-02 1.31606241e+01] [-5.98507078e-03 9.99981802e-01 7.58095451e-04 -2.82265805e-01] [ 1.49842063e-02 -6.68340798e-04 9.99887507e-01 -5.75200095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63240100800002 meters Centerline goodness : 0.942560 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99870284e-01 5.46680967e-03 -1.51502396e-02 1.31617691e+01] [-5.46566412e-03 9.99985056e-01 1.17017577e-04 -2.80440676e-01] [ 1.51506529e-02 -3.41962767e-05 9.99885222e-01 -5.76146685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66240100800002 meters Centerline goodness : 0.944775 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99871887e-01 5.55129382e-03 -1.50131104e-02 1.31611942e+01] [-5.54979138e-03 9.99984590e-01 1.41735913e-04 -2.79534165e-01] [ 1.50136659e-02 -5.83981241e-05 9.99887287e-01 -5.75661606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69240100800002 meters Centerline goodness : 0.944968 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99872557e-01 5.90612172e-03 -1.48319642e-02 1.31600887e+01] [-5.89887266e-03 9.99982460e-01 5.32446564e-04 -2.79680046e-01] [ 1.48348487e-02 -4.44886840e-04 9.99889859e-01 -5.74641635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72240100800002 meters Centerline goodness : 0.947208 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99871187e-01 6.11880793e-03 -1.48380825e-02 1.31595543e+01] [-6.11027952e-03 9.99981140e-01 6.20031714e-04 -2.79385586e-01] [ 1.48415965e-02 -5.29287015e-04 9.99889717e-01 -5.73970495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75240100800002 meters Centerline goodness : 0.944727 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99870951e-01 6.09901961e-03 -1.48621756e-02 1.31596906e+01] [-6.09439676e-03 9.99981366e-01 3.56319036e-04 -2.78849231e-01] [ 1.48640719e-02 -2.65697059e-04 9.99889488e-01 -5.74290810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800002 meters Centerline goodness : 0.945181 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99868768e-01 6.31845775e-03 -1.49172485e-02 1.31593182e+01] [-6.31419560e-03 9.99980010e-01 3.32800877e-04 -2.78747288e-01] [ 1.49190531e-02 -2.38566778e-04 9.99888676e-01 -5.73956520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81240100800001 meters Centerline goodness : 0.946167 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99866898e-01 6.51996083e-03 -1.49558038e-02 1.31589550e+01] [-6.51249722e-03 9.99978643e-01 5.47693294e-04 -2.79045175e-01] [ 1.49590553e-02 -4.50220764e-04 9.99888006e-01 -5.73344396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84240100800001 meters Centerline goodness : 0.947379 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99865314e-01 6.26092988e-03 -1.51708326e-02 1.31597235e+01] [-6.25789816e-03 9.99980389e-01 2.47302654e-04 -2.78561009e-01] [ 1.51720834e-02 -1.52331821e-04 9.99884886e-01 -5.73707482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87240100800001 meters Centerline goodness : 0.945904 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99867916e-01 6.16934500e-03 -1.50362833e-02 1.31599884e+01] [-6.17380596e-03 9.99980911e-01 -2.50278945e-04 -2.77533609e-01] [ 1.50344522e-02 3.43076982e-04 9.99886917e-01 -5.74802604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90240100800001 meters Centerline goodness : 0.943148 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.27, Z:-0.58 [[ 9.99872938e-01 5.68671044e-03 -1.48918925e-02 1.31611207e+01] [-5.71313305e-03 9.99982179e-01 -1.73235429e-03 -2.73901239e-01] [ 1.48817757e-02 1.81721354e-03 9.99887609e-01 -5.77642343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93240100800001 meters Centerline goodness : 0.944775 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.27, Z:-0.58 [[ 9.99870651e-01 5.26369815e-03 -1.51978524e-02 1.31623272e+01] [-5.29785326e-03 9.99983529e-01 -2.20797888e-03 -2.72896995e-01] [ 1.51859799e-02 2.28820927e-03 9.99882068e-01 -5.78278327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96240100800001 meters Centerline goodness : 0.946040 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.27, Z:-0.58 [[ 9.99868943e-01 5.52400801e-03 -1.52178312e-02 1.31618014e+01] [-5.55001619e-03 9.99983208e-01 -1.66735777e-03 -2.73873072e-01] [ 1.52083651e-02 1.75159846e-03 9.99882812e-01 -5.77251550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99240100800002 meters Centerline goodness : 0.947293 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.58 [[ 9.99860522e-01 5.43244297e-03 -1.57931881e-02 1.31624913e+01] [-5.44117670e-03 9.99985067e-01 -5.10088839e-04 -2.76368418e-01] [ 1.57901812e-02 5.95951220e-04 9.99875150e-01 -5.75127477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02240100800002 meters Centerline goodness : 0.942828 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.28, Z:-0.57 [[ 9.99864661e-01 9.19787430e-04 -1.64259902e-02 1.31639491e+01] [-9.84015386e-04 9.99991901e-01 -3.90248806e-03 -2.79470136e-01] [ 1.64222677e-02 3.91812333e-03 9.99857469e-01 -5.74285870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05240100800002 meters Centerline goodness : 0.939737 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.28, Z:-0.57 [[ 9.99841877e-01 -7.62771820e-04 -1.77662148e-02 1.31687750e+01] [ 6.92377540e-04 9.99991887e-01 -3.96806934e-03 -2.81081324e-01] [ 1.77690974e-02 3.95514097e-03 9.99834294e-01 -5.74821317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08240100800002 meters Centerline goodness : 0.939326 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.28, Z:-0.57 [[ 9.99824522e-01 -5.52694553e-03 -1.78991335e-02 1.31926593e+01] [ 5.70380456e-03 9.99935270e-01 9.84493981e-03 -2.84834445e-01] [ 1.78435625e-02 -9.94530540e-03 9.99791327e-01 -5.65252311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11240100800002 meters Centerline goodness : 0.935322 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.28, Z:-0.57 [[ 9.99733004e-01 -1.06649706e-02 -2.04982509e-02 1.32100631e+01] [ 1.09273711e-02 9.99859234e-01 1.27320230e-02 -2.83643055e-01] [ 2.03595788e-02 -1.29526156e-02 9.99708816e-01 -5.65648733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14240100800002 meters Centerline goodness : 0.933768 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.29, Z:-0.54 [[ 9.99765528e-01 -1.15546759e-02 -1.83133488e-02 1.32310764e+01] [ 1.22383840e-02 9.99215200e-01 3.76723398e-02 -2.91290960e-01] [ 1.78636849e-02 -3.78876325e-02 9.99122323e-01 -5.43054072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17240100800001 meters Centerline goodness : 0.933450 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.29, Z:-0.54 [[ 0.99969533 -0.01419575 -0.0201924 13.23709181] [ 0.01501203 0.9990519 0.04086494 -0.29363228] [ 0.01959314 -0.04115561 0.99896062 -0.53604449] [ 0. 0. 0. 1. ]] SLAMing on 109.20240100800001 meters Centerline goodness : 0.938006 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.29, Z:-0.53 [[ 0.9996247 -0.01847708 -0.020225 13.23639526] [ 0.0192259 0.99911248 0.03747833 -0.2939256 ] [ 0.01951455 -0.03785311 0.99909275 -0.53359884] [ 0. 0. 0. 1. ]] SLAMing on 109.23240100800001 meters Centerline goodness : 0.946837 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.29, Z:-0.52 [[ 0.99941902 -0.02999637 -0.0161815 13.19615396] [ 0.03073163 0.99840861 0.04728447 -0.29463895] [ 0.01473738 -0.04775428 0.99875039 -0.52295633] [ 0. 0. 0. 1. ]] SLAMing on 109.26240100800001 meters Centerline goodness : 0.950425 Centerline is valid? [False, True] Translation: X:13.20, Y:-0.30, Z:-0.53 [[ 9.99539140e-01 -3.00036645e-02 -4.61388672e-03 1.31976250e+01] [ 3.02039816e-02 9.98176936e-01 5.22544067e-02 -2.96617488e-01] [ 3.03765163e-03 -5.23696824e-02 9.98623147e-01 -5.25450994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29240100800001 meters Centerline goodness : 0.952245 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.27, Z:-0.57 [[ 9.99396027e-01 -3.42622946e-02 -5.80315537e-03 1.32277258e+01] [ 3.42636341e-02 9.99412821e-01 1.31529309e-04 -2.71667817e-01] [ 5.79524138e-03 -3.30287061e-04 9.99983153e-01 -5.65063172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32240100800001 meters Centerline goodness : 0.951472 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.27, Z:-0.57 [[ 9.99318795e-01 -3.64454140e-02 -5.80318409e-03 1.32554257e+01] [ 3.64467828e-02 9.99335587e-01 1.30249408e-04 -2.68370172e-01] [ 5.79458139e-03 -3.41668071e-04 9.99983153e-01 -5.66163787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35240100800002 meters Centerline goodness : 0.950960 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.26, Z:-0.57 [[ 9.99350891e-01 -3.55544471e-02 -5.80320639e-03 1.32845028e+01] [ 3.55557951e-02 9.99367684e-01 1.29248371e-04 -2.61642900e-01] [ 5.79494158e-03 -3.35502092e-04 9.99983153e-01 -5.65001567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38240100800002 meters Centerline goodness : 0.950711 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.26, Z:-0.56 [[ 9.99433748e-01 -3.31437214e-02 -5.80323562e-03 1.33123809e+01] [ 3.31450212e-02 9.99450545e-01 1.27922444e-04 -2.60118452e-01] [ 5.79580717e-03 -3.20198375e-04 9.99983153e-01 -5.63232959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41240100800002 meters Centerline goodness : 0.950236 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.26, Z:-0.56 [[ 9.99553793e-01 -2.93008076e-02 -5.80326862e-03 1.33402358e+01] [ 2.93020340e-02 9.99570595e-01 1.26407254e-04 -2.59255948e-01] [ 5.79707284e-03 -2.96398425e-04 9.99983153e-01 -5.61345070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44240100800002 meters Centerline goodness : 0.946554 Centerline is valid? [True, False] Translation: X:13.34, Y:-0.25, Z:-0.56 [[ 9.99683699e-01 -2.44114071e-02 -6.04856795e-03 1.33386711e+01] [ 2.44329196e-02 9.99695315e-01 3.50861387e-03 -2.53146595e-01] [ 5.96107484e-03 -3.65528827e-03 9.99975552e-01 -5.60275471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47240100800002 meters Centerline goodness : 0.942509 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.25, Z:-0.56 [[ 9.99754543e-01 -2.11626233e-02 -6.55723183e-03 1.33408528e+01] [ 2.12000526e-02 9.99759050e-01 5.69214125e-03 -2.48243377e-01] [ 6.43519122e-03 -5.82975773e-03 9.99962300e-01 -5.62915664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50240100800002 meters Centerline goodness : 0.937450 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.25, Z:-0.56 [[ 9.99796097e-01 -1.67867876e-02 -1.12235262e-02 1.33235668e+01] [ 1.69892975e-02 9.99690045e-01 1.81982813e-02 -2.46385328e-01] [ 1.09145567e-02 -1.83852505e-02 9.99771401e-01 -5.58721244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53240100800002 meters Centerline goodness : 0.934475 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.24, Z:-0.57 [[ 9.99849816e-01 -1.28130151e-02 -1.16692556e-02 1.33248901e+01] [ 1.30147541e-02 9.99764258e-01 1.73794336e-02 -2.35912435e-01] [ 1.14438217e-02 -1.75286960e-02 9.99780868e-01 -5.65728550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters Centerline goodness : 0.933891 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.23, Z:-0.57 [[ 9.99860907e-01 -1.20897144e-02 -1.14893457e-02 1.33232745e+01] [ 1.22846453e-02 9.99779170e-01 1.70498823e-02 -2.32363341e-01] [ 1.12806803e-02 -1.71886534e-02 9.99788626e-01 -5.65034436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59240100800001 meters Centerline goodness : 0.935102 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.23, Z:-0.57 [[ 9.99932268e-01 -8.37624296e-03 -8.08069352e-03 1.33403785e+01] [ 8.47591028e-03 9.99887445e-01 1.23796329e-02 -2.30541652e-01] [ 7.97608919e-03 -1.24472856e-02 9.99890718e-01 -5.66527866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62240100800001 meters Centerline goodness : 0.938459 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.23, Z:-0.57 [[ 9.99969581e-01 -5.92947131e-03 -5.06736506e-03 1.33590861e+01] [ 5.96905899e-03 9.99951505e-01 7.83319549e-03 -2.29640194e-01] [ 5.02067261e-03 -7.86320461e-03 9.99956480e-01 -5.66848268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65240100800001 meters Centerline goodness : 0.937537 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.23, Z:-0.57 [[ 9.99991834e-01 -3.98809563e-03 -6.53801480e-04 1.33737681e+01] [ 3.98852666e-03 9.99991828e-01 6.59303503e-04 -2.27288071e-01] [ 6.51166772e-04 -6.61905824e-04 9.99999569e-01 -5.68170749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68240100800001 meters Centerline goodness : 0.940743 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.23, Z:-0.56 [[ 9.99999083e-01 -1.78116739e-04 -1.34250266e-03 1.33744811e+01] [ 1.87014200e-04 9.99978002e-01 6.63030901e-03 -2.29562769e-01] [ 1.34129216e-03 -6.63055399e-03 9.99977118e-01 -5.64310058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71240100800001 meters Centerline goodness : 0.946100 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.23, Z:-0.56 [[ 9.99991507e-01 3.73560215e-03 -1.74122041e-03 1.33748941e+01] [-3.71413307e-03 9.99918993e-01 1.21742301e-02 -2.30931661e-01] [ 1.78655744e-03 -1.21676596e-02 9.99924375e-01 -5.61367230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74240100800002 meters Centerline goodness : 0.947024 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-0.56 [[ 9.99970968e-01 7.25930775e-03 -2.31637651e-03 1.33764469e+01] [-7.21950712e-03 9.99833622e-01 1.67513499e-02 -2.31091932e-01] [ 2.43759432e-03 -1.67341405e-02 9.99857003e-01 -5.60230680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77240100800002 meters Centerline goodness : 0.946525 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-0.56 [[ 9.99940180e-01 1.05571673e-02 -2.86045173e-03 1.33790136e+01] [-1.04990023e-02 9.99752019e-01 1.96385373e-02 -2.28385597e-01] [ 3.06706971e-03 -1.96073306e-02 9.99803053e-01 -5.62334762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80240100800002 meters Centerline goodness : 0.946525 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-0.56 [[ 9.99939276e-01 1.06712788e-02 -2.75100316e-03 1.33788004e+01] [-1.06154884e-02 9.99752444e-01 1.95540592e-02 -2.28148171e-01] [ 2.95898896e-03 -1.95236686e-02 9.99805016e-01 -5.62382512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83240100800002 meters Centerline goodness : 0.946264 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.23, Z:-0.56 [[ 9.99897456e-01 1.38032756e-02 -3.81394666e-03 1.33818847e+01] [-1.37097884e-02 9.99628942e-01 2.35376163e-02 -2.29189322e-01] [ 4.13742767e-03 -2.34829143e-02 9.99715677e-01 -5.62310273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86240100800002 meters Centerline goodness : 0.944702 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.23, Z:-0.56 [[ 9.99861283e-01 1.66146420e-02 -1.16955410e-03 1.34030046e+01] [-1.65872640e-02 9.99653260e-01 2.04504848e-02 -2.28760659e-01] [ 1.50892606e-03 -2.04282483e-02 9.99790183e-01 -5.63385834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89240100800002 meters Centerline goodness : 0.944729 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.23, Z:-0.57 [[ 9.99812776e-01 1.91791225e-02 2.56403928e-03 1.34180318e+01] [-1.92097783e-02 9.99737082e-01 1.25200119e-02 -2.26380122e-01] [-2.32324231e-03 -1.25669225e-02 9.99918334e-01 -5.66313667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92240100800001 meters Centerline goodness : 0.946851 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.23, Z:-0.57 [[ 9.99813207e-01 1.91902236e-02 2.29903573e-03 1.34180132e+01] [-1.92174978e-02 9.99737244e-01 1.24951910e-02 -2.26201206e-01] [-2.05864614e-03 -1.25370387e-02 9.99919289e-01 -5.65518280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95240100800001 meters Centerline goodness : 0.944317 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.23, Z:-0.56 [[ 9.99819775e-01 1.89065266e-02 1.72062512e-03 1.34189915e+01] [-1.89272768e-02 9.99736735e-01 1.29699532e-02 -2.26753759e-01] [-1.47495538e-03 -1.30001824e-02 9.99914406e-01 -5.64165056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98240100800001 meters Centerline goodness : 0.946282 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.23, Z:-0.56 [[ 9.99809156e-01 1.95332483e-02 3.23644367e-04 1.34261518e+01] [-1.95357182e-02 9.99584131e-01 2.12113190e-02 -2.30637506e-01] [ 9.08161866e-05 -2.12135936e-02 9.99774962e-01 -5.56731545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01240100800001 meters Centerline goodness : 0.950139 Centerline is valid? [False, True] Translation: X:13.43, Y:-0.23, Z:-0.56 [[ 9.99867768e-01 1.62301685e-02 -1.01363466e-03 1.34332687e+01] [-1.62030709e-02 9.99612368e-01 2.26401095e-02 -2.32737740e-01] [ 1.38069453e-03 -2.26206917e-02 9.99743166e-01 -5.55337682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04240100800001 meters Centerline goodness : 0.950905 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.22, Z:-0.57 [[ 9.99914125e-01 1.29880079e-02 -1.74769500e-03 1.34646045e+01] [-1.29879285e-02 9.99915652e-01 5.67734084e-05 -2.23763417e-01] [ 1.74828496e-03 -3.40695952e-05 9.99998471e-01 -5.73445701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07240100800001 meters Centerline goodness : 0.948031 Centerline is valid? [True, False] Translation: X:13.48, Y:-0.23, Z:-0.57 [[ 9.99938957e-01 1.09847235e-02 -1.19119002e-03 1.34798597e+01] [-1.09711440e-02 9.99880807e-01 1.08630054e-02 -2.27352956e-01] [ 1.31037515e-03 -1.08492736e-02 9.99940286e-01 -5.67684260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10240100800002 meters Centerline goodness : 0.947871 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.23, Z:-0.55 [[ 9.99953740e-01 8.61847882e-03 -4.27082881e-03 1.34723543e+01] [-8.49229785e-03 9.99551105e-01 2.87309660e-02 -2.32902716e-01] [ 4.51652888e-03 -2.86933677e-02 9.99578057e-01 -5.54733449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13240100800002 meters Centerline goodness : 0.950139 Centerline is valid? [False, True] Translation: X:13.47, Y:-0.24, Z:-0.55 [[ 9.99943205e-01 9.49560864e-03 -4.83940734e-03 1.34709347e+01] [-9.33913061e-03 9.99463545e-01 3.13911322e-02 -2.36507624e-01] [ 5.13488912e-03 -3.13441535e-02 9.99495461e-01 -5.48802782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16240100800002 meters Centerline goodness : 0.950101 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.23, Z:-0.57 [[ 9.99912165e-01 1.19095978e-02 -5.81583903e-03 1.35043115e+01] [-1.19087439e-02 9.99929072e-01 1.81426262e-04 -2.25844441e-01] [ 5.81758724e-03 -1.12150988e-04 9.99983071e-01 -5.65831602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19240100800002 meters Centerline goodness : 0.952847 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.23, Z:-0.57 [[ 9.99882461e-01 1.41859458e-02 -5.81579103e-03 1.35352164e+01] [-1.41851216e-02 9.99899369e-01 1.82952058e-04 -2.28374805e-01] [ 5.81780114e-03 -1.00432851e-04 9.99983071e-01 -5.67074773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22240100800002 meters Centerline goodness : 0.949405 Centerline is valid? [True, False] Translation: X:13.54, Y:-0.23, Z:-0.57 [[ 9.99813486e-01 1.82183241e-02 -6.40985129e-03 1.35370837e+01] [-1.81911541e-02 9.99825401e-01 4.27186882e-03 -2.29575825e-01] [ 6.48655843e-03 -4.15446946e-03 9.99970332e-01 -5.67836979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25240100800002 meters Centerline goodness : 0.943468 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.23, Z:-0.57 [[ 9.99720160e-01 2.21565320e-02 -8.28791954e-03 1.35465390e+01] [-2.20447259e-02 9.99667892e-01 1.33467432e-02 -2.31254361e-01] [ 8.58088460e-03 -1.31603034e-02 9.99876580e-01 -5.66184442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28240100800002 meters Centerline goodness : 0.939450 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.23, Z:-0.57 [[ 9.99737513e-01 2.12489046e-02 -8.56679027e-03 1.35497141e+01] [-2.11559031e-02 9.99717807e-01 1.08043237e-02 -2.27475252e-01] [ 8.79395283e-03 -1.06202495e-02 9.99904934e-01 -5.71584436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31240100800001 meters Centerline goodness : 0.936024 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.23, Z:-0.57 [[ 9.99746264e-01 2.06291885e-02 -9.04681781e-03 1.35523401e+01] [-2.05415241e-02 9.99742155e-01 9.67825183e-03 -2.26331965e-01] [ 9.24413961e-03 -9.48996068e-03 9.99912239e-01 -5.74401202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34240100800001 meters Centerline goodness : 0.936240 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.23, Z:-0.58 [[ 9.99814062e-01 1.70391892e-02 -9.02817467e-03 1.35523096e+01] [-1.69956458e-02 9.99843664e-01 4.87803265e-03 -2.25210114e-01] [ 9.10988097e-03 -4.72368598e-03 9.99947347e-01 -5.76266214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37240100800001 meters Centerline goodness : 0.938186 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.23, Z:-0.57 [[ 9.99794271e-01 1.80709439e-02 -9.21174433e-03 1.35507598e+01] [-1.79795468e-02 9.99789243e-01 9.90988958e-03 -2.34804955e-01] [ 9.38888395e-03 -9.74222785e-03 9.99908465e-01 -5.68568103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40240100800001 meters Centerline goodness : 0.940475 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.24, Z:-0.57 [[ 9.99788075e-01 1.83571525e-02 -9.31775587e-03 1.35503847e+01] [-1.82546394e-02 9.99773185e-01 1.09702422e-02 -2.37647177e-01] [ 9.51702487e-03 -1.07978251e-02 9.99896411e-01 -5.66971623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43240100800001 meters Centerline goodness : 0.944846 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.24, Z:-0.56 [[ 9.99714231e-01 2.17193800e-02 -9.98621431e-03 1.35520168e+01] [-2.15447596e-02 9.99618656e-01 1.72732821e-02 -2.42246874e-01] [ 1.03575711e-02 -1.70531953e-02 9.99800935e-01 -5.63127944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46240100800001 meters Centerline goodness : 0.945553 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.24, Z:-0.57 [[ 9.99787243e-01 1.84913764e-02 -9.13986227e-03 1.35499975e+01] [-1.83782796e-02 9.99755360e-01 1.23068719e-02 -2.39713952e-01] [ 9.36519729e-03 -1.21362786e-02 9.99882495e-01 -5.65029663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49240100800002 meters Centerline goodness : 0.952412 Centerline is valid? [False, True] Translation: X:13.55, Y:-0.25, Z:-0.56 [[ 9.99778281e-01 1.90793152e-02 -8.90889620e-03 1.35486822e+01] [-1.89456221e-02 9.99710119e-01 1.48573963e-02 -2.45012828e-01] [ 9.18978263e-03 -1.46853175e-02 9.99849933e-01 -5.61620556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52240100800002 meters Centerline goodness : 0.956337 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.24, Z:-0.57 [[ 9.99797853e-01 1.78319542e-02 -9.28837836e-03 1.35812298e+01] [-1.78304893e-02 9.99840995e-01 2.40512595e-04 -2.42246807e-01] [ 9.29119028e-03 -7.48476454e-05 9.99956833e-01 -5.67306878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55240100800002 meters Centerline goodness : 0.956157 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.25, Z:-0.57 [[ 9.99826483e-01 1.61471787e-02 -9.28832093e-03 1.36117367e+01] [-1.61456206e-02 9.99869622e-01 2.42710470e-04 -2.45464015e-01] [ 9.29102902e-03 -9.27026493e-05 9.99956833e-01 -5.68534918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58240100800002 meters Centerline goodness : 0.958429 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.25, Z:-0.57 [[ 9.99865752e-01 1.34983844e-02 -9.28827570e-03 1.36438398e+01] [-1.34966961e-02 9.99908886e-01 2.44429361e-04 -2.48617650e-01] [ 9.29072880e-03 -1.19035513e-04 9.99956833e-01 -5.65699557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61240100800002 meters Centerline goodness : 0.958874 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.25, Z:-0.57 [[ 9.99916842e-01 8.94630882e-03 -9.28825581e-03 1.36747944e+01] [-8.94441716e-03 9.99959968e-01 2.45182729e-04 -2.53765425e-01] [ 9.29007746e-03 -1.62084305e-04 9.99956833e-01 -5.66604063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800002 meters Centerline goodness : 0.955476 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.26, Z:-0.57 [[ 9.99923229e-01 8.20154692e-03 -9.28820374e-03 1.37068896e+01] [-8.19960497e-03 9.99966352e-01 2.47139541e-04 -2.56223420e-01] [ 9.28991814e-03 -1.70960967e-04 9.99956833e-01 -5.65983940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67240100800001 meters Centerline goodness : 0.954302 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.26, Z:-0.57 [[ 9.99919391e-01 8.65687336e-03 -9.28814722e-03 1.37380511e+01] [-8.65493149e-03 9.99962514e-01 2.49245820e-04 -2.57946839e-01] [ 9.28995674e-03 -1.68837450e-04 9.99956833e-01 -5.71503858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters Centerline goodness : 0.951397 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.26, Z:-0.57 [[ 9.99900051e-01 1.06592858e-02 -9.28809061e-03 1.37697886e+01] [-1.06574109e-02 9.99943177e-01 2.51337840e-04 -2.59748703e-01] [ 9.29024191e-03 -1.52325721e-04 9.99956833e-01 -5.70379087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73240100800001 meters Centerline goodness : 0.951553 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.26, Z:-0.57 [[ 9.99893291e-01 1.12756010e-02 -9.28807469e-03 1.38025536e+01] [-1.12737472e-02 9.99936418e-01 2.51924678e-04 -2.62358767e-01] [ 9.29032474e-03 -1.47186389e-04 9.99956833e-01 -5.67023899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76240100800001 meters Centerline goodness : 0.950094 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.27, Z:-0.57 [[ 9.99898742e-01 1.07813733e-02 -9.28800695e-03 1.38339833e+01] [-1.07794752e-02 9.99941867e-01 2.54398101e-04 -2.65533442e-01] [ 9.29020977e-03 -1.54252501e-04 9.99956833e-01 -5.65471018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79240100800001 meters Centerline goodness : 0.953572 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.27, Z:-0.57 [[ 9.99901462e-01 1.05261237e-02 -9.28795191e-03 1.38648093e+01] [-1.05241961e-02 9.99944586e-01 2.56391888e-04 -2.68916057e-01] [ 9.29013604e-03 -1.58618396e-04 9.99956833e-01 -5.65484064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82240100800001 meters Centerline goodness : 0.952997 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.27, Z:-0.57 [[ 9.99932228e-01 7.01960052e-03 -9.28789721e-03 1.38972006e+01] [-7.01750343e-03 9.99975344e-01 2.58358374e-04 -2.70474232e-01] [ 9.28948177e-03 -1.93163014e-04 9.99956833e-01 -5.65457188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85240100800002 meters Centerline goodness : 0.952692 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.27, Z:-0.57 [[ 9.99941514e-01 5.54126784e-03 -9.28782819e-03 1.39283093e+01] [-5.53908419e-03 9.99984625e-01 2.60816125e-04 -2.70934749e-01] [ 9.28913064e-03 -2.09354808e-04 9.99956833e-01 -5.67303141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88240100800002 meters Centerline goodness : 0.951740 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.27, Z:-0.57 [[ 9.99946410e-01 4.57307252e-03 -9.28781955e-03 1.39576254e+01] [-4.57084427e-03 9.99989520e-01 2.61123383e-04 -2.71362070e-01] [ 9.28891635e-03 -2.18656212e-04 9.99956833e-01 -5.69994468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91240100800002 meters Centerline goodness : 0.951055 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.27, Z:-0.57 [[ 9.99948083e-01 4.19132230e-03 -9.28782384e-03 1.39874209e+01] [-4.18907902e-03 9.99991192e-01 2.60970788e-04 -2.73221802e-01] [ 9.28883584e-03 -2.22049812e-04 9.99956833e-01 -5.67533746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94240100800002 meters Centerline goodness : 0.948601 Centerline is valid? [True, False] Translation: X:13.99, Y:-0.28, Z:-0.56 [[ 9.99915072e-01 7.16870144e-03 -1.08838872e-02 1.39913351e+01] [-7.09905083e-03 9.99954163e-01 6.42462800e-03 -2.77350059e-01] [ 1.09294445e-02 -6.34681710e-03 9.99920129e-01 -5.63592284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97240100800002 meters Centerline goodness : 0.947568 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.28, Z:-0.56 [[ 9.99910244e-01 7.15013694e-03 -1.13304440e-02 1.39922233e+01] [-7.07537136e-03 9.99953023e-01 6.62504788e-03 -2.78078289e-01] [ 1.13772818e-02 -6.54428615e-03 9.99913861e-01 -5.63180054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00240100800002 meters Centerline goodness : 0.945187 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.28, Z:-0.56 [[ 9.99898814e-01 8.30509800e-03 -1.15493021e-02 1.39915282e+01] [-8.22451906e-03 9.99941628e-01 7.00703460e-03 -2.78578639e-01] [ 1.16068221e-02 -6.91133813e-03 9.99908753e-01 -5.62859408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03240100800002 meters Centerline goodness : 0.945015 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.28, Z:-0.56 [[ 9.99858877e-01 1.14920617e-02 -1.22539538e-02 1.39994607e+01] [-1.12697486e-02 9.99773399e-01 1.80594306e-02 -2.81992271e-01] [ 1.24587171e-02 -1.79187830e-02 9.99761820e-01 -5.56308133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters Centerline goodness : 0.949383 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.28, Z:-0.56 [[ 9.99855059e-01 1.32081409e-02 -1.07427585e-02 1.39953234e+01] [-1.30155590e-02 9.99756790e-01 1.78032500e-02 -2.79749208e-01] [ 1.09752936e-02 -1.76608466e-02 9.99783795e-01 -5.57603169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09240100800001 meters Centerline goodness : 0.954996 Centerline is valid? [False, True] Translation: X:13.99, Y:-0.28, Z:-0.56 [[ 9.99904289e-01 9.76044149e-03 -9.80542504e-03 1.39927013e+01] [-9.62793843e-03 9.99862911e-01 1.34707588e-02 -2.78509429e-01] [ 9.93556138e-03 -1.33750635e-02 9.99861187e-01 -5.57886010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12240100800001 meters Centerline goodness : 0.959750 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.27, Z:-0.57 [[ 9.99917234e-01 7.97923339e-03 -1.00924155e-02 1.40240103e+01] [-7.97744067e-03 9.99968156e-01 2.17875080e-04 -2.73311610e-01] [ 1.00938326e-02 -1.37345402e-04 9.99949047e-01 -5.65201422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15240100800001 meters Centerline goodness : 0.959734 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.27, Z:-0.56 [[ 9.99919615e-01 7.67509452e-03 -1.00923683e-02 1.40555194e+01] [-7.67326448e-03 9.99970536e-01 2.20039255e-04 -2.74149473e-01] [ 1.00937598e-02 -1.42580156e-04 9.99949047e-01 -5.63393012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18240100800001 meters Centerline goodness : 0.963531 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.28, Z:-0.56 [[ 9.99905108e-01 9.37657243e-03 -1.00923611e-02 1.40865091e+01] [-9.37482570e-03 9.99956031e-01 2.20370045e-04 -2.75805702e-01] [ 1.00939837e-02 -1.25735008e-04 9.99949047e-01 -5.60930213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21240100800001 meters Centerline goodness : 0.967161 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.28, Z:-0.55 [[ 9.99855910e-01 1.36493065e-02 -1.00923141e-02 1.41185693e+01] [-1.36477558e-02 9.99906840e-01 2.22502790e-04 -2.78941497e-01] [ 1.00944109e-02 -8.47332913e-05 9.99949047e-01 -5.54172720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24240100800002 meters Centerline goodness : 0.970415 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.28, Z:-0.55 [[ 9.99824145e-01 1.58058451e-02 -1.00922605e-02 1.41505706e+01] [-1.58043801e-02 9.99875078e-01 2.24905401e-04 -2.81430948e-01] [ 1.00945546e-02 -6.53639287e-05 9.99949047e-01 -5.51048837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27240100800002 meters Centerline goodness : 0.973254 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.28, Z:-0.55 [[ 9.99799365e-01 1.73025332e-02 -1.00922061e-02 1.41817182e+01] [-1.73011201e-02 9.99850299e-01 2.27320026e-04 -2.83133662e-01] [ 1.00946285e-02 -5.26679468e-05 9.99949047e-01 -5.50299450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30240100800002 meters Centerline goodness : 0.972884 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.28, Z:-0.55 [[ 9.99796421e-01 1.74718403e-02 -1.00921554e-02 1.42129499e+01] [-1.74704132e-02 9.99847354e-01 2.29548751e-04 -2.84012205e-01] [ 1.00946256e-02 -5.31878938e-05 9.99949047e-01 -5.49860367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33240100800002 meters Centerline goodness : 0.974745 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.28, Z:-0.55 [[ 9.99796034e-01 1.74940191e-02 -1.00921047e-02 1.42439909e+01] [-1.74925708e-02 9.99846966e-01 2.31759805e-04 -2.84266029e-01] [ 1.00946146e-02 -5.51756779e-05 9.99949047e-01 -5.49815199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36240100800002 meters Centerline goodness : 0.975664 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.28, Z:-0.55 [[ 9.99795598e-01 1.75189442e-02 -1.00920561e-02 1.42768589e+01] [-1.75174761e-02 9.99846530e-01 2.33856049e-04 -2.84774340e-01] [ 1.00946042e-02 -5.70208974e-05 9.99949047e-01 -5.50327964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39240100800002 meters Centerline goodness : 0.974757 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.28, Z:-0.55 [[ 9.99786663e-01 1.80216799e-02 -1.00919929e-02 1.43087650e+01] [-1.80202102e-02 9.99837595e-01 2.36551970e-04 -2.84502050e-01] [ 1.00946170e-02 -5.46416708e-05 9.99949047e-01 -5.53484789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters Centerline goodness : 0.970651 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.28, Z:-0.56 [[ 9.99758612e-01 1.95159056e-02 -1.00919370e-02 1.43406345e+01] [-1.95144881e-02 9.99809546e-01 2.38914603e-04 -2.84621708e-01] [ 1.00946776e-02 -4.19179478e-05 9.99949047e-01 -5.57638157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45240100800001 meters Centerline goodness : 0.968322 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.28, Z:-0.56 [[ 9.99718156e-01 2.14886619e-02 -1.00918799e-02 1.43714244e+01] [-2.14873208e-02 9.99769092e-01 2.41299561e-04 -2.83559655e-01] [ 1.00947349e-02 -2.43840899e-05 9.99949047e-01 -5.63595439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48240100800001 meters Centerline goodness : 0.967266 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.29, Z:-0.56 [[ 9.99672289e-01 2.35259473e-02 -1.00918265e-02 1.44030285e+01] [-2.35246878e-02 9.99723227e-01 2.43514731e-04 -2.85425593e-01] [ 1.00947623e-02 -6.02786076e-06 9.99949047e-01 -5.63658730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51240100800001 meters Centerline goodness : 0.966698 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.29, Z:-0.56 [[ 9.99640914e-01 2.48233717e-02 -1.00917695e-02 1.44351213e+01] [-2.48221546e-02 9.99691853e-01 2.45852933e-04 -2.87874969e-01] [ 1.00947627e-02 4.73481305e-06 9.99949047e-01 -5.62758241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54240100800001 meters Centerline goodness : 0.966793 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.29, Z:-0.56 [[ 9.99619235e-01 2.56815471e-02 -1.00917116e-02 1.44672308e+01] [-2.56803500e-02 9.99670175e-01 2.48208995e-04 -2.89411724e-01] [ 1.00947575e-02 1.10441999e-05 9.99949047e-01 -5.61617253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57240100800001 meters Centerline goodness : 0.968888 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.29, Z:-0.56 [[ 9.99610516e-01 2.60187409e-02 -1.00916528e-02 1.44996559e+01] [-2.60175371e-02 9.99661455e-01 2.50577111e-04 -2.87284880e-01] [ 1.00947560e-02 1.20804356e-05 9.99949047e-01 -5.63372675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60240100800002 meters Centerline goodness : 0.970082 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.29, Z:-0.56 [[ 9.99613967e-01 2.58858298e-02 -1.00915935e-02 1.45313049e+01] [-2.58845953e-02 9.99664906e-01 2.52942184e-04 -2.85128756e-01] [ 1.00947595e-02 8.37227368e-06 9.99949047e-01 -5.63587035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63240100800002 meters Centerline goodness : 0.971269 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.28, Z:-0.56 [[ 9.99608563e-01 2.60936964e-02 -1.00915379e-02 1.45621403e+01] [-2.60924503e-02 9.99659502e-01 2.55141786e-04 -2.84792870e-01] [ 1.00947593e-02 8.27103695e-06 9.99949047e-01 -5.62118312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66240100800002 meters Centerline goodness : 0.972821 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.29, Z:-0.56 [[ 9.99615631e-01 2.58215539e-02 -1.00914820e-02 1.45942989e+01] [-2.58202719e-02 9.99666568e-01 2.57332955e-04 -2.87950253e-01] [ 1.00947619e-02 3.33076475e-06 9.99949047e-01 -5.57663615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69240100800002 meters Centerline goodness : 0.972821 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.29, Z:-0.56 [[ 9.99608442e-01 2.60983903e-02 -1.00914195e-02 1.46275939e+01] [-2.60970978e-02 9.99659379e-01 2.59761124e-04 -2.88979549e-01] [ 1.00947615e-02 3.69734965e-06 9.99949047e-01 -5.57325566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72240100800002 meters Centerline goodness : 0.972321 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.29, Z:-0.55 [[ 9.99772729e-01 1.87791199e-02 -1.00913468e-02 1.46581170e+01] [-1.87774264e-02 9.99823654e-01 2.62555755e-04 -2.94869638e-01] [ 1.00944978e-02 -7.30065622e-05 9.99949047e-01 -5.52482335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75240100800002 meters Centerline goodness : 0.972321 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.30, Z:-0.55 [[ 9.99767689e-01 1.90455876e-02 -1.00912878e-02 1.46914188e+01] [-1.90438848e-02 9.99818614e-01 2.64805632e-04 -2.95916100e-01] [ 1.00945007e-02 -7.25667929e-05 9.99949047e-01 -5.52144330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800002 meters Centerline goodness : 0.973786 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.30, Z:-0.55 [[ 9.99845794e-01 1.43720332e-02 -1.00912165e-02 1.47228448e+01] [-1.43700653e-02 9.99896710e-01 2.67495140e-04 -2.98152043e-01] [ 1.00940186e-02 -1.22442452e-04 9.99949047e-01 -5.50498228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81240100800001 meters Centerline goodness : 0.972617 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.30, Z:-0.56 [[ 9.99934337e-01 5.43051434e-03 -1.00911580e-02 1.47534968e+01] [-5.42806913e-03 9.99985232e-01 2.69684743e-04 -2.97263811e-01] [ 1.00924735e-02 -2.14891532e-04 9.99949047e-01 -5.55153623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84240100800001 meters Centerline goodness : 0.972751 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.30, Z:-0.56 [[ 9.99946933e-01 2.07397199e-03 -1.00910994e-02 1.47839143e+01] [-2.07133405e-03 9.99997818e-01 2.71856432e-04 -2.97586014e-01] [ 1.00916413e-02 -2.50939968e-04 9.99949047e-01 -5.56236741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87240100800001 meters Centerline goodness : 0.972738 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.30, Z:-0.56 [[ 9.99948903e-01 -6.00794802e-04 -1.00910994e-02 1.48116314e+01] [ 6.03568841e-04 9.99999781e-01 2.71856432e-04 -2.98845840e-01] [ 1.00909339e-02 -2.77933215e-04 9.99949047e-01 -5.56120032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90240100800001 meters Centerline goodness : 0.973832 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.30, Z:-0.55 [[ 9.99945778e-01 -2.57086251e-03 -1.00911217e-02 1.48394894e+01] [ 2.57372845e-03 9.99996651e-01 2.71029836e-04 -3.01736138e-01] [ 1.00903911e-02 -2.96986948e-04 9.99949047e-01 -5.54042502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93240100800001 meters Centerline goodness : 0.974623 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.30, Z:-0.55 [[ 9.99931475e-01 -5.93421640e-03 -1.00911484e-02 1.48669315e+01] [ 5.93724336e-03 9.99982338e-01 2.70030445e-04 -3.03420069e-01] [ 1.00893677e-02 -3.29925545e-04 9.99949047e-01 -5.52912991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96240100800001 meters Centerline goodness : 0.970810 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.30, Z:-0.55 [[ 9.99928077e-01 -6.48148176e-03 -1.00911704e-02 1.48947692e+01] [ 6.48452822e-03 9.99978939e-01 2.69203845e-04 -3.03479433e-01] [ 1.00892131e-02 -3.34620962e-04 9.99949047e-01 -5.54388282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99240100800002 meters Centerline goodness : 0.970854 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.30, Z:-0.56 [[ 9.99925829e-01 -6.81938087e-03 -1.00911921e-02 1.49240991e+01] [ 6.82243632e-03 9.99976691e-01 2.68390477e-04 -3.02089851e-01] [ 1.00891266e-02 -3.37217086e-04 9.99949047e-01 -5.57799894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02240100800002 meters Centerline goodness : 0.967840 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.30, Z:-0.56 [[ 9.99928983e-01 -6.34007667e-03 -1.00912251e-02 1.49536189e+01] [ 6.34309515e-03 9.99979847e-01 2.67141891e-04 -3.00915774e-01] [ 1.00893281e-02 -3.31132520e-04 9.99949047e-01 -5.61331059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05240100800002 meters Centerline goodness : 0.966050 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.30, Z:-0.56 [[ 9.99947733e-01 -1.64210174e-03 -1.00912805e-02 1.49823850e+01] [ 1.64485997e-03 9.99998612e-01 2.65035174e-04 -2.99466390e-01] [ 1.00908312e-02 -2.81620065e-04 9.99949047e-01 -5.64069351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08240100800002 meters Centerline goodness : 0.967570 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.30, Z:-0.56 [[ 9.99946719e-01 2.17337441e-03 -1.00913355e-02 1.50103645e+01] [-2.17083164e-03 9.99997609e-01 2.62922057e-04 -2.99616027e-01] [ 1.00918828e-02 -2.41001458e-04 9.99949047e-01 -5.61352190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11240100800002 meters Centerline goodness : 0.969853 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.30, Z:-0.56 [[ 9.99911050e-01 8.72102124e-03 -1.00914051e-02 1.50390139e+01] [-8.71883900e-03 9.99961956e-01 2.60221987e-04 -2.99736938e-01] [ 1.00932906e-02 -1.72213503e-04 9.99949047e-01 -5.58437492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800002 meters Centerline goodness : 0.972519 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.30, Z:-0.55 [[ 9.99742157e-01 2.03416100e-02 -1.00914702e-02 1.50705362e+01] [-2.03400453e-02 9.99793087e-01 2.57673611e-04 -2.97352960e-01] [ 1.00946236e-02 -5.23462111e-05 9.99949047e-01 -5.53362744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17240100800002 meters Centerline goodness : 0.975652 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.30, Z:-0.55 [[ 9.99638121e-01 2.49357169e-02 -1.00914615e-02 1.51025519e+01] [-2.49343828e-02 9.99689057e-01 2.58012899e-04 -2.95511855e-01] [ 1.00947574e-02 -6.29516459e-06 9.99949047e-01 -5.52415585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters Centerline goodness : 0.973606 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.29, Z:-0.55 [[ 9.99574336e-01 2.73735207e-02 -1.00914003e-02 1.51341789e+01] [-2.73722868e-02 9.99625275e-01 2.60384496e-04 -2.92595274e-01] [ 1.00947465e-02 1.59510451e-05 9.99949047e-01 -5.53762415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23240100800001 meters Centerline goodness : 0.971368 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.29, Z:-0.56 [[ 9.99524861e-01 2.91241568e-02 -1.00913429e-02 1.51661277e+01] [-2.91229899e-02 9.99575801e-01 2.62592540e-04 -2.90286850e-01] [ 1.00947099e-02 3.14223048e-05 9.99949047e-01 -5.58094372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26240100800001 meters Centerline goodness : 0.966368 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.29, Z:-0.56 [[ 9.99537005e-01 2.87044031e-02 -1.00912765e-02 1.51989586e+01] [-2.87031893e-02 9.99587943e-01 2.65119878e-04 -2.89481897e-01] [ 1.00947284e-02 2.46546911e-05 9.99949047e-01 -5.59830129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29240100800001 meters Centerline goodness : 0.969657 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.29, Z:-0.56 [[ 9.99686630e-01 2.29087127e-02 -1.00912050e-02 1.52311395e+01] [-2.29071765e-02 9.99737560e-01 2.67813439e-04 -2.92920921e-01] [ 1.00946919e-02 -3.65685005e-05 9.99949047e-01 -5.59836961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32240100800001 meters Centerline goodness : 0.966540 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.30, Z:-0.56 [[ 9.99797436e-01 1.74142575e-02 -1.00911415e-02 1.52635668e+01] [-1.74124174e-02 9.99848356e-01 2.70185479e-04 -2.96739453e-01] [ 1.00943163e-02 -9.44195815e-05 9.99949047e-01 -5.56828975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35240100800002 meters Centerline goodness : 0.969251 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.30, Z:-0.55 [[ 9.99880328e-01 1.17260172e-02 -1.00910670e-02 1.52951171e+01] [-1.17238596e-02 9.99931236e-01 2.72940928e-04 -3.00612424e-01] [ 1.00935736e-02 -1.54602013e-04 9.99949047e-01 -5.53738457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38240100800002 meters Centerline goodness : 0.966581 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.30, Z:-0.55 [[ 9.99934987e-01 5.30969125e-03 -1.00909976e-02 1.53281237e+01] [-5.30718143e-03 9.99985879e-01 2.75481157e-04 -3.03744071e-01] [ 1.00923178e-02 -2.21908492e-04 9.99949047e-01 -5.51721722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41240100800002 meters Centerline goodness : 0.965197 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.31, Z:-0.55 [[ 9.99948633e-01 -9.50713279e-04 -1.00909237e-02 1.53574641e+01] [ 9.53568721e-04 9.99999507e-01 2.78163759e-04 -3.05296220e-01] [ 1.00906542e-02 -2.87771860e-04 9.99949047e-01 -5.51274669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44240100800002 meters Centerline goodness : 0.963986 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.30, Z:-0.55 [[ 9.99870501e-01 -1.25360924e-02 -1.00909201e-02 1.53849413e+01] [ 1.25395384e-02 9.99921338e-01 2.78294886e-04 -3.04475403e-01] [ 1.00866376e-02 -4.04794327e-04 9.99949047e-01 -5.50187562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47240100800002 meters Centerline goodness : 0.961437 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.30, Z:-0.55 [[ 9.99828095e-01 -1.55548700e-02 -1.00909425e-02 1.54128692e+01] [ 1.55584613e-02 9.99878921e-01 2.77479219e-04 -3.04785691e-01] [ 1.00854045e-02 -4.34431057e-04 9.99949047e-01 -5.50419841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50240100800002 meters Centerline goodness : 0.960724 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.30, Z:-0.55 [[ 9.99786560e-01 -1.80279400e-02 -1.00910120e-02 1.54411034e+01] [ 1.80316313e-02 9.99837379e-01 2.74927164e-04 -3.04482864e-01] [ 1.00844146e-02 -4.56825891e-04 9.99949047e-01 -5.50262269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53240100800002 meters Centerline goodness : 0.960880 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.31, Z:-0.55 [[ 9.99787260e-01 -1.79890161e-02 -1.00910824e-02 1.54696092e+01] [ 1.79926790e-02 9.99838082e-01 2.72317206e-04 -3.05720661e-01] [ 1.00845498e-02 -4.53824881e-04 9.99949047e-01 -5.47204750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters Centerline goodness : 0.960948 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.31, Z:-0.55 [[ 9.99803139e-01 -1.70836558e-02 -1.00911538e-02 1.54981392e+01] [ 1.70872459e-02 9.99853966e-01 2.69645757e-04 -3.05817199e-01] [ 1.00850736e-02 -4.42022701e-04 9.99949047e-01 -5.45833245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59240100800001 meters Centerline goodness : 0.964320 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.30, Z:-0.55 [[ 9.99827343e-01 -1.56029023e-02 -1.00912246e-02 1.55262185e+01] [ 1.56063902e-02 9.99878177e-01 2.66972149e-04 -3.04782385e-01] [ 1.00858297e-02 -4.24413642e-04 9.99949047e-01 -5.47412432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62240100800001 meters Centerline goodness : 0.961864 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.30, Z:-0.55 [[ 9.99856991e-01 -1.35706921e-02 -1.00912573e-02 1.55538868e+01] [ 1.35740641e-02 9.99907833e-01 2.65730642e-04 -3.02305973e-01] [ 1.00867210e-02 -4.02672012e-04 9.99949047e-01 -5.51315141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65240100800001 meters Centerline goodness : 0.955689 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.29, Z:-0.56 [[ 9.99916790e-01 -8.03610565e-03 -1.00912786e-02 1.55834845e+01] [ 8.03918799e-03 9.99967650e-01 2.64919339e-04 -2.92473436e-01] [ 1.00888232e-02 -3.46022981e-04 9.99949047e-01 -5.62116053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68240100800001 meters Centerline goodness : 0.951416 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.29, Z:-0.57 [[ 9.99939772e-01 -4.31492277e-03 -1.00913060e-02 1.56114994e+01] [ 4.31780525e-03 9.99990643e-01 2.63870917e-04 -2.89019451e-01] [ 1.00900730e-02 -3.07427318e-04 9.99949047e-01 -5.67489082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71240100800001 meters Centerline goodness : 0.947243 Centerline is valid? [True, False] Translation: X:15.61, Y:-0.29, Z:-0.57 [[ 9.99937492e-01 -7.74871260e-04 -1.11540197e-02 1.56138002e+01] [ 8.21223356e-04 9.99991045e-01 4.15166038e-03 -2.87022719e-01] [ 1.11507028e-02 -4.16056081e-03 9.99929173e-01 -5.66727735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74240100800002 meters Centerline goodness : 0.943569 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.28, Z:-0.57 [[ 9.99972072e-01 2.26933535e-03 -7.12081730e-03 1.56306101e+01] [-2.29021458e-03 9.99993099e-01 -2.92535564e-03 -2.82139608e-01] [ 7.11412954e-03 2.94158214e-03 9.99970368e-01 -5.71362559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77240100800002 meters Centerline goodness : 0.947729 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.28, Z:-0.56 [[ 9.99952775e-01 5.50113752e-03 -8.01151521e-03 1.56301607e+01] [-5.46625492e-03 9.99975514e-01 4.36946541e-03 -2.80653140e-01] [ 8.03535606e-03 -4.32546608e-03 9.99958361e-01 -5.61098980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80240100800002 meters Centerline goodness : 0.948770 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.28, Z:-0.56 [[ 9.99951571e-01 4.81898738e-03 -8.58097362e-03 1.56308694e+01] [-4.78057287e-03 9.99978486e-01 4.49160588e-03 -2.79035218e-01] [ 8.60243400e-03 -4.45036639e-03 9.99953095e-01 -5.58985920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83240100800002 meters Centerline goodness : 0.946406 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.28, Z:-0.56 [[ 9.99948356e-01 3.69824023e-03 -9.46621961e-03 1.56329479e+01] [-3.65315249e-03 9.99981923e-01 4.77588212e-03 -2.78207669e-01] [ 9.48371084e-03 -4.74105393e-03 9.99943789e-01 -5.57022037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86240100800002 meters Centerline goodness : 0.946299 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.28, Z:-0.55 [[ 9.99933335e-01 2.79231935e-03 -1.12039716e-02 1.56420761e+01] [-2.66536250e-03 9.99932257e-01 1.13303912e-02 -2.79589470e-01] [ 1.12348507e-02 -1.12997732e-02 9.99873039e-01 -5.50889864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89240100800002 meters Centerline goodness : 0.945953 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.28, Z:-0.55 [[ 9.99912055e-01 2.70569122e-03 -1.29831384e-02 1.56497359e+01] [-2.48499391e-03 9.99852658e-01 1.69848914e-02 -2.80605187e-01] [ 1.30271813e-02 -1.69511346e-02 9.99771450e-01 -5.46476168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92240100800002 meters Centerline goodness : 0.946238 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.28, Z:-0.54 [[ 9.99882629e-01 3.92925873e-03 -1.48084363e-02 1.56552701e+01] [-3.62289479e-03 9.99780020e-01 2.06588186e-02 -2.76854808e-01] [ 1.48863526e-02 -2.06027444e-02 9.99676910e-01 -5.44396485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95240100800001 meters Centerline goodness : 0.940634 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.27, Z:-0.54 [[ 9.99878292e-01 3.45942527e-03 -1.52129607e-02 1.56562347e+01] [-3.16278026e-03 9.99805234e-01 1.94805057e-02 -2.72349605e-01] [ 1.52773891e-02 -1.94300195e-02 9.99694491e-01 -5.44911566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98240100800001 meters Centerline goodness : 0.943653 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.27, Z:-0.54 [[ 9.99846784e-01 6.73860818e-03 -1.61554638e-02 1.56584591e+01] [-6.35760572e-03 9.99703152e-01 2.35199809e-02 -2.70680393e-01] [ 1.63091600e-02 -2.34136672e-02 9.99592823e-01 -5.43497696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01240100800001 meters Centerline goodness : 0.933295 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.26, Z:-0.54 [[ 9.99840731e-01 6.97313219e-03 -1.64282459e-02 1.56576204e+01] [-6.60018563e-03 9.99721727e-01 2.26474171e-02 -2.64350254e-01] [ 1.65815978e-02 -2.25353806e-02 9.99608527e-01 -5.42230115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04240100800001 meters Centerline goodness : 0.939532 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.26, Z:-0.53 [[ 9.99939858e-01 2.53766828e-03 -1.06695710e-02 1.56313140e+01] [-2.05829077e-03 9.98998212e-01 4.47027441e-02 -2.64708440e-01] [ 1.07723231e-02 -4.46780945e-02 9.98943354e-01 -5.29748929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07240100800001 meters Centerline goodness : 0.939437 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.26, Z:-0.53 [[ 9.99976335e-01 -2.80817402e-03 -6.28044061e-03 1.56037209e+01] [ 3.05158152e-03 9.99231083e-01 3.90887437e-02 -2.55600877e-01] [ 6.16584348e-03 -3.91069839e-02 9.99216006e-01 -5.33690405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10240100800002 meters Centerline goodness : 0.936115 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.25, Z:-0.54 [[ 9.99975514e-01 -6.68274104e-03 -2.07661476e-03 1.55730960e+01] [ 6.74794926e-03 9.99427100e-01 3.31652874e-02 -2.47264743e-01] [ 1.85379004e-03 -3.31784882e-02 9.99447723e-01 -5.38198160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13240100800002 meters Centerline goodness : 0.937003 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.24, Z:-0.54 [[ 9.99951390e-01 -9.77526513e-03 1.28916359e-03 1.55435457e+01] [ 9.73391959e-03 9.99534627e-01 2.89098758e-02 -2.40140184e-01] [-1.57116534e-03 -2.88959219e-02 9.99581191e-01 -5.42501519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16240100800002 meters Centerline goodness : 0.933356 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.23, Z:-0.55 [[ 9.99905137e-01 -1.32729315e-02 3.68051657e-03 1.55143054e+01] [ 1.31833417e-02 9.99639676e-01 2.33819953e-02 -2.29580870e-01] [-3.98953802e-03 -2.33312558e-02 9.99719829e-01 -5.47016937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19240100800002 meters Centerline goodness : 0.933672 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.22, Z:-0.55 [[ 9.99847016e-01 -1.69856234e-02 4.17522668e-03 1.55136221e+01] [ 1.69140552e-02 9.99718853e-01 1.66171539e-02 -2.22084264e-01] [-4.45630555e-03 -1.65439917e-02 9.99853208e-01 -5.50629056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22240100800002 meters Centerline goodness : 0.930239 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.22, Z:-0.55 [[ 9.99867453e-01 -1.56732404e-02 4.40754098e-03 1.55125646e+01] [ 1.55878974e-02 9.99702253e-01 1.87729421e-02 -2.17452282e-01] [-4.70046149e-03 -1.87017495e-02 9.99814058e-01 -5.49731289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25240100800002 meters Centerline goodness : 0.929034 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.20, Z:-0.56 [[ 9.99909650e-01 -1.31401753e-02 2.83343009e-03 1.55167494e+01] [ 1.30882574e-02 9.99759031e-01 1.76232017e-02 -2.03593495e-01] [-3.06431928e-03 -1.75845248e-02 9.99840685e-01 -5.55151729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28240100800002 meters Centerline goodness : 0.928139 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.20, Z:-0.56 [[ 9.99944271e-01 -1.04330919e-02 1.61394888e-03 1.55199702e+01] [ 1.03996383e-02 9.99755628e-01 1.95072115e-02 -1.97770129e-01] [-1.81707500e-03 -1.94893399e-02 9.99808414e-01 -5.56627767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31240100800001 meters Centerline goodness : 0.927768 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.19, Z:-0.56 [[ 9.99949428e-01 -1.00294785e-02 7.41917240e-04 1.55218892e+01] [ 1.00136821e-02 9.99771513e-01 1.88851473e-02 -1.90602441e-01] [-9.31155900e-04 -1.88767629e-02 9.99821384e-01 -5.57308088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34240100800001 meters Centerline goodness : 0.929212 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.18, Z:-0.56 [[ 9.99986142e-01 -5.26455505e-03 2.46481593e-05 1.55306594e+01] [ 5.26436279e-03 9.99973326e-01 5.06300519e-03 -1.83205542e-01] [-5.13019714e-05 -5.06280527e-03 9.99987183e-01 -5.63290296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37240100800001 meters Centerline goodness : 0.926399 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.18, Z:-0.56 [[ 9.99979389e-01 -6.38370195e-03 -6.85934961e-04 1.55321542e+01] [ 6.38598848e-03 9.99973881e-01 3.38463733e-03 -1.77168523e-01] [ 6.64310529e-04 -3.38894794e-03 9.99994037e-01 -5.63211529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40240100800001 meters Centerline goodness : 0.926433 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.17, Z:-0.56 [[ 9.99967159e-01 -7.96654475e-03 -1.48841723e-03 1.55344479e+01] [ 7.96877461e-03 9.99967126e-01 1.49826092e-03 -1.71034605e-01] [ 1.47643234e-03 -1.51007258e-03 9.99997770e-01 -5.63605449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43240100800001 meters Centerline goodness : 0.926465 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.16, Z:-0.56 [[ 9.99963061e-01 -7.92364130e-03 -3.33066243e-03 1.55404512e+01] [ 7.93199564e-03 9.99965410e-01 2.50263311e-03 -1.59888046e-01] [ 3.31071725e-03 -2.52895947e-03 9.99991322e-01 -5.64188681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46240100800001 meters Centerline goodness : 0.924224 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.15, Z:-0.57 [[ 9.99966884e-01 -6.52125956e-03 -4.86859619e-03 1.55456471e+01] [ 6.54215813e-03 9.99969402e-01 4.28901080e-03 -1.54765565e-01] [ 4.84047747e-03 -4.32071990e-03 9.99978950e-01 -5.65979086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49240100800002 meters Centerline goodness : 0.921094 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.15, Z:-0.57 [[ 9.99957993e-01 -7.42368104e-03 -5.37593779e-03 1.55470876e+01] [ 7.43670260e-03 9.99969452e-01 2.40626643e-03 -1.47651569e-01] [ 5.35791021e-03 -2.44614460e-03 9.99982654e-01 -5.66789250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52240100800002 meters Centerline goodness : 0.919879 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.14, Z:-0.57 [[ 9.99996348e-01 -2.22033962e-03 -1.54075276e-03 1.55610087e+01] [ 2.21589003e-03 9.99993387e-01 -2.88365556e-03 -1.35215827e-01] [ 1.54714526e-03 2.88023089e-03 9.99994655e-01 -5.67433223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55240100800002 meters Centerline goodness : 0.919403 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.13, Z:-0.56 [[ 9.99996525e-01 1.39533584e-03 -2.23681840e-03 1.55606487e+01] [-1.39506278e-03 9.99999019e-01 1.23631122e-04 -1.29172251e-01] [ 2.23698872e-03 -1.20510190e-04 9.99997491e-01 -5.64682923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58240100800002 meters Centerline goodness : 0.918900 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.12, Z:-0.56 [[ 9.99984724e-01 4.87038412e-03 -2.61359166e-03 1.55596709e+01] [-4.86403208e-03 9.99985215e-01 2.43126360e-03 -1.21412771e-01] [ 2.62539420e-03 -2.41851387e-03 9.99993629e-01 -5.62458151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61240100800002 meters Centerline goodness : 0.918900 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.12, Z:-0.56 [[ 9.99984724e-01 4.87038412e-03 -2.61359166e-03 1.55596709e+01] [-4.86403208e-03 9.99985215e-01 2.43126360e-03 -1.21412771e-01] [ 2.62539420e-03 -2.41851387e-03 9.99993629e-01 -5.62458151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64240100800002 meters Centerline goodness : 0.916597 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.11, Z:-0.56 [[ 9.99892923e-01 1.42843219e-02 -3.17806130e-03 1.55589644e+01] [-1.42493285e-02 9.99840428e-01 1.07737856e-02 -1.05596864e-01] [ 3.33145039e-03 -1.07273467e-02 9.99936911e-01 -5.58919544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67240100800002 meters Centerline goodness : 0.913273 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.10, Z:-0.56 [[ 9.99849644e-01 1.68961532e-02 -3.90001059e-03 1.55609189e+01] [-1.68458276e-02 9.99778768e-01 1.25949755e-02 -9.81302723e-02] [ 4.11195442e-03 -1.25273829e-02 9.99913074e-01 -5.59347114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70240100800001 meters Centerline goodness : 0.904700 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.09, Z:-0.56 [[ 9.99858416e-01 1.62380797e-02 -4.41286966e-03 1.55618201e+01] [-1.61900572e-02 9.99811587e-01 1.07085313e-02 -9.08419336e-02] [ 4.58592420e-03 -1.06355705e-02 9.99932925e-01 -5.59543660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73240100800001 meters Centerline goodness : 0.901687 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.09, Z:-0.56 [[ 9.99869331e-01 1.53523903e-02 -5.06213606e-03 1.55631671e+01] [-1.53071166e-02 9.99843547e-01 8.86421815e-03 -8.55316487e-02] [ 5.19743101e-03 -8.78557316e-03 9.99947899e-01 -5.59898297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76240100800001 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.08, Z:-0.56 [[ 9.99883475e-01 1.42326657e-02 -5.51968059e-03 1.55633956e+01] [-1.41964926e-02 9.99877848e-01 6.53820973e-03 -7.60166181e-02] [ 5.61206251e-03 -6.45908777e-03 9.99963392e-01 -5.59064199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79240100800001 meters Centerline goodness : 0.890832 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.07, Z:-0.56 [[ 9.99899905e-01 1.26500905e-02 -6.33676362e-03 1.55661551e+01] [-1.26248744e-02 9.99912288e-01 4.00365406e-03 -6.91639885e-02] [ 6.38685440e-03 -3.92325247e-03 9.99971908e-01 -5.60744032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82240100800001 meters Centerline goodness : 0.887497 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.06, Z:-0.56 [[ 9.99913794e-01 1.05747457e-02 -7.78327539e-03 1.55705003e+01] [-1.05637846e-02 9.99943153e-01 1.44805204e-03 -6.13263885e-02] [ 7.79814571e-03 -1.36570637e-03 9.99968661e-01 -5.62247976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85240100800002 meters Centerline goodness : 0.884739 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.05, Z:-0.56 [[ 9.99918193e-01 9.77081411e-03 -8.25462744e-03 1.55718856e+01] [-9.77279882e-03 9.99952225e-01 -2.00133869e-04 -5.45087861e-02] [ 8.25227761e-03 2.80788310e-04 9.99965910e-01 -5.62858900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88240100800002 meters Centerline goodness : 0.878562 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.04, Z:-0.56 [[ 9.99889817e-01 1.11703868e-02 -9.77628410e-03 1.55747425e+01] [-1.11652437e-02 9.99937498e-01 5.80497429e-04 -4.32504413e-02] [ 9.78215745e-03 -4.71278874e-04 9.99952042e-01 -5.61865720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91240100800002 meters Centerline goodness : 0.872338 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.04, Z:-0.56 [[ 9.99892666e-01 1.02046953e-02 -1.05128577e-02 1.55760999e+01] [-1.02207833e-02 9.99946675e-01 -1.47773060e-03 -3.71497044e-02] [ 1.04972173e-02 1.58502163e-03 9.99943646e-01 -5.61721800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94240100800002 meters Centerline goodness : 0.869240 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.03, Z:-0.56 [[ 9.99894793e-01 9.49991158e-03 -1.09615508e-02 1.55762440e+01] [-9.53659395e-03 9.99949084e-01 -3.29905432e-03 -3.13126049e-02] [ 1.09296519e-02 3.40324309e-03 9.99934478e-01 -5.60701749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97240100800002 meters Centerline goodness : 0.867640 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.03, Z:-0.56 [[ 9.99897491e-01 8.85448650e-03 -1.12519022e-02 1.55764847e+01] [-8.91036474e-03 9.99948170e-01 -4.92572555e-03 -2.51118672e-02] [ 1.12077043e-02 5.02547917e-03 9.99924563e-01 -5.60191398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00240100800002 meters Centerline goodness : 0.859730 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.01, Z:-0.56 [[ 9.99878186e-01 8.13159140e-03 -1.33225704e-02 1.55829466e+01] [-8.20865150e-03 9.99949835e-01 -5.73973950e-03 -9.45850840e-03] [ 1.32752289e-02 5.84840066e-03 9.99894777e-01 -5.61430907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03240100800002 meters Centerline goodness : 0.852839 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.00, Z:-0.56 [[ 9.99853499e-01 9.04929205e-03 -1.45289427e-02 1.55874040e+01] [-9.12641104e-03 9.99944569e-01 -5.25045564e-03 -6.77946774e-04] [ 1.44806245e-02 5.38228354e-03 9.99880664e-01 -5.63248286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters Centerline goodness : 0.851510 Centerline is valid? [False, False] Translation: X:15.59, Y:0.01, Z:-0.56 [[ 9.99818243e-01 9.49572430e-03 -1.65321398e-02 1.55932022e+01] [-9.57376469e-03 9.99943369e-01 -4.64779790e-03 8.77928162e-03] [ 1.64870694e-02 4.80522795e-03 9.99852532e-01 -5.64046113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09240100800001 meters Centerline goodness : 0.846261 Centerline is valid? [False, False] Translation: X:15.60, Y:0.02, Z:-0.56 [[ 9.99769440e-01 1.01746059e-02 -1.89088542e-02 1.55984205e+01] [-1.02416347e-02 9.99941597e-01 -3.45138025e-03 1.74850510e-02] [ 1.88726335e-02 3.64424208e-03 9.99815255e-01 -5.62891275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12240100800001 meters Centerline goodness : 0.840726 Centerline is valid? [False, False] Translation: X:15.61, Y:0.04, Z:-0.56 [[ 9.99856266e-01 8.97409251e-03 -1.43845012e-02 1.56141607e+01] [-9.15903291e-03 9.99875577e-01 -1.28430252e-02 3.76556683e-02] [ 1.42674569e-02 1.29729273e-02 9.99814054e-01 -5.63356595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15240100800001 meters Centerline goodness : 0.840489 Centerline is valid? [False, False] Translation: X:15.61, Y:0.05, Z:-0.56 [[ 9.99842412e-01 9.37329350e-03 -1.50762266e-02 1.56144633e+01] [-9.57249670e-03 9.99867113e-01 -1.31956283e-02 4.64286725e-02] [ 1.49505367e-02 1.33378660e-02 9.99799271e-01 -5.61261493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18240100800001 meters Centerline goodness : 0.845210 Centerline is valid? [False, False] Translation: X:15.62, Y:0.06, Z:-0.56 [[ 9.99825770e-01 9.94859361e-03 -1.57941553e-02 1.56151683e+01] [-1.01572146e-02 9.99861498e-01 -1.31839424e-02 5.60214698e-02] [ 1.56608061e-02 1.33420700e-02 9.99788342e-01 -5.59351857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21240100800001 meters Centerline goodness : 0.847486 Centerline is valid? [False, False] Translation: X:15.62, Y:0.07, Z:-0.56 [[ 9.99790717e-01 9.86222668e-03 -1.79236835e-02 1.56186679e+01] [-1.00883286e-02 9.99870122e-01 -1.25683683e-02 6.72833440e-02] [ 1.77974035e-02 1.27465580e-02 9.99760360e-01 -5.56243487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24240100800002 meters Centerline goodness : 0.849236 Centerline is valid? [False, False] Translation: X:15.63, Y:0.08, Z:-0.56 [[ 9.99934977e-01 8.10385143e-03 -8.02308888e-03 1.56262358e+01] [-8.18012449e-03 9.99921225e-01 -9.51996661e-03 8.01624542e-02] [ 7.94530847e-03 9.58497746e-03 9.99922497e-01 -5.58813259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27240100800002 meters Centerline goodness : 0.851288 Centerline is valid? [False, False] Translation: X:15.65, Y:0.11, Z:-0.56 [[ 9.99975769e-01 4.92489407e-03 -4.91998459e-03 1.56493595e+01] [-4.98701678e-03 9.99906977e-01 -1.26951620e-02 1.10940547e-01] [ 4.85700459e-03 1.27193904e-02 9.99907309e-01 -5.55816139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30240100800002 meters Centerline goodness : 0.857128 Centerline is valid? [False, False] Translation: X:15.65, Y:0.12, Z:-0.55 [[ 9.99963771e-01 5.73327717e-03 -6.29178302e-03 1.56510239e+01] [-5.81371633e-03 9.99900639e-01 -1.28418611e-02 1.23300927e-01] [ 6.21753191e-03 1.28779745e-02 9.99897745e-01 -5.53607081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33240100800002 meters Centerline goodness : 0.860116 Centerline is valid? [False, False] Translation: X:15.65, Y:0.13, Z:-0.55 [[ 9.99949287e-01 6.85524950e-03 -7.37758657e-03 1.56524723e+01] [-6.95144677e-03 9.99890113e-01 -1.30934470e-02 1.34598960e-01] [ 7.28701703e-03 1.31440679e-02 9.99887060e-01 -5.52101405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36240100800002 meters Centerline goodness : 0.866508 Centerline is valid? [False, False] Translation: X:15.65, Y:0.15, Z:-0.55 [[ 9.99931093e-01 8.20616899e-03 -8.39448161e-03 1.56542079e+01] [-8.31725411e-03 9.99877159e-01 -1.32849245e-02 1.45606907e-01] [ 8.28443209e-03 1.33538281e-02 9.99876514e-01 -5.51182728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39240100800002 meters Centerline goodness : 0.878089 Centerline is valid? [False, False] Translation: X:15.68, Y:0.17, Z:-0.55 [[ 9.99958715e-01 6.79571121e-03 -6.03218038e-03 1.56806579e+01] [-6.90586484e-03 9.99806267e-01 -1.84319877e-02 1.73106591e-01] [ 5.90575328e-03 1.84728841e-02 9.99811920e-01 -5.54094466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42240100800002 meters Centerline goodness : 0.877931 Centerline is valid? [False, False] Translation: X:15.69, Y:0.19, Z:-0.55 [[ 9.99926231e-01 7.20409566e-03 -9.77925821e-03 1.56911244e+01] [-7.34859297e-03 9.99863155e-01 -1.48212731e-02 1.86051966e-01] [ 9.67114610e-03 1.48920435e-02 9.99842336e-01 -5.53210074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45240100800001 meters Centerline goodness : 0.874697 Centerline is valid? [False, False] Translation: X:15.70, Y:0.20, Z:-0.55 [[ 9.99882796e-01 7.12284796e-03 -1.35520640e-02 1.57018213e+01] [-7.27949809e-03 9.99906855e-01 -1.15451353e-02 2.00106315e-01] [ 1.34685674e-02 1.16424344e-02 9.99841513e-01 -5.52407048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48240100800001 meters Centerline goodness : 0.858247 Centerline is valid? [False, False] Translation: X:15.75, Y:0.23, Z:-0.55 [[ 9.99882101e-01 6.56323463e-03 -1.38819665e-02 1.57482980e+01] [-6.76768747e-03 9.99868566e-01 -1.47326080e-02 2.27209407e-01] [ 1.37834483e-02 1.48248198e-02 9.99795100e-01 -5.52388690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4564.26 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%| | 0/3816 [00:00